diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_0.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aee1b0212349d918ec0bd256023e47d8f3118e55
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.27050690 -0.47662344 0.10363770
+v -0.14999587 -0.26515152 0.01267626
+v -0.14999587 -0.14393940 0.10358535
+v -0.31739230 -0.14239894 0.09745191
+v -0.31170578 -0.38602038 -0.06220626
+v -0.22575345 -0.14393940 -0.06308132
+v -0.30741566 -0.46851425 0.10689484
+v -0.14999587 -0.26515152 0.10358535
+v -0.22575345 -0.38636364 -0.06308132
+v -0.14999587 -0.14393940 0.01267626
+v -0.31710254 -0.14399432 -0.06088186
+v -0.30994452 -0.45307225 0.01462513
+v -0.26219999 -0.46755562 0.07815310
+v -0.31661149 -0.45604156 0.10233708
+v -0.27126295 -0.46003919 0.01252540
+v -0.31441054 -0.38506071 -0.04555401
+v -0.31489113 -0.45190503 0.04587420
+v -0.31532629 -0.44185495 0.01470998
+v -0.31442871 -0.34040531 -0.06003433
+f 7 3 4
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 6 2
+f 9 5 6
+f 10 3 2
+f 10 2 6
+f 10 6 4
+f 10 4 3
+f 11 6 5
+f 11 4 6
+f 12 1 7
+f 13 8 1
+f 13 2 8
+f 13 9 2
+f 14 4 11
+f 14 7 4
+f 15 12 5
+f 15 5 9
+f 15 9 13
+f 15 13 1
+f 15 1 12
+f 17 12 7
+f 17 7 14
+f 18 14 11
+f 18 11 16
+f 18 17 14
+f 18 12 17
+f 18 16 5
+f 18 5 12
+f 19 16 11
+f 19 11 5
+f 19 5 16
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_1.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4101a298f8efbe3db0f7944e1095889fe01c9a71
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.27398988 -0.45830201 0.01193238
+v 0.30156576 -0.45566863 -0.12001175
+v 0.32324739 0.23489021 0.01289620
+v 0.26429291 0.46343634 -0.01841846
+v 0.18560581 -0.46511257 -0.17041052
+v 0.29074578 0.45316369 -0.12766431
+v 0.18333747 0.23484849 0.01267626
+v 0.31914563 -0.38629451 0.01231949
+v 0.25655677 -0.47917952 -0.11588633
+v 0.31839674 0.38594272 -0.04653001
+v 0.27917125 -0.46977792 -0.15425060
+v 0.19677372 -0.46561058 0.01302478
+v 0.18438402 0.23471685 -0.16079478
+v 0.31868524 -0.43150875 -0.01760605
+v 0.28051601 -0.47476567 -0.12727514
+v 0.30213882 0.44310936 -0.11534188
+v 0.31872140 0.43174882 -0.01760985
+v 0.27908298 -0.47592758 -0.14426688
+v 0.18334597 -0.47618238 -0.12362768
+v 0.21207184 0.00705647 -0.16879935
+v 0.25674397 0.47003005 -0.06572856
+v 0.31904579 -0.37129492 -0.04571086
+v 0.30583206 -0.44837079 -0.07655689
+v 0.29028600 0.02156727 -0.13810525
+v 0.31970411 0.41599043 -0.01735642
+v 0.31910812 0.41664584 -0.03162777
+v 0.29941521 0.46430278 -0.06280024
+v 0.28688503 -0.46987420 -0.14568344
+v 0.18422246 -0.14407034 -0.17164280
+v 0.24059164 -0.44489118 -0.16715237
+v 0.28473053 0.44228472 -0.13463906
+v 0.31948571 -0.38587348 -0.03284371
+v 0.30166091 -0.38675000 -0.12943407
+v 0.30331488 0.45468792 -0.10601563
+v 0.29419255 0.46344024 -0.11475259
+v 0.19953900 0.00755442 -0.16877030
+v 0.26810044 0.05302062 -0.15103329
+v 0.20952928 -0.46222856 -0.16966446
+v 0.22042219 -0.14389070 -0.16855061
+v 0.25477866 0.23465793 -0.15220837
+v 0.27795242 -0.17444926 -0.15160636
+v 0.25868670 0.46489336 -0.12766391
+v 0.30065102 -0.44454588 -0.12970679
+v 0.30800932 0.45543390 -0.06241971
+v 0.24101820 -0.34119086 -0.16708411
+v 0.25655550 0.45272756 -0.13864872
+v 0.28276671 0.46242654 -0.12461678
+v 0.27037278 0.45370688 -0.13477909
+f 7 3 4
+f 12 1 8
+f 12 8 3
+f 12 3 7
+f 12 9 1
+f 14 8 1
+f 15 1 9
+f 15 14 1
+f 17 4 3
+f 18 5 11
+f 18 15 9
+f 19 12 7
+f 19 9 12
+f 19 18 9
+f 19 5 18
+f 19 7 13
+f 21 13 7
+f 21 7 4
+f 22 14 2
+f 22 10 3
+f 23 15 2
+f 23 2 14
+f 23 14 15
+f 25 17 3
+f 26 17 25
+f 26 25 3
+f 26 3 10
+f 27 4 17
+f 27 21 4
+f 28 18 11
+f 28 2 15
+f 28 15 18
+f 29 19 13
+f 29 5 19
+f 31 6 16
+f 31 16 24
+f 32 22 3
+f 32 3 8
+f 32 8 14
+f 32 14 22
+f 33 16 10
+f 33 10 22
+f 33 24 16
+f 33 28 11
+f 33 11 24
+f 34 26 10
+f 34 10 16
+f 34 17 26
+f 34 16 6
+f 35 21 27
+f 35 34 6
+f 36 29 13
+f 36 13 20
+f 36 20 29
+f 38 30 11
+f 38 11 5
+f 38 5 29
+f 38 29 30
+f 39 29 20
+f 40 20 13
+f 40 31 37
+f 41 31 24
+f 41 24 11
+f 41 37 31
+f 42 21 35
+f 42 13 21
+f 43 33 22
+f 43 22 2
+f 43 2 28
+f 43 28 33
+f 44 27 17
+f 44 17 34
+f 44 35 27
+f 44 34 35
+f 45 39 20
+f 45 30 29
+f 45 29 39
+f 45 37 41
+f 45 40 37
+f 45 20 40
+f 45 41 11
+f 45 11 30
+f 46 40 13
+f 46 31 40
+f 46 13 42
+f 47 42 35
+f 47 35 6
+f 47 46 42
+f 48 6 31
+f 48 31 46
+f 48 47 6
+f 48 46 47
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_10.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88b262e778c9d7c61611769bd348967c0ce5a400
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.15002282 -0.47557914 0.10343152
+v -0.14976619 -0.47705826 -0.12722728
+v -0.14999587 -0.38636364 0.10358535
+v -0.26805901 -0.38657121 0.15659006
+v -0.29817960 -0.47093149 0.14095204
+v -0.23210534 -0.38696285 -0.16213772
+v -0.22397159 -0.38651880 0.16676881
+v -0.14955097 -0.47724839 0.08624338
+v -0.15168765 -0.38820717 -0.16763557
+v -0.31639972 -0.38524738 -0.03080146
+v -0.22429298 -0.44305544 0.16408550
+v -0.27326365 -0.47701211 0.13057315
+v -0.25417064 -0.45739519 -0.15628302
+v -0.32115972 -0.38618500 0.01355492
+v -0.25358936 -0.44610380 0.16187454
+v -0.15010841 -0.47768140 -0.12195289
+v -0.22626205 -0.46470647 0.15154902
+v -0.25423568 -0.44576776 -0.15822954
+v -0.28402362 -0.45419685 -0.13285490
+v -0.28938645 -0.43263766 0.14705138
+v -0.25127146 -0.38727497 0.16186221
+v -0.25345777 -0.47565861 -0.12591997
+v -0.29529509 -0.46663958 0.14470127
+v -0.26584701 -0.44644209 -0.15459638
+v -0.31170578 -0.38602038 -0.06220626
+v -0.31532629 -0.44185495 0.01470998
+v -0.25435818 -0.46880482 -0.14824229
+v -0.27169875 -0.46368817 -0.14388615
+v -0.26373164 -0.45603913 -0.15412427
+v -0.28869275 -0.44285856 -0.13411478
+v -0.31428034 -0.41498237 -0.02992900
+v -0.29944778 -0.44885605 -0.05978861
+v -0.31391400 -0.44033949 0.00058074
+f 7 1 3
+f 8 2 3
+f 8 3 1
+f 9 6 3
+f 9 3 2
+f 10 3 6
+f 10 7 3
+f 10 4 7
+f 11 1 7
+f 12 8 1
+f 13 9 2
+f 14 4 10
+f 15 11 7
+f 16 2 8
+f 16 8 12
+f 17 5 12
+f 17 11 15
+f 17 12 1
+f 17 1 11
+f 18 6 9
+f 18 9 13
+f 20 14 5
+f 20 4 14
+f 21 15 7
+f 21 7 4
+f 21 4 15
+f 22 2 16
+f 22 16 12
+f 22 12 5
+f 23 17 15
+f 23 5 17
+f 23 20 5
+f 23 15 4
+f 23 4 20
+f 24 6 18
+f 25 10 6
+f 26 5 14
+f 27 13 2
+f 27 2 22
+f 28 22 5
+f 28 27 22
+f 29 24 18
+f 29 18 13
+f 29 13 27
+f 29 27 28
+f 30 28 19
+f 30 29 28
+f 30 24 29
+f 30 25 6
+f 30 6 24
+f 31 26 14
+f 31 14 10
+f 31 10 25
+f 31 25 30
+f 32 5 26
+f 32 28 5
+f 32 19 28
+f 32 30 19
+f 33 31 30
+f 33 26 31
+f 33 32 26
+f 33 30 32
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_11.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1bb06ef8c52102f94f470aa276709dc08cc24c4
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.27326365 -0.47701211 0.13057315
+v -0.22575345 -0.38636364 0.10358535
+v -0.22569280 0.42933441 0.15557806
+v -0.28406100 0.46275683 0.10109235
+v -0.31661149 -0.45604156 0.10233708
+v -0.23042170 0.46033839 0.11563787
+v -0.22397159 -0.38651880 0.16676881
+v -0.26701375 -0.48018787 0.10106475
+v -0.28990490 0.35639036 0.13497281
+v -0.26617865 0.43165117 0.14931604
+v -0.22376453 -0.29597560 0.16413955
+v -0.28121021 -0.44761172 0.15361918
+v -0.29668227 -0.47868124 0.13549265
+v -0.27175314 -0.47044013 0.14420575
+v -0.31034154 0.35608979 0.10205585
+v -0.23803071 -0.38694830 0.16471912
+v -0.29645119 -0.47456855 0.11114621
+v -0.30174379 -0.46748429 0.13903972
+v -0.26999060 -0.44659333 0.15859243
+v -0.30136085 0.35622191 0.12257381
+v -0.31491490 -0.21980196 0.11208263
+v -0.31396338 -0.45852238 0.11591245
+v -0.28923631 -0.47522372 0.13946780
+v -0.31599375 -0.22170713 0.10330452
+f 6 3 2
+f 6 2 4
+f 8 2 7
+f 8 5 4
+f 8 4 2
+f 10 6 4
+f 10 3 6
+f 11 7 2
+f 11 2 3
+f 11 3 7
+f 12 10 9
+f 13 8 1
+f 14 8 7
+f 14 1 8
+f 14 13 1
+f 15 4 5
+f 16 7 3
+f 16 3 10
+f 17 13 5
+f 17 5 8
+f 17 8 13
+f 18 12 9
+f 19 14 7
+f 19 12 18
+f 19 7 16
+f 19 16 10
+f 19 10 12
+f 20 10 4
+f 20 4 15
+f 20 9 10
+f 20 18 9
+f 21 20 15
+f 21 18 20
+f 22 5 13
+f 22 13 18
+f 22 21 5
+f 22 18 21
+f 23 13 14
+f 23 14 19
+f 23 19 18
+f 23 18 13
+f 24 21 15
+f 24 15 5
+f 24 5 21
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_12.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b443ef98c5b9f11ed869b1ca67a53a364b439f1f
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.30978110 0.41705736 0.11900203
+v 0.31548453 0.41732884 -0.06899812
+v 0.17772436 0.49137525 0.02884600
+v -0.14867209 0.48236751 -0.06134307
+v -0.22504232 0.41629140 -0.14755860
+v 0.25868670 0.46489336 -0.12766391
+v 0.10526460 0.47120914 0.11813290
+v 0.25741518 0.41584785 -0.14362328
+v 0.10314313 0.49017264 -0.08367145
+v 0.30963860 0.45746867 0.10437313
+v 0.13956988 0.49071088 0.02563602
+v -0.22503042 0.46967963 -0.10721495
+v 0.25655550 0.45272756 -0.13864872
+v 0.21287515 0.47480409 -0.10421438
+v 0.31552176 0.43216709 0.10225100
+v 0.29941521 0.46430278 -0.06280024
+v 0.30122517 0.46356846 0.10387812
+v 0.10862918 0.47571841 0.09981011
+v -0.00772546 0.48987326 -0.06993631
+v -0.23076625 0.41847198 -0.14676592
+v -0.22553691 0.46240159 -0.12777432
+v 0.30800932 0.45543390 -0.06241971
+v 0.15660534 0.48874183 -0.02972188
+v 0.22567567 0.47600731 0.10196243
+v -0.01070758 0.48890756 -0.08586487
+v -0.22604491 0.45085951 -0.13997082
+v 0.31564683 0.43135793 -0.06272889
+v 0.04613272 0.47466366 -0.11188074
+f 7 5 1
+f 8 2 1
+f 8 1 5
+f 12 7 4
+f 13 2 8
+f 13 8 5
+f 14 6 9
+f 15 10 1
+f 15 1 2
+f 16 14 3
+f 16 6 14
+f 17 7 1
+f 17 1 10
+f 17 16 3
+f 17 10 16
+f 18 3 11
+f 18 11 4
+f 18 4 7
+f 19 4 11
+f 19 11 3
+f 19 3 9
+f 20 5 7
+f 20 7 12
+f 21 20 12
+f 22 13 6
+f 22 6 16
+f 22 16 10
+f 23 14 9
+f 23 9 3
+f 23 3 14
+f 24 17 3
+f 24 7 17
+f 24 18 7
+f 24 3 18
+f 25 12 4
+f 25 4 19
+f 25 19 9
+f 25 21 12
+f 26 13 5
+f 26 5 20
+f 26 20 21
+f 26 21 6
+f 26 6 13
+f 27 2 13
+f 27 13 22
+f 27 15 2
+f 27 22 10
+f 27 10 15
+f 28 25 9
+f 28 9 6
+f 28 6 21
+f 28 21 25
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_13.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eb79277207192232c0dd8e08a9fcbbfd8311474
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.18333747 -0.00757576 0.01267626
+v 0.18342609 -0.00757565 -0.16775590
+v 0.19841393 0.46010904 0.03431489
+v 0.18396794 0.35490692 -0.15557881
+v 0.01646237 0.42012123 -0.15256464
+v 0.01660660 -0.00764778 -0.16349720
+v 0.01661054 0.35575947 -0.15520607
+v 0.01667080 -0.00757576 0.01267626
+v 0.18354970 0.42110660 -0.15137659
+v 0.01667080 0.41666667 0.01267626
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 5 4
+f 7 4 2
+f 7 6 5
+f 7 2 6
+f 8 1 3
+f 8 6 1
+f 8 5 6
+f 9 5 3
+f 9 3 4
+f 9 4 5
+f 10 8 3
+f 10 3 5
+f 10 5 8
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_14.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28bb341ea93751b0ce6025e2e52ff465ca1ed822
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.23514980 0.09844449 0.15583414
+v -0.22575345 0.09848485 0.01267626
+v -0.22540504 0.46931583 0.09892878
+v -0.25506021 0.47112434 0.10192440
+v -0.32171703 0.09843311 0.01306662
+v -0.31034154 0.35608979 0.10205585
+v -0.25767914 0.45647249 0.01243560
+v -0.31280960 0.09882216 0.10308466
+v -0.22113922 0.47173196 0.01731896
+v -0.31744883 0.35536305 0.01265322
+v -0.31822291 0.09855148 0.08292525
+v -0.31565182 0.35534556 0.07284921
+v -0.26042124 0.45669607 0.02811777
+v -0.31488614 0.14401345 0.09871566
+v -0.31409494 0.20392219 0.09926997
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 1 4
+f 8 1 6
+f 9 3 2
+f 9 2 7
+f 9 7 4
+f 9 4 3
+f 10 7 2
+f 10 2 5
+f 11 5 1
+f 11 1 8
+f 12 6 4
+f 12 4 10
+f 12 10 5
+f 12 5 11
+f 13 10 4
+f 13 4 7
+f 13 7 10
+f 14 11 8
+f 15 14 8
+f 15 8 6
+f 15 6 12
+f 15 12 11
+f 15 11 14
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_15.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98a755b245a977492679a586d5ee5cd28f70c2ce
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.28384473 -0.47819029 0.13944527
+v 0.31040356 -0.45454004 0.10412539
+v 0.29339153 0.46691278 0.14077848
+v 0.18333732 0.47724891 0.10357844
+v 0.18033752 -0.48422343 0.11366871
+v 0.30621982 0.46073871 0.10392735
+v 0.30380355 -0.45549690 0.13732377
+v 0.28431055 -0.47479959 0.11826927
+v 0.18338456 -0.45222284 0.16418098
+v 0.29311736 -0.47644872 0.12790431
+v 0.30495117 0.45938331 0.12554382
+v 0.18415254 -0.47808539 0.13963650
+v 0.18344516 0.41525111 0.16292927
+v 0.27140068 -0.45537891 0.16228634
+v 0.29033442 -0.46353644 0.15190924
+v 0.30590228 0.46093990 0.11859789
+v 0.30314178 -0.08362818 0.13536090
+v 0.18403009 0.46780184 0.14206381
+v 0.24192989 0.38623252 0.16272197
+v 0.28487360 0.46424285 0.14789277
+v 0.21360923 0.41538860 0.16311740
+v 0.26784248 -0.25018407 0.16140726
+v 0.22875247 0.46425448 0.14972964
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 8 5 2
+f 10 2 7
+f 10 8 2
+f 10 1 5
+f 10 5 8
+f 11 7 2
+f 12 9 5
+f 12 5 1
+f 13 4 5
+f 13 5 9
+f 14 12 1
+f 14 9 12
+f 15 10 7
+f 15 1 10
+f 15 14 1
+f 16 6 3
+f 16 3 11
+f 16 11 2
+f 16 2 6
+f 17 11 3
+f 17 7 11
+f 17 15 7
+f 17 3 15
+f 18 3 4
+f 18 4 13
+f 19 9 14
+f 20 15 3
+f 20 14 15
+f 21 13 9
+f 21 9 19
+f 21 19 20
+f 22 20 19
+f 22 19 14
+f 22 14 20
+f 23 18 13
+f 23 21 20
+f 23 13 21
+f 23 20 3
+f 23 3 18
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_16.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23017ad4337f1df37320938befa24cba6a3635a9
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.27033523 0.35602292 0.14680974
+v -0.22575345 0.35606061 -0.06308132
+v -0.22500950 0.46157028 0.01324953
+v -0.29315955 0.46125120 0.12525765
+v -0.31454174 0.35595900 -0.06280636
+v -0.25554916 0.45300432 0.14189854
+v -0.22575345 0.35606061 0.01267626
+v -0.31664717 0.35557755 0.05721007
+v -0.25469942 0.45848574 -0.09556422
+v -0.24541578 0.46656702 0.04972008
+v -0.28926652 0.45637202 0.13600898
+v -0.22193050 0.46116469 -0.06533723
+v -0.25661710 0.43209562 0.15175120
+v -0.30342325 0.44060530 -0.09193751
+v -0.31635039 0.35525756 -0.03211779
+v -0.26019788 0.46040541 0.12669745
+v -0.29786681 0.46010566 0.08913789
+v -0.30136085 0.35622191 0.12257381
+v -0.27709324 0.40244227 -0.13394035
+v -0.31598855 0.38570202 -0.00224993
+v -0.28665943 0.46063459 0.05784694
+v -0.29504849 0.45148349 -0.09333918
+v -0.30328335 0.45057726 0.12164231
+v -0.28990490 0.35639036 0.13497281
+v -0.30882052 0.40116118 -0.09159149
+v -0.31572272 0.37075371 -0.03192020
+v -0.29976263 0.44907701 -0.07587137
+v -0.31591045 0.38611175 0.05728782
+f 12 7 2
+f 12 3 7
+f 12 10 3
+f 12 9 10
+f 13 1 7
+f 13 11 1
+f 13 6 11
+f 13 7 3
+f 13 3 6
+f 15 7 1
+f 15 1 8
+f 15 2 7
+f 15 5 2
+f 16 6 3
+f 16 3 10
+f 16 10 4
+f 16 11 6
+f 16 4 11
+f 17 4 10
+f 18 8 1
+f 19 12 2
+f 19 9 12
+f 19 2 5
+f 20 15 8
+f 21 17 10
+f 21 10 9
+f 22 19 14
+f 22 9 19
+f 22 21 9
+f 22 17 21
+f 23 4 17
+f 23 8 18
+f 23 11 4
+f 23 14 20
+f 24 18 1
+f 24 1 11
+f 24 23 18
+f 24 11 23
+f 25 19 5
+f 25 14 19
+f 25 20 14
+f 26 5 15
+f 26 15 20
+f 26 25 5
+f 26 20 25
+f 27 22 14
+f 27 17 22
+f 27 23 17
+f 27 14 23
+f 28 23 20
+f 28 20 8
+f 28 8 23
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_17.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..031faef4ffbb021092fc6336ddf970e987cbc4ca
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.31236187 0.23406737 0.10914141
+v 0.31543106 0.23473776 -0.07028569
+v 0.31548453 0.41732884 -0.06899812
+v 0.18346978 0.47233664 0.11908735
+v 0.18438402 0.23471685 -0.16079478
+v 0.30978110 0.41705736 0.11900203
+v 0.25477866 0.23465793 -0.15220837
+v 0.18333747 0.23484849 0.10358535
+v 0.18354970 0.42110660 -0.15137659
+v 0.26459804 0.41902854 -0.14218863
+v 0.23881636 0.35571797 -0.15095741
+v 0.25740302 0.35585226 -0.14747363
+v 0.25450908 0.24963107 -0.15201108
+v 0.18396794 0.35490692 -0.15557881
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 8 4
+f 9 5 8
+f 10 3 2
+f 10 2 7
+f 10 9 4
+f 10 4 3
+f 11 9 10
+f 12 11 10
+f 13 7 5
+f 13 5 11
+f 13 11 12
+f 13 12 10
+f 13 10 7
+f 14 11 5
+f 14 5 9
+f 14 9 11
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_18.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cf74e6c6d64b04e907504e00c5ef382b0c590a8
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.27533864 0.35721693 -0.14183435
+v 0.25740302 0.35585226 -0.14747363
+v 0.26459804 0.41902854 -0.14218863
+v -0.14999587 0.41666667 -0.06308132
+v -0.14999587 0.35606061 -0.06308132
+v -0.14993945 0.41646312 -0.15212277
+v 0.01667080 0.41666667 -0.06308132
+v 0.01667080 0.35606061 -0.06308132
+v 0.22396430 0.40029688 -0.15288874
+v -0.14973826 0.35571058 -0.15537623
+v -0.01359902 0.41471984 -0.15303452
+v 0.23881636 0.35571797 -0.15095741
+v -0.14932567 0.40035756 -0.15356099
+v -0.13439093 0.41496407 -0.15273058
+f 1 2 3
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 2 1
+f 8 7 5
+f 8 1 7
+f 9 3 2
+f 10 5 6
+f 11 6 3
+f 11 3 9
+f 11 9 10
+f 12 2 8
+f 12 8 5
+f 12 5 10
+f 12 10 9
+f 12 9 2
+f 13 11 10
+f 13 10 6
+f 14 13 6
+f 14 6 11
+f 14 11 13
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_19.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc67b889de9d9bef95eb930762ab5f7ce54d5087
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.16490174 -0.49116208 0.11447509
+v 0.18230439 -0.47284690 0.01137964
+v 0.18308110 0.23472672 0.16768002
+v 0.01689774 0.23481988 0.16631063
+v 0.01736136 -0.48377203 0.01301203
+v 0.18333747 0.23484849 0.01267626
+v 0.01698548 -0.45168097 0.16305527
+v 0.18338456 -0.45222284 0.16418098
+v 0.16326569 -0.47853882 0.00859367
+v 0.01667080 0.23484849 0.01267626
+v 0.01715351 -0.47450741 0.12875670
+v 0.18415254 -0.47808539 0.13963650
+v 0.15368000 -0.49439702 0.10228721
+v 0.01626844 -0.46286069 0.15304446
+v 0.18033752 -0.48422343 0.11366871
+v 0.11068756 -0.49181408 0.09533445
+v 0.11200254 -0.49043449 0.11285938
+f 6 4 3
+f 7 3 4
+f 8 3 7
+f 9 6 2
+f 10 4 6
+f 10 9 5
+f 10 6 9
+f 12 2 6
+f 12 6 3
+f 12 3 8
+f 13 9 2
+f 13 2 1
+f 13 5 9
+f 14 7 4
+f 14 4 10
+f 14 10 5
+f 14 5 11
+f 14 12 8
+f 14 8 7
+f 15 12 1
+f 15 1 2
+f 15 2 12
+f 16 11 5
+f 16 5 13
+f 17 13 1
+f 17 16 13
+f 17 11 16
+f 17 14 11
+f 17 1 12
+f 17 12 14
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_2.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fbc1e95333fbed8815d77c224be45c953f8e5c8
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.18333747 -0.38636364 -0.07823283
+v 0.31227920 -0.08293427 -0.08866373
+v 0.31229705 -0.00773819 -0.08851737
+v 0.01667080 -0.00757576 -0.07823283
+v 0.18427823 -0.38708340 -0.17533361
+v 0.01670305 -0.34095909 -0.16756534
+v 0.27201876 -0.08237181 -0.15235374
+v 0.10757989 -0.38636364 -0.07823283
+v 0.21183636 -0.00815874 -0.16943813
+v 0.10777084 -0.38680738 -0.17146459
+v 0.01667080 -0.34090909 -0.07823283
+v 0.22042219 -0.14389070 -0.16855061
+v 0.01660660 -0.00764778 -0.16349720
+v 0.27159210 -0.00674224 -0.15106921
+v 0.06288099 -0.22006986 -0.16823970
+v 0.19974381 -0.00770211 -0.16886449
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 7 3 2
+f 7 2 5
+f 8 5 1
+f 8 1 4
+f 10 6 5
+f 10 5 8
+f 11 8 4
+f 11 10 8
+f 11 6 10
+f 12 9 7
+f 12 7 5
+f 12 5 9
+f 13 9 5
+f 13 11 4
+f 13 6 11
+f 14 3 7
+f 14 7 9
+f 14 13 4
+f 14 4 3
+f 15 13 5
+f 15 5 6
+f 15 6 13
+f 16 14 9
+f 16 9 13
+f 16 13 14
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_20.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27284537baab63823c7719ffdac173b8f2ec62b9
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.28960934 -0.46957943 0.11421686
+v 0.31955781 -0.37111586 0.01221803
+v 0.31691389 0.23416298 0.09760592
+v 0.18333747 0.23484849 0.10358535
+v 0.19677372 -0.46561058 0.01302478
+v 0.18333747 0.23484849 0.01267626
+v 0.31040356 -0.45454004 0.10412539
+v 0.18323211 -0.45912711 0.10497117
+v 0.32324739 0.23489021 0.01289620
+v 0.31789796 -0.06719757 0.10238467
+v 0.27433142 -0.45837472 0.01292219
+v 0.21540080 -0.47236186 0.11114195
+v 0.18315277 -0.45626174 0.07272683
+v 0.31899528 -0.34068045 0.04209683
+v 0.24379340 -0.45850848 0.01283975
+v 0.31251743 -0.45253762 0.07479175
+v 0.31795852 -0.24972984 0.07121663
+v 0.31916167 -0.37114683 0.02743149
+f 1 3 4
+f 6 2 5
+f 9 2 6
+f 9 6 4
+f 9 4 3
+f 10 3 1
+f 10 1 7
+f 10 9 3
+f 11 1 5
+f 12 8 5
+f 12 5 1
+f 12 1 4
+f 12 4 8
+f 13 6 5
+f 13 5 8
+f 13 8 4
+f 13 4 6
+f 14 2 9
+f 14 9 10
+f 15 11 5
+f 15 5 2
+f 15 2 11
+f 16 11 2
+f 16 7 1
+f 16 1 11
+f 17 14 10
+f 17 10 7
+f 17 7 14
+f 18 14 7
+f 18 7 16
+f 18 16 2
+f 18 2 14
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_21.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c00695e9fc78abe87e0dfbdad80a874aba9f724f
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.14946409 -0.26535093 0.16923560
+v -0.14999587 -0.26515152 0.10358535
+v -0.14998098 0.09847954 0.16369047
+v -0.23514980 0.09844449 0.15583414
+v -0.23617793 -0.26352973 0.16133794
+v -0.14939655 0.05291832 0.16408714
+v -0.22332821 -0.26546342 0.16345332
+v -0.16431925 0.05288783 0.16337742
+v -0.22482899 0.09850152 0.15757421
+v -0.15224027 0.09889535 0.16360829
+f 3 2 4
+f 5 4 2
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 8 7 1
+f 9 4 5
+f 9 5 7
+f 9 7 8
+f 10 8 1
+f 10 1 3
+f 10 9 8
+f 10 3 4
+f 10 4 9
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_22.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae1a0cd959bdded9be02d8e68a76dd0b070969a6
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01759097 -0.47678772 0.11821490
+v 0.01688543 -0.47990947 0.10072565
+v 0.01667080 -0.38636364 0.10358535
+v -0.22397159 -0.38651880 0.16676881
+v -0.22497285 -0.47729398 0.11401873
+v 0.01675813 -0.38632762 0.17609149
+v -0.22575345 -0.38636364 0.10358535
+v -0.21022390 -0.45342930 0.16051436
+v -0.22648636 -0.47887492 0.10313515
+v -0.22626205 -0.46470647 0.15154902
+v 0.01698548 -0.45168097 0.16305527
+v -0.22429298 -0.44305544 0.16408550
+v 0.01626844 -0.46286069 0.15304446
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 3 2
+f 7 6 3
+f 7 4 6
+f 9 7 2
+f 9 2 5
+f 10 5 1
+f 10 9 5
+f 10 4 7
+f 10 7 9
+f 11 1 6
+f 11 8 10
+f 12 6 4
+f 12 10 8
+f 12 4 10
+f 12 11 6
+f 12 8 11
+f 13 11 10
+f 13 10 1
+f 13 1 11
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_23.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16137fb331249a3c227047187e1b37b1b49b1d13
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.31236187 0.23406737 0.10914141
+v 0.32181825 0.23430709 -0.02105494
+v 0.31883569 0.42983202 0.07268090
+v 0.28001011 0.46699608 0.10034373
+v 0.26429291 0.46343634 -0.01841846
+v 0.31552176 0.43216709 0.10225100
+v 0.32007153 0.23452718 0.08494739
+v 0.31880144 0.43068182 -0.01734955
+v 0.32205873 0.23489966 -0.01695621
+v 0.31704298 0.32559843 0.09900542
+v 0.31823911 0.41641011 0.08606501
+v 0.31523005 0.23487910 0.10172260
+v 0.31718827 0.34047500 0.09844063
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 9 7 2
+f 9 3 7
+f 9 8 3
+f 9 2 8
+f 10 6 1
+f 11 7 3
+f 11 3 6
+f 12 10 1
+f 12 1 7
+f 12 7 10
+f 13 10 7
+f 13 7 11
+f 13 11 6
+f 13 6 10
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_24.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e29161772550862565e97ae230179537f4cc984
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01676594 -0.26533201 0.17314735
+v 0.01676125 -0.26513804 -0.16690804
+v 0.01689774 0.23481988 0.16631063
+v -0.14994576 0.23484931 0.16241979
+v -0.15001248 -0.26518402 -0.16627730
+v 0.01642258 0.23492857 -0.15650271
+v -0.14946409 -0.26535093 0.16923560
+v -0.14984527 0.23460151 -0.15878177
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 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/bar_soap/bar_soap_0/collision/model_normalized_collision_25.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e95576381cb0878a855d6372eabd14734815e1a
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.14999587 -0.38636364 0.01267626
+v -0.14995585 -0.38632003 -0.16774401
+v -0.14969838 0.09841672 -0.16185622
+v -0.22575345 0.09848485 0.01267626
+v -0.22575345 -0.38636364 0.01267626
+v -0.22506360 -0.38631909 -0.16296907
+v -0.14999587 0.09848485 0.01267626
+v -0.22324309 0.09826218 -0.15502076
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 4
+f 8 4 3
+f 8 3 6
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_26.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08e4dad12c424f0b0822e291b1067799fd67a05a
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18036289 -0.47439996 0.00727905
+v 0.18388934 -0.48008783 -0.07737246
+v 0.18333747 -0.00757576 0.01267626
+v 0.01667080 -0.00757576 0.01267626
+v 0.01723281 -0.48439882 -0.07825629
+v 0.01736136 -0.48377203 0.01301203
+v 0.18333747 -0.00757576 -0.07823283
+v 0.01667080 -0.00757576 -0.07823283
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_27.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13d4c25e2304a084c0142f0380aec00103b577e4
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01688543 -0.47990947 0.10072565
+v 0.01734287 -0.48230918 -0.12283031
+v 0.01597107 -0.38298529 -0.16972961
+v -0.14999587 -0.38636364 0.10358535
+v -0.15010859 -0.48614429 0.01203176
+v 0.01667080 -0.38636364 0.10358535
+v -0.15008963 -0.47573231 0.10181933
+v -0.15125470 -0.38773538 -0.16766268
+v 0.01667080 -0.38636364 0.01267626
+v -0.15010841 -0.47768140 -0.12195289
+f 5 2 1
+f 6 3 4
+f 6 1 2
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 3 2
+f 8 4 3
+f 8 7 4
+f 8 5 7
+f 9 6 2
+f 9 2 3
+f 9 3 6
+f 10 8 2
+f 10 2 5
+f 10 5 8
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_28.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6156c2654e89193023e69b86cf12cd24348478f
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.22575345 -0.00757576 0.01267626
+v -0.22575345 -0.00757576 -0.06308132
+v -0.22575345 0.35606061 0.01267626
+v -0.31744883 0.35536305 0.01265322
+v -0.32265672 -0.00761700 0.01299009
+v -0.22575345 0.35606061 -0.06308132
+v -0.31644282 -0.00793189 -0.06091729
+v -0.31454174 0.35595900 -0.06280636
+v -0.31533370 0.32541190 -0.06133490
+v -0.31565418 0.35551692 -0.04702685
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 8 4 3
+f 8 3 6
+f 8 6 2
+f 8 2 7
+f 9 8 7
+f 9 7 5
+f 10 9 5
+f 10 5 4
+f 10 4 8
+f 10 8 9
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_29.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4add350e8169cb1d537abd27d8e0976b8bd60273
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01675813 -0.38632762 0.17609149
+v 0.01667080 -0.38636364 0.01267626
+v 0.01667080 -0.26515152 0.01267626
+v -0.22332821 -0.26546342 0.16345332
+v -0.22575345 -0.38636364 0.01267626
+v 0.01676594 -0.26533201 0.17314735
+v -0.22397159 -0.38651880 0.16676881
+v -0.22575345 -0.26515152 0.01267626
+f 5 3 2
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 7 6 4
+f 7 1 6
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_3.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4608afa097e419111a726f795ccce6ff52d2e62
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.18308110 0.23472672 0.16768002
+v 0.18333747 0.23484849 0.01267626
+v 0.22910720 0.46857433 0.14350541
+v -0.25506021 0.47112434 0.10192440
+v -0.14999587 0.23484849 0.01267626
+v 0.10806713 0.48798462 0.01256184
+v -0.26748003 0.44515255 0.14794106
+v 0.22880033 0.43162176 0.16180090
+v 0.19841393 0.46010904 0.03431489
+v 0.18325206 0.47846227 0.09941864
+v -0.23438875 0.45211708 0.01246677
+v -0.26019788 0.46040541 0.12669745
+v -0.14994576 0.23484931 0.16241979
+v 0.16967960 0.45981730 0.15115013
+v -0.21616472 0.47594652 0.01740477
+v -0.27023651 0.44668455 0.14704256
+v -0.08903662 0.23470989 0.16388087
+v -0.07411451 0.37041739 0.16340480
+v 0.22875247 0.46425448 0.14972964
+v 0.22882713 0.43370136 0.16150922
+v -0.22474912 0.47584052 0.05711513
+v -0.27077533 0.43180382 0.14776019
+v -0.08906796 0.35559504 0.16373351
+v 0.18349769 0.40042938 0.16419656
+v -0.26617865 0.43165117 0.14931604
+f 8 1 2
+f 8 2 3
+f 9 3 2
+f 9 2 6
+f 10 6 4
+f 10 4 3
+f 10 9 6
+f 10 3 9
+f 11 6 2
+f 11 2 5
+f 12 3 4
+f 15 11 4
+f 15 6 11
+f 16 4 11
+f 16 12 4
+f 16 3 12
+f 16 7 14
+f 17 13 5
+f 17 5 2
+f 17 2 1
+f 19 16 14
+f 19 3 16
+f 20 14 7
+f 20 19 14
+f 20 8 3
+f 20 3 19
+f 20 18 8
+f 20 7 18
+f 21 15 4
+f 21 4 6
+f 21 6 15
+f 22 16 11
+f 22 11 5
+f 22 5 13
+f 23 13 17
+f 23 17 1
+f 24 1 8
+f 24 8 18
+f 24 23 1
+f 24 18 23
+f 25 22 13
+f 25 7 16
+f 25 16 22
+f 25 13 23
+f 25 23 18
+f 25 18 7
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_30.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bb485032d7a2321e1974200870ad15b65acaa1f
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01667080 0.35606061 0.01267626
+v 0.01667080 0.35606061 -0.06308132
+v 0.01734592 0.48988387 -0.06409599
+v -0.14987339 0.48149914 0.01191730
+v -0.14999587 0.35606061 -0.06308132
+v 0.01699522 0.48167973 0.01196759
+v -0.14999587 0.35606061 0.01267626
+v 0.00169854 0.48882116 -0.06574520
+v -0.14867209 0.48236751 -0.06134307
+v -0.14999587 0.37121212 -0.06308132
+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 8 2 5
+f 9 4 3
+f 9 3 8
+f 10 9 8
+f 10 8 5
+f 10 4 9
+f 10 7 4
+f 10 5 7
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_31.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18f80609c9348ad5bf83fd663df9aadf648780e3
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01667080 0.23484849 0.01267626
+v 0.01642258 0.23492857 -0.15650271
+v 0.01667080 0.35606061 0.01267626
+v -0.14999587 0.35606061 0.01267626
+v -0.14984527 0.23460151 -0.15878177
+v 0.01661054 0.35575947 -0.15520607
+v -0.14999587 0.23484849 0.01267626
+v -0.14973826 0.35571058 -0.15537623
+v 0.00146370 0.35570912 -0.15526544
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 6 2 5
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 6
+f 9 8 6
+f 9 6 5
+f 9 5 8
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_4.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c8d1d9eb22bef52ec64b14ef6ba50ee04e0bad7
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.31251743 -0.45253762 0.07479175
+v 0.31488665 -0.43142468 -0.07793199
+v 0.31958533 -0.42966723 0.02750168
+v 0.31572891 -0.38629688 0.07273732
+v 0.18036289 -0.47439996 0.00727905
+v 0.31960227 -0.38636369 -0.01762735
+v 0.31889270 -0.43064087 -0.01713657
+v 0.26095454 -0.48079424 -0.12505356
+v 0.18362564 -0.45611201 0.07414904
+v 0.31910345 -0.41765430 0.02744796
+v 0.31923328 -0.41628287 -0.03208362
+v 0.30583206 -0.44837079 -0.07655689
+v 0.18311043 -0.47609000 -0.12528157
+v 0.18585702 -0.46382895 0.04836755
+v 0.31470279 -0.38889361 0.07900609
+v 0.18315277 -0.45626174 0.07272683
+v 0.31944199 -0.40136180 -0.03177570
+v 0.18346374 -0.47622857 -0.12280074
+f 1 3 4
+f 7 1 2
+f 7 3 1
+f 8 1 5
+f 10 6 4
+f 10 4 3
+f 10 3 6
+f 11 3 7
+f 11 7 2
+f 12 8 2
+f 12 2 1
+f 12 1 8
+f 13 6 2
+f 13 2 8
+f 14 9 5
+f 14 5 1
+f 14 1 9
+f 15 9 1
+f 15 1 4
+f 15 4 9
+f 16 9 4
+f 16 4 6
+f 16 6 13
+f 16 13 5
+f 16 5 9
+f 17 6 3
+f 17 3 11
+f 17 11 2
+f 17 2 6
+f 18 13 8
+f 18 8 5
+f 18 5 13
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_5.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c59e1f0c4b0602598e2f2a452a7835b1fae27652
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.14999587 -0.14393940 0.10358535
+v -0.14999587 -0.14393940 0.01267626
+v -0.14999587 0.09848485 0.01267626
+v -0.31280960 0.09882216 0.10308466
+v -0.31710254 -0.14399432 -0.06088186
+v -0.15224027 0.09889535 0.16360829
+v -0.31739230 -0.14239894 0.09745191
+v -0.22575345 -0.14393940 -0.06308132
+v -0.32171703 0.09843311 0.01306662
+v -0.22575345 -0.00757576 -0.06308132
+v -0.31822291 0.09855148 0.08292525
+v -0.31644282 -0.00793189 -0.06091729
+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 8 2 5
+f 9 4 3
+f 9 5 7
+f 10 9 3
+f 10 3 8
+f 11 9 7
+f 11 7 4
+f 11 4 9
+f 12 5 9
+f 12 9 10
+f 12 10 8
+f 12 8 5
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_6.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b6dc8c5ce291b6df1c1a1c239484a083aa0874e
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01667080 -0.38636364 0.01267626
+v 0.10777084 -0.38680738 -0.17146459
+v 0.01667080 -0.26515152 0.01267626
+v -0.14999587 -0.26515152 0.01267626
+v -0.14995585 -0.38632003 -0.16774401
+v 0.01676125 -0.26513804 -0.16690804
+v 0.10757989 -0.38636364 -0.07823283
+v -0.02829484 -0.38746538 -0.16884242
+v -0.14999587 -0.38636364 0.01267626
+v -0.15001248 -0.26518402 -0.16627730
+v 0.10811047 -0.34133549 -0.17001512
+v 0.10757989 -0.34090909 -0.07823283
+f 1 3 4
+f 6 4 3
+f 7 3 1
+f 8 5 2
+f 8 7 1
+f 8 2 7
+f 9 1 4
+f 9 8 1
+f 9 5 8
+f 10 4 6
+f 10 9 4
+f 10 5 9
+f 10 2 5
+f 11 7 2
+f 11 10 6
+f 11 2 10
+f 12 3 7
+f 12 7 11
+f 12 11 6
+f 12 6 3
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_7.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..521ad5a10c9006ba6abe303b5daa1c6556b3781f
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.18388934 -0.48008783 -0.07737246
+v 0.18560581 -0.46511257 -0.17041052
+v 0.18333747 -0.38636364 -0.07823283
+v -0.29896406 -0.38717279 -0.11835322
+v -0.25349431 -0.47561252 -0.13762377
+v 0.18427823 -0.38708340 -0.17533361
+v 0.01667080 -0.38636364 -0.07823283
+v 0.06178458 -0.47436881 -0.14992911
+v -0.27687657 -0.46019489 -0.10732076
+v -0.26477182 -0.38686053 -0.15402956
+v -0.10369351 -0.47359304 -0.14674210
+v 0.18346374 -0.47622857 -0.12280074
+v 0.01723281 -0.48439882 -0.07825629
+v -0.26584701 -0.44644209 -0.15459638
+v 0.07871931 -0.46532861 -0.16698864
+v -0.25345777 -0.47565861 -0.12591997
+v -0.07389892 -0.40193555 -0.16815112
+v -0.25264616 -0.46566348 -0.15153681
+v -0.05880202 -0.38718733 -0.16805414
+v -0.07355899 -0.44515010 -0.16791190
+v -0.01244089 -0.45604905 -0.16748989
+f 1 2 3
+f 6 3 2
+f 7 1 3
+f 9 7 4
+f 10 4 7
+f 10 7 3
+f 10 3 6
+f 11 8 5
+f 11 2 8
+f 12 8 2
+f 12 2 1
+f 13 5 8
+f 13 1 7
+f 13 7 9
+f 13 12 1
+f 13 8 12
+f 14 9 4
+f 14 5 9
+f 14 4 10
+f 15 11 5
+f 15 2 11
+f 16 13 9
+f 16 9 5
+f 16 5 13
+f 17 14 10
+f 18 15 5
+f 18 5 14
+f 19 17 10
+f 19 10 6
+f 19 6 17
+f 20 14 17
+f 20 18 14
+f 20 17 6
+f 20 6 2
+f 21 15 18
+f 21 18 20
+f 21 20 2
+f 21 2 15
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_8.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f7edbd88f5977dd93feeff62ef8ddc8b3b8d976
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.14998098 0.09847954 0.16369047
+v -0.14969838 0.09841672 -0.16185622
+v -0.14790680 0.47594416 -0.08941325
+v -0.21616472 0.47594652 0.01740477
+v -0.22482899 0.09850152 0.15757421
+v -0.22504232 0.41629140 -0.14755860
+v -0.14994828 0.40134022 0.16130744
+v -0.22324309 0.09826218 -0.15502076
+v -0.14932567 0.40035756 -0.15356099
+v -0.22503042 0.46967963 -0.10721495
+v -0.14987339 0.48149914 0.01191730
+v -0.22515063 0.40132786 0.15809134
+v -0.22346194 0.29485560 -0.15240549
+v -0.18023281 0.47028822 -0.10715066
+v -0.20985422 0.47898327 -0.00367279
+v -0.19427434 0.37042595 -0.15272751
+v -0.19348055 0.47570821 -0.06215048
+v -0.20912312 0.34038667 -0.15266713
+v -0.16441039 0.40041502 -0.15290002
+f 1 2 3
+f 7 1 3
+f 8 2 1
+f 8 1 5
+f 8 5 6
+f 9 3 2
+f 11 7 3
+f 12 5 1
+f 12 1 7
+f 12 4 10
+f 12 10 6
+f 12 6 5
+f 12 11 4
+f 12 7 11
+f 13 8 6
+f 13 2 8
+f 14 9 6
+f 14 6 10
+f 14 10 3
+f 14 3 9
+f 15 10 4
+f 15 4 11
+f 15 11 3
+f 16 9 2
+f 17 15 3
+f 17 3 10
+f 17 10 15
+f 18 16 2
+f 18 2 13
+f 18 13 6
+f 18 6 16
+f 19 16 6
+f 19 6 9
+f 19 9 16
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/collision/model_normalized_collision_9.obj b/bar_soap/bar_soap_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92b75ba42e2f36692e8d7664d5f8c8c495056419
--- /dev/null
+++ b/bar_soap/bar_soap_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.22539620 -0.46101638 -0.06270524
+v -0.22506360 -0.38631909 -0.16296907
+v -0.21912985 0.46769816 -0.06718357
+v -0.22323828 0.14376721 -0.15435519
+v -0.31675235 0.23444937 -0.06124233
+v -0.30429944 -0.43986072 -0.06016482
+v -0.29849492 0.43995129 -0.11348531
+v -0.27063665 -0.44696891 -0.15281197
+v -0.31243456 0.40128594 -0.06268927
+v -0.22604491 0.45085951 -0.13997082
+v -0.23360754 -0.46774284 -0.09442588
+v -0.29834286 -0.41559655 -0.11773845
+v -0.26535618 0.45060350 -0.13561738
+v -0.26477182 -0.38686053 -0.15402956
+v -0.31451762 0.23444957 -0.07534892
+v -0.29504849 0.45148349 -0.09333918
+v -0.28387888 -0.44427483 -0.14118318
+v -0.31690837 -0.18909794 -0.06031733
+v -0.27509899 0.28042686 -0.13673508
+v -0.22553691 0.46240159 -0.12777432
+v -0.23676893 0.14378150 -0.15162623
+v -0.30342325 0.44060530 -0.09193751
+v -0.28607901 0.45076451 -0.12355021
+v -0.29879532 -0.44070604 -0.09166840
+v -0.28661618 -0.37200365 -0.13845765
+v -0.31415724 -0.18913452 -0.07409494
+v -0.26812986 0.46056372 -0.12621758
+v -0.25085739 -0.03827556 -0.15120732
+v -0.22550893 0.46748077 -0.07393730
+f 1 2 3
+f 3 2 4
+f 5 1 3
+f 6 1 5
+f 9 5 3
+f 10 3 4
+f 11 8 2
+f 11 2 1
+f 11 1 6
+f 13 10 4
+f 14 2 8
+f 15 9 7
+f 15 5 9
+f 15 7 12
+f 16 9 3
+f 17 8 11
+f 18 12 6
+f 18 6 5
+f 18 5 15
+f 19 14 8
+f 20 3 10
+f 21 4 2
+f 21 2 14
+f 21 19 13
+f 21 13 4
+f 22 16 7
+f 22 7 9
+f 22 9 16
+f 23 7 16
+f 23 19 7
+f 23 13 19
+f 24 17 11
+f 24 11 6
+f 24 6 12
+f 24 12 17
+f 25 17 12
+f 25 12 7
+f 25 7 19
+f 25 19 8
+f 25 8 17
+f 26 18 15
+f 26 15 12
+f 26 12 18
+f 27 20 10
+f 27 10 13
+f 27 13 23
+f 27 23 16
+f 28 21 14
+f 28 14 19
+f 28 19 21
+f 29 27 16
+f 29 16 3
+f 29 3 20
+f 29 20 27
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/model.xml b/bar_soap/bar_soap_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cd8c5d0aa99548179ff365388f22ceca6bb5ac09
--- /dev/null
+++ b/bar_soap/bar_soap_0/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="bar_soap_3">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="1.0 0.0 0.0 0.0"/>
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diff --git a/bar_soap/bar_soap_0/visual/image0.png b/bar_soap/bar_soap_0/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f9ca3658c2bad6d48d8b1eb0b7998e0fe3bdddd
--- /dev/null
+++ b/bar_soap/bar_soap_0/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e42ac9094f728034d75835be49688edf3c7f1e3062e6a1d82df412b0acad41e
+size 708790
diff --git a/bar_soap/bar_soap_0/visual/material.mtl b/bar_soap/bar_soap_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2c21163c99725ac3802bba8225c788f9ad6177de
--- /dev/null
+++ b/bar_soap/bar_soap_0/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 175.57506100
+map_Kd material_0.png
\ No newline at end of file
diff --git a/bar_soap/bar_soap_0/visual/material_0.png b/bar_soap/bar_soap_0/visual/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f9ca3658c2bad6d48d8b1eb0b7998e0fe3bdddd
--- /dev/null
+++ b/bar_soap/bar_soap_0/visual/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e42ac9094f728034d75835be49688edf3c7f1e3062e6a1d82df412b0acad41e
+size 708790
diff --git a/bar_soap/bar_soap_0/visual/model_normalized_0.obj b/bar_soap/bar_soap_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fb207a20940a79333e8ba93180cba66b282cfa2
--- /dev/null
+++ b/bar_soap/bar_soap_0/visual/model_normalized_0.obj
@@ -0,0 +1,67542 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.06908646 0.36167760 0.16398902
+v 0.07407393 0.37231462 0.16320744
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+v 0.31621660 -0.41335539 0.06326520
+v 0.31873342 -0.42791786 0.05492527
+v 0.31879161 -0.41593560 0.03590961
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+v 0.28591927 0.03135271 0.14908712
+v 0.28901582 0.04277806 0.14710136
+v 0.28180839 0.05911616 0.15109460
+v 0.27048936 0.06444146 0.15620924
+v 0.25415466 0.05912110 0.16167694
+v 0.26298525 0.04212344 0.15906495
+v 0.25810858 0.07019822 0.16042069
+v 0.28269557 0.01997882 0.15096476
+v 0.27134961 0.02531498 0.15605676
+v 0.20089960 0.47477339 -0.01131831
+v 0.20933832 0.47441438 -0.01739754
+v 0.20120563 0.47569254 -0.02763684
+v 0.20921080 0.46980791 0.00105116
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+v 0.19252375 0.47682721 -0.00163843
+v 0.20056880 0.47280882 0.00309474
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+v 0.21701736 0.47593167 -0.03130683
+v 0.20722307 0.47558883 -0.03846719
+v 0.19101840 0.47645833 -0.03604844
+v 0.07736695 0.34512263 0.16536507
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+v 0.05917221 0.34037203 0.16546546
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+f 14074/14074/14074 14077/14077/14077 14075/14075/14075
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+f 12151/12151/12151 11053/11053/11053 11052/11052/11052
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+f 14080/14080/14080 14088/14088/14088 14081/14081/14081
+f 14080/14080/14080 14087/14087/14087 14088/14088/14088
+f 14081/14081/14081 14089/14089/14089 14082/14082/14082
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+f 14085/14085/14085 13058/13058/13058 14086/14086/14086
+f 14086/14086/14086 13058/13058/13058 13057/13057/13057
+f 14086/14086/14086 13059/13059/13059 14087/14087/14087
+f 14086/14086/14086 13057/13057/13057 13059/13059/13059
+f 14087/14087/14087 13059/13059/13059 14088/14088/14088
+f 12357/12357/12357 14090/14090/14090 14084/14084/14084
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+f 14089/14089/14089 14091/14091/14091 13001/13001/13001
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+f 5623/5623/5623 14092/14092/14092 5621/5621/5621
+f 8554/8554/8554 8553/8553/8553 13677/13677/13677
+f 8554/8554/8554 13677/13677/13677 14092/14092/14092
+f 14092/14092/14092 14093/14093/14093 5621/5621/5621
+f 14092/14092/14092 13677/13677/13677 14093/14093/14093
+f 5633/5633/5633 14093/14093/14093 9854/9854/9854
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+f 9854/9854/9854 14093/14093/14093 13678/13678/13678
+f 14093/14093/14093 13677/13677/13677 13678/13678/13678
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_0.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eac6a944195a5397a85fd446b57db26837bdea2
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.25613780 -0.00755218 0.12475211
+v -0.24214147 -0.00758711 -0.13154345
+v -0.23724179 0.47948125 -0.05453864
+v -0.23824386 0.48187099 -0.03984410
+v -0.33307777 0.35377139 -0.03965605
+v -0.33302622 -0.00757575 -0.06142084
+v -0.25211567 0.36254104 0.11702135
+v -0.29475353 0.39877443 -0.09861875
+v -0.28051061 -0.00773962 -0.11505595
+v -0.33331121 -0.00757575 0.05464625
+v -0.33202833 0.35429532 0.04718634
+v -0.23778779 0.39924830 -0.11900575
+v -0.33272212 0.29460546 -0.06098738
+v -0.31247752 0.41280917 -0.06774039
+v -0.30185915 0.30968945 -0.10407512
+v -0.30851719 0.35436981 0.08832840
+v -0.33236099 0.30977750 0.05402461
+v -0.26392518 0.44546629 -0.08892555
+v -0.23657046 0.43992697 -0.10325711
+v -0.26939243 0.46873591 -0.04022969
+v -0.33178783 0.34012099 -0.05466251
+v -0.28047861 0.11359431 -0.11447700
+v -0.26572351 0.36863141 -0.11385671
+v -0.30273508 -0.00760395 -0.10545637
+v -0.31133975 -0.00757575 0.09011094
+v -0.31963754 0.35368199 0.07066567
+v -0.30676764 0.40910681 -0.07864510
+v -0.23655429 0.46491444 -0.07954058
+v -0.26675333 0.46278242 -0.06169191
+v -0.25119797 0.47663064 -0.03884203
+v -0.31658677 0.36809471 -0.07542667
+v -0.25128670 0.39848084 -0.11434535
+v -0.25019590 0.47424090 -0.05353657
+f 1 2 3
+f 1 3 4
+f 7 1 4
+f 9 2 1
+f 10 5 6
+f 10 6 9
+f 13 6 5
+f 14 5 11
+f 16 1 7
+f 17 11 5
+f 17 5 10
+f 19 2 12
+f 19 12 8
+f 19 8 18
+f 20 4 3
+f 20 14 11
+f 20 16 7
+f 21 13 5
+f 21 5 14
+f 22 15 2
+f 22 2 9
+f 23 12 2
+f 23 2 15
+f 23 15 8
+f 24 9 6
+f 24 6 13
+f 24 13 15
+f 24 22 9
+f 24 15 22
+f 25 1 16
+f 25 10 9
+f 25 9 1
+f 25 17 10
+f 25 16 17
+f 26 17 16
+f 26 11 17
+f 26 20 11
+f 26 16 20
+f 27 18 8
+f 27 14 18
+f 28 3 2
+f 28 2 19
+f 28 19 18
+f 29 18 14
+f 29 14 20
+f 29 28 18
+f 29 3 28
+f 30 20 7
+f 30 7 4
+f 30 4 20
+f 31 15 13
+f 31 13 21
+f 31 8 15
+f 31 27 8
+f 31 21 14
+f 31 14 27
+f 32 23 8
+f 32 8 12
+f 32 12 23
+f 33 29 20
+f 33 20 3
+f 33 3 29
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_1.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fee454eec563d17cf6a413f5832b216ee448afbf
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.32128356 -0.39935646 -0.06448724
+v 0.31451747 -0.39811919 -0.07523810
+v 0.32187487 0.38431217 -0.06456521
+v 0.20118045 0.47601493 -0.07394094
+v 0.19672485 -0.34090909 -0.05701364
+v 0.23967756 0.23469049 -0.13085337
+v 0.32027587 -0.34269208 -0.07813242
+v 0.28263690 -0.39966090 -0.10675778
+v 0.28124448 0.46263208 -0.05373543
+v 0.25018014 0.41073240 -0.11400920
+v 0.19557956 -0.34040712 -0.14157467
+v 0.30159132 -0.36750429 -0.10352729
+v 0.30640376 -0.40539998 -0.08495676
+v 0.25559369 0.47329213 -0.05612234
+v 0.19466808 0.35374163 -0.13264878
+v 0.30215693 0.35268451 -0.10281118
+v 0.24912641 -0.33976316 -0.13008463
+v 0.29520396 -0.39870188 -0.10114001
+v 0.23702546 0.45292354 -0.09853240
+v 0.22477691 0.30974869 -0.13097665
+v 0.19460461 0.46460977 -0.09479150
+v 0.29533989 0.39887580 -0.09899128
+v 0.24939031 0.00741126 -0.13018101
+v 0.23719418 0.45945438 -0.09153263
+v 0.20955572 0.35344411 -0.13068921
+v 0.28003622 0.29442612 -0.11444763
+v 0.26517422 0.38305971 -0.11308708
+v 0.19570665 0.47119163 -0.08363011
+v 0.19468355 0.42464943 -0.11763955
+v 0.28045304 0.43793994 -0.08700165
+v 0.30125844 0.39846391 -0.09116443
+v 0.27976451 0.45955678 -0.06109816
+v 0.19490183 0.45482825 -0.10286484
+v 0.22454279 0.42309089 -0.11434983
+v 0.26377775 0.44698512 -0.08960834
+v 0.26384782 0.45783419 -0.07517358
+f 7 3 1
+f 9 5 1
+f 9 1 3
+f 11 8 5
+f 12 7 1
+f 12 1 2
+f 13 2 1
+f 13 1 5
+f 13 5 8
+f 13 12 2
+f 14 4 5
+f 14 5 9
+f 15 6 11
+f 16 3 7
+f 16 7 12
+f 17 12 8
+f 17 8 11
+f 18 13 8
+f 18 8 12
+f 18 12 13
+f 20 6 15
+f 21 15 11
+f 21 11 5
+f 23 17 11
+f 23 11 6
+f 23 12 17
+f 24 4 14
+f 24 19 21
+f 25 20 15
+f 25 15 10
+f 26 6 20
+f 26 23 6
+f 26 16 12
+f 26 12 23
+f 27 26 20
+f 27 16 26
+f 27 22 16
+f 27 10 22
+f 27 25 10
+f 27 20 25
+f 28 21 5
+f 28 5 4
+f 28 24 21
+f 28 4 24
+f 29 10 15
+f 29 15 21
+f 30 22 10
+f 30 10 19
+f 31 3 16
+f 31 16 22
+f 31 30 3
+f 31 22 30
+f 32 24 14
+f 32 14 9
+f 32 9 3
+f 32 3 30
+f 33 29 21
+f 33 21 19
+f 33 19 29
+f 34 29 19
+f 34 19 10
+f 34 10 29
+f 35 30 19
+f 35 19 24
+f 35 32 30
+f 36 35 24
+f 36 24 32
+f 36 32 35
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_10.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f78377bf691aeb1e3524f9e1ead3f828a1a26303
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.31118946 -0.00756495 0.09320810
+v 0.33305969 -0.00757575 -0.06224654
+v 0.33109666 0.36949059 0.04728189
+v 0.28252186 0.46482545 0.04078542
+v 0.31492712 -0.00757575 -0.08999817
+v 0.28584372 0.35490455 0.10559460
+v 0.33338670 -0.00757575 0.05547492
+v 0.30021348 0.40847054 -0.09000514
+v 0.30439051 0.35257895 0.09807585
+v 0.28169672 0.39700504 0.09524663
+v 0.33149299 0.35336075 -0.05475583
+v 0.28357745 0.42618202 -0.09224334
+v 0.33122219 0.34002341 0.05414210
+v 0.30308661 0.41243983 0.08159928
+v 0.33134121 0.39920612 -0.00881265
+v 0.33160462 0.32487682 -0.06110243
+v 0.28737364 0.40139748 -0.10176708
+v 0.28124448 0.46263208 -0.05373543
+v 0.31410182 0.39814160 0.06774000
+v 0.28028921 0.44947137 0.06611881
+v 0.31589548 0.43622866 0.03806025
+v 0.31578114 0.42089224 -0.05742161
+v 0.30125844 0.39846391 -0.09116443
+v 0.28886152 0.42144722 -0.09231893
+v 0.31626967 0.41888238 0.05338581
+v 0.33113436 0.38464590 0.03213426
+v 0.29608523 0.46095850 0.03821884
+v 0.30194476 0.46367186 -0.00874546
+v 0.29892106 0.45060086 -0.05312786
+v 0.33122201 0.39908992 0.00277588
+v 0.28748198 0.44715281 0.06434274
+v 0.31422080 0.43629847 -0.02222238
+v 0.30226042 0.46290016 0.00307264
+v 0.29406987 0.45730206 -0.05254198
+f 7 5 2
+f 7 1 5
+f 9 6 1
+f 10 5 1
+f 10 1 6
+f 12 5 10
+f 13 3 9
+f 13 9 1
+f 13 1 7
+f 14 10 6
+f 14 6 9
+f 15 7 11
+f 16 2 5
+f 16 11 7
+f 16 7 2
+f 17 5 12
+f 18 12 10
+f 19 14 9
+f 19 9 3
+f 20 10 14
+f 20 18 10
+f 20 4 18
+f 22 15 11
+f 22 11 8
+f 23 16 5
+f 23 8 11
+f 23 11 16
+f 23 17 8
+f 23 5 17
+f 24 17 12
+f 24 8 17
+f 25 21 14
+f 25 14 19
+f 25 19 3
+f 25 3 21
+f 26 21 3
+f 26 7 15
+f 26 13 7
+f 26 3 13
+f 27 14 21
+f 27 4 20
+f 28 18 4
+f 29 22 8
+f 29 8 24
+f 29 28 22
+f 30 26 15
+f 30 15 21
+f 30 21 26
+f 31 27 20
+f 31 20 14
+f 31 14 27
+f 32 28 21
+f 32 21 15
+f 32 15 22
+f 32 22 28
+f 33 27 21
+f 33 21 28
+f 33 28 4
+f 33 4 27
+f 34 18 28
+f 34 28 29
+f 34 12 18
+f 34 29 24
+f 34 24 12
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_11.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e00486730d34c7cdfb5bde0f50470bc23f25672
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v -0.15342360 0.36745042 0.13221763
+v -0.15176001 0.35606061 -0.05701364
+v -0.15101646 0.49111231 -0.05503896
+v -0.24030734 0.48079535 0.04245081
+v -0.33367741 0.35446962 0.03221854
+v -0.15237524 0.45558751 0.09276329
+v -0.28102627 0.35222444 0.10786276
+v -0.28633160 0.36081698 -0.10702526
+v -0.15129800 0.49436813 0.01720384
+v -0.33307777 0.35377139 -0.03965605
+v -0.24201737 0.35561352 0.12325087
+v -0.30145041 0.41220350 0.08383269
+v -0.18582979 0.43003950 -0.11547489
+v -0.28026959 0.45897215 -0.05893795
+v -0.21039221 0.49086189 -0.00872911
+v -0.15251521 0.42724507 0.11096639
+v -0.31963754 0.35368199 0.07066567
+v -0.32537169 0.35455496 -0.06642253
+v -0.29602491 0.39679677 0.09039190
+v -0.24030734 0.45429488 0.08202191
+v -0.29375414 0.41026851 -0.09512915
+v -0.23655429 0.46491444 -0.07954058
+v -0.29708466 0.46116831 0.03854989
+v -0.19538051 0.49042241 0.01675112
+v -0.24030734 0.41177532 0.10780679
+v -0.31668076 0.41848960 0.05309874
+v -0.30223655 0.35310670 0.09875645
+v -0.27246013 0.41592577 -0.10112230
+v -0.31860879 0.41064265 -0.06138558
+v -0.18404645 0.45492240 -0.10339648
+v -0.27891377 0.43684761 -0.08714986
+v -0.23525894 0.47648804 -0.06216563
+v -0.26561904 0.47388954 -0.02268662
+v -0.28094277 0.45859188 0.05202205
+v -0.21027787 0.49012858 0.00195049
+v -0.24030734 0.43660047 0.09311862
+v -0.31599252 0.38336800 0.06838621
+v -0.33211282 0.36945576 0.03204423
+v -0.30487600 0.45320203 0.03826718
+v -0.30189886 0.36745064 0.09536974
+v -0.19598889 0.46997399 -0.08305508
+v -0.26755619 0.44071536 -0.08971338
+v -0.30252179 0.43665678 -0.06033568
+v -0.16442912 0.49018014 -0.05471553
+v -0.26609097 0.47400709 0.03228153
+v -0.29586945 0.45860538 -0.03780933
+v -0.26448533 0.44886448 0.07546102
+v -0.25027462 0.43484887 0.09032558
+v -0.31602700 0.43651972 -0.00804685
+v -0.33208912 0.38385942 0.01782151
+v -0.29019707 0.42068088 -0.08969309
+v -0.25219746 0.47779576 0.03951192
+v -0.31618374 0.42088902 -0.05292587
+v -0.31533274 0.43684470 0.01753017
+v -0.33087224 0.38375184 -0.02419367
+v -0.30080627 0.45105008 -0.03772126
+v -0.33094954 0.36861163 -0.03935608
+f 9 4 6
+f 9 2 3
+f 10 2 7
+f 11 7 2
+f 11 2 1
+f 13 3 2
+f 13 2 8
+f 15 9 3
+f 16 9 6
+f 16 1 2
+f 16 2 9
+f 17 10 7
+f 17 5 10
+f 18 8 2
+f 18 2 10
+f 20 6 4
+f 20 16 6
+f 21 8 18
+f 24 4 9
+f 25 11 1
+f 25 1 16
+f 25 19 11
+f 25 12 19
+f 27 17 7
+f 27 12 17
+f 28 13 8
+f 28 8 21
+f 29 21 18
+f 29 18 10
+f 30 3 13
+f 30 13 28
+f 31 28 21
+f 32 22 14
+f 33 15 32
+f 34 20 4
+f 34 4 23
+f 35 15 4
+f 35 4 24
+f 35 24 9
+f 35 9 15
+f 36 25 16
+f 36 16 20
+f 37 26 17
+f 37 17 12
+f 37 12 26
+f 38 5 17
+f 38 17 26
+f 39 26 12
+f 39 12 23
+f 40 27 7
+f 40 19 12
+f 40 12 27
+f 40 7 11
+f 40 11 19
+f 41 30 22
+f 41 3 30
+f 41 22 32
+f 42 31 14
+f 42 14 22
+f 42 22 30
+f 42 30 28
+f 42 28 31
+f 43 14 31
+f 43 21 29
+f 44 32 15
+f 44 15 3
+f 44 41 32
+f 44 3 41
+f 45 33 23
+f 45 15 33
+f 46 33 32
+f 46 32 14
+f 46 23 33
+f 46 14 43
+f 46 39 23
+f 47 34 23
+f 47 23 12
+f 47 12 20
+f 47 20 34
+f 48 36 20
+f 48 20 12
+f 48 12 25
+f 48 25 36
+f 49 39 46
+f 50 10 5
+f 50 5 38
+f 50 38 26
+f 51 43 31
+f 51 31 21
+f 51 21 43
+f 52 45 23
+f 52 23 4
+f 52 4 15
+f 52 15 45
+f 53 46 43
+f 53 43 29
+f 53 29 49
+f 54 26 39
+f 54 39 49
+f 54 50 26
+f 54 49 50
+f 55 50 49
+f 55 49 29
+f 55 10 50
+f 56 53 49
+f 56 49 46
+f 56 46 53
+f 57 55 29
+f 57 29 10
+f 57 10 55
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_12.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da78d93dc8639fb6431f06f1fc67e7b4b755476d
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.31626127 -0.39884419 0.06937974
+v 0.33089432 -0.36873417 -0.05464078
+v 0.33338670 -0.00757575 0.05547492
+v 0.19667483 -0.00757743 0.13964746
+v 0.19672485 -0.40151515 -0.05701364
+v 0.29518641 -0.18940637 0.10870033
+v 0.33127318 -0.35528197 0.05427170
+v 0.30640376 -0.40539998 -0.08495676
+v 0.19450929 -0.39609193 0.12415652
+v 0.19672485 -0.00757575 -0.05701364
+v 0.26449399 -0.00762912 0.12272855
+v 0.33076165 -0.39977765 0.03210327
+v 0.33129330 -0.34002167 -0.06125773
+v 0.30394435 -0.38252603 0.09484312
+v 0.20884492 -0.30883727 0.13736567
+v 0.29596918 -0.39780205 0.09468541
+v 0.31492712 -0.00757575 -0.08999817
+v 0.19432094 -0.05311062 0.14027553
+v 0.19411908 -0.30908565 0.13985702
+v 0.33071520 -0.38462152 0.04725002
+v 0.33068922 -0.39905499 -0.02436563
+v 0.32128356 -0.39935646 -0.06448724
+v 0.31628194 -0.18939394 0.08464620
+v 0.20902928 -0.05308364 0.13788698
+v 0.26355259 -0.32409237 0.12115832
+v 0.33305969 -0.00757575 -0.06224654
+v 0.24976617 -0.36709130 0.12334491
+v 0.31472139 -0.34006619 0.08375547
+v 0.29419819 -0.33958829 0.10585924
+v 0.26588280 -0.39625754 0.10796761
+v 0.23923109 -0.38074598 0.12196614
+v 0.20897812 -0.39594379 0.12217842
+f 9 5 8
+f 10 4 3
+f 11 6 3
+f 11 3 4
+f 12 1 8
+f 13 3 7
+f 13 7 12
+f 14 1 7
+f 16 9 8
+f 16 8 1
+f 16 1 14
+f 17 8 5
+f 17 5 10
+f 17 13 8
+f 18 4 10
+f 19 10 5
+f 19 5 9
+f 19 18 10
+f 20 12 7
+f 20 7 1
+f 20 1 12
+f 21 12 8
+f 21 13 12
+f 21 2 13
+f 22 13 2
+f 22 8 13
+f 22 21 8
+f 22 2 21
+f 23 7 3
+f 23 3 6
+f 24 15 11
+f 24 11 4
+f 24 4 18
+f 24 19 15
+f 24 18 19
+f 25 6 11
+f 25 11 15
+f 26 3 13
+f 26 13 17
+f 26 17 10
+f 26 10 3
+f 27 19 9
+f 27 15 19
+f 27 25 15
+f 27 16 14
+f 28 14 7
+f 28 7 23
+f 28 23 6
+f 28 6 14
+f 29 14 6
+f 29 6 25
+f 29 27 14
+f 29 25 27
+f 30 16 27
+f 31 30 27
+f 31 27 9
+f 32 9 16
+f 32 16 30
+f 32 31 9
+f 32 30 31
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_13.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d86f89d2ff5f622fb62a8f82f4d5155ac11abd20
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.19490380 0.41310255 0.11323561
+v 0.25976564 0.43528232 0.08468799
+v -0.17964609 0.47369089 0.06875048
+v -0.23990753 0.48503302 0.01809623
+v 0.19672485 0.41666668 0.01874393
+v 0.16574101 0.49120501 0.04162802
+v -0.24141743 0.41465617 0.10644715
+v 0.25552376 0.42924698 0.09053945
+v -0.15111992 0.49144910 0.04229043
+v 0.17994213 0.49264455 0.01699948
+v 0.22380579 0.46249552 0.07744274
+v -0.12059367 0.43553767 0.10714103
+v -0.26806338 0.45196490 0.07170755
+v -0.22548329 0.41230394 0.10964378
+v -0.15176001 0.41666668 0.01874393
+v 0.24035152 0.42489746 0.09898865
+v -0.24030734 0.47429312 0.05391413
+v 0.17887201 0.47395771 0.06884671
+v -0.18039799 0.49200301 0.01693475
+v 0.19653130 0.49065259 0.01853695
+v -0.22495433 0.46178778 0.07945642
+v 0.12001872 0.43554871 0.10716944
+v -0.19460261 0.45033387 0.09085734
+v -0.25471047 0.47919799 0.02156814
+v -0.27503385 0.45164671 0.06685137
+v 0.19402721 0.42160436 0.10906572
+v 0.25426003 0.45775198 0.07261730
+v -0.18021436 0.49028558 0.03188674
+v 0.17975357 0.49091851 0.03194933
+v -0.24030734 0.43660047 0.09311862
+v -0.25051436 0.46069850 0.06994874
+v 0.19348105 0.44991720 0.09080887
+v -0.22470637 0.41970888 0.10595684
+v -0.27129015 0.44434239 0.07557641
+v -0.27062829 0.45680423 0.06118257
+v 0.25001815 0.45171664 0.07846876
+v -0.24907155 0.42695068 0.09574850
+v 0.23918965 0.43564987 0.09220993
+f 8 5 2
+f 10 9 6
+f 14 5 1
+f 14 1 12
+f 15 14 7
+f 15 5 14
+f 16 1 5
+f 16 5 8
+f 17 3 9
+f 18 9 3
+f 18 6 9
+f 18 11 6
+f 18 3 12
+f 19 9 10
+f 19 15 4
+f 19 10 5
+f 19 5 15
+f 20 5 10
+f 21 12 3
+f 21 3 17
+f 22 12 1
+f 22 18 12
+f 23 12 21
+f 24 4 15
+f 24 17 4
+f 25 24 15
+f 26 1 16
+f 26 22 1
+f 27 8 2
+f 27 2 5
+f 27 5 20
+f 27 6 11
+f 28 17 9
+f 28 4 17
+f 28 19 4
+f 28 9 19
+f 29 20 10
+f 29 10 6
+f 29 27 20
+f 29 6 27
+f 30 21 13
+f 31 21 17
+f 31 17 13
+f 31 13 21
+f 32 11 18
+f 32 18 22
+f 32 22 26
+f 32 26 16
+f 32 16 11
+f 33 14 12
+f 33 12 23
+f 33 7 14
+f 33 30 7
+f 33 23 21
+f 33 21 30
+f 34 25 15
+f 34 15 7
+f 34 13 25
+f 34 30 13
+f 35 17 24
+f 35 24 25
+f 35 25 13
+f 35 13 17
+f 36 16 8
+f 36 8 27
+f 36 27 11
+f 37 34 7
+f 37 7 30
+f 37 30 34
+f 38 36 11
+f 38 11 16
+f 38 16 36
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_14.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f7eef8719367e357f644056c7e4246027645cc7
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.12211059 -0.39378171 0.13120080
+v 0.12067201 -0.38448105 0.13447149
+v -0.06076976 -0.39429739 0.13359387
+v -0.03054788 0.36968090 0.13496065
+v 0.12218553 0.36384893 0.13493347
+v -0.03526079 -0.31286278 0.15549848
+v -0.04439007 0.34291499 0.11150075
+v 0.10484627 -0.38007346 0.13683607
+v 0.12019403 -0.36628184 0.14074414
+v -0.06085091 0.35369952 0.13985939
+v 0.01490666 0.36968090 0.13496065
+v 0.07924063 0.27443690 0.15549848
+v -0.06090859 -0.38072489 0.13809212
+v 0.01694076 0.34252887 0.15538916
+v 0.12016092 0.35358632 0.13819271
+v 0.06459925 -0.31316069 0.15549848
+v -0.06085091 -0.30854567 0.14896445
+v 0.00844562 0.35410391 0.14895061
+v -0.04428296 0.33308312 0.15549848
+v -0.02549206 0.35539838 0.14895061
+v -0.03573755 0.34416610 0.15549848
+f 7 1 3
+f 7 5 1
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 9 1 5
+f 9 8 2
+f 10 7 3
+f 10 4 7
+f 11 7 4
+f 11 5 7
+f 13 3 8
+f 13 8 9
+f 13 10 3
+f 15 12 9
+f 15 9 5
+f 15 14 12
+f 15 5 14
+f 16 12 6
+f 16 9 12
+f 16 13 9
+f 16 6 13
+f 17 13 6
+f 17 10 13
+f 18 14 5
+f 18 5 11
+f 19 6 12
+f 19 17 6
+f 19 10 17
+f 20 18 11
+f 20 11 4
+f 20 4 10
+f 20 14 18
+f 21 20 10
+f 21 10 19
+f 21 14 20
+f 21 19 12
+f 21 12 14
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_15.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fc1c53513fb7b278fb1e6244fe2ca764f9ffaee
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.19616704 -0.45926267 0.09050355
+v 0.19779159 -0.47798952 -0.06669713
+v 0.19598914 -0.26521166 -0.14421037
+v 0.12060292 -0.26518845 0.14831534
+v 0.12133749 -0.48031470 -0.06801295
+v 0.19435704 -0.26519419 0.14124969
+v 0.12099353 -0.46245017 0.09495919
+v 0.12054286 -0.39733246 -0.13601607
+v 0.16553104 -0.36553238 0.13856073
+v 0.19472446 -0.39600005 -0.13082435
+v 0.12032527 -0.26534261 -0.15276219
+v 0.12018306 -0.41157857 0.12517630
+v 0.19450929 -0.39609193 0.12415652
+v 0.13513322 -0.36562035 -0.14568122
+v 0.12002567 -0.36586978 -0.14645708
+v 0.12019403 -0.36628184 0.14074414
+v 0.12023225 -0.43813086 0.11244257
+v 0.19362233 -0.33909883 0.13694971
+v 0.17897855 -0.41031519 0.12145222
+v 0.17847944 -0.32440153 -0.14592541
+v 0.19400729 -0.43535537 0.10767340
+v 0.17852157 -0.26540100 -0.14767511
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 8 2 5
+f 9 6 4
+f 10 3 2
+f 10 2 8
+f 11 4 3
+f 13 1 6
+f 14 10 8
+f 15 8 5
+f 15 14 8
+f 15 11 14
+f 16 12 9
+f 16 9 4
+f 16 15 12
+f 16 4 11
+f 16 11 15
+f 17 7 1
+f 17 5 7
+f 17 15 5
+f 17 12 15
+f 18 13 6
+f 18 6 9
+f 18 9 13
+f 19 13 9
+f 19 9 12
+f 19 12 17
+f 20 14 11
+f 20 3 10
+f 20 10 14
+f 21 19 17
+f 21 17 1
+f 21 1 13
+f 21 13 19
+f 22 20 11
+f 22 11 3
+f 22 3 20
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_16.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d0ac6709c7192c5fe680d12c7805977cae8d802
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.19627357 -0.48571127 -0.05421075
+v 0.19565910 -0.46203993 -0.09324673
+v 0.19672485 -0.40151515 -0.05701364
+v -0.26961769 -0.39998746 -0.10900771
+v -0.16500996 -0.47458256 -0.07666926
+v 0.16562532 -0.39699607 -0.13386626
+v 0.19631037 -0.40037244 -0.12922849
+v 0.15090696 -0.47456880 -0.07652173
+v -0.28306253 -0.46300650 -0.05285043
+v -0.25072367 -0.39754726 -0.11700079
+v -0.17921009 -0.43477587 -0.11505226
+v 0.19514434 -0.42417588 -0.12011146
+v -0.23789332 -0.47896231 -0.05308514
+v -0.30086482 -0.44524444 -0.05612609
+v -0.22549178 -0.45089319 -0.09909811
+v -0.17914341 -0.39688587 -0.13209662
+v 0.19571041 -0.45111931 -0.10214221
+v 0.16537588 -0.41073235 -0.12946425
+v -0.29769448 -0.42400749 -0.07761931
+v -0.22502423 -0.45860487 -0.09047349
+v -0.25053627 -0.41334920 -0.11406980
+v -0.17943005 -0.41226536 -0.12811609
+v 0.18041178 -0.43437233 -0.11504923
+v -0.26503157 -0.44540621 -0.08769997
+v -0.23655172 -0.47534951 -0.06088348
+v -0.23566272 -0.42088408 -0.11543536
+v -0.29106565 -0.45302795 -0.06021530
+v -0.26671764 -0.42205748 -0.10214425
+v -0.28174675 -0.45947366 -0.06040489
+v -0.29397309 -0.45551014 -0.05458067
+f 7 3 1
+f 7 6 3
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 1 3
+f 10 4 3
+f 10 3 6
+f 13 5 1
+f 13 1 9
+f 14 9 3
+f 15 11 2
+f 15 2 5
+f 16 10 6
+f 17 12 7
+f 17 2 11
+f 17 7 1
+f 17 1 2
+f 18 6 7
+f 18 7 12
+f 19 14 3
+f 19 3 4
+f 20 15 5
+f 21 4 10
+f 21 10 16
+f 22 16 6
+f 22 6 18
+f 22 18 11
+f 23 17 11
+f 23 11 18
+f 23 18 12
+f 23 12 17
+f 24 15 20
+f 25 20 5
+f 25 5 13
+f 25 13 9
+f 26 21 16
+f 26 16 22
+f 26 15 24
+f 26 22 11
+f 26 11 15
+f 27 14 19
+f 27 19 24
+f 28 24 19
+f 28 19 4
+f 28 4 21
+f 28 26 24
+f 28 21 26
+f 29 24 20
+f 29 20 25
+f 29 25 9
+f 29 27 24
+f 30 9 14
+f 30 14 27
+f 30 29 9
+f 30 27 29
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_17.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6d7e115d329ce8989a030d4e4fcccb5bbb20a80
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.19435704 -0.26519419 0.14124969
+v 0.19672485 -0.26515152 0.01874393
+v 0.19672485 0.41666668 0.01874393
+v 0.12069560 0.41498076 0.11930449
+v 0.12096727 -0.26515152 0.01874393
+v 0.19408619 0.38119932 0.12319295
+v 0.12060292 -0.26518845 0.14831534
+v 0.12096727 0.41666668 0.01874393
+v 0.19490380 0.41310255 0.11323561
+v 0.12023011 0.33937514 0.13959465
+v 0.19405621 0.29379505 0.13772827
+v 0.17861374 0.39572272 0.12115413
+v 0.12022225 0.39689168 0.12487268
+v 0.17884963 0.32399234 0.13710253
+v 0.15046553 0.33923445 0.13817180
+f 5 2 1
+f 5 3 2
+f 7 5 1
+f 8 4 3
+f 8 3 5
+f 9 3 4
+f 9 1 2
+f 9 2 3
+f 11 9 6
+f 11 1 9
+f 11 10 7
+f 11 7 1
+f 12 9 4
+f 12 6 9
+f 13 4 8
+f 13 8 5
+f 13 5 7
+f 13 7 10
+f 13 12 4
+f 14 11 6
+f 15 6 12
+f 15 14 6
+f 15 10 11
+f 15 11 14
+f 15 13 10
+f 15 12 13
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_18.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7eefa68e6e9e01a4280e6c058e296d822821e11
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.19672485 -0.00757575 0.01874393
+v 0.19550440 -0.00764140 -0.14082540
+v 0.19672485 0.09848485 0.01874393
+v 0.01490666 0.09848485 0.01874393
+v 0.01490666 -0.00757575 0.01874393
+v 0.01490666 0.09821007 -0.14823882
+v 0.13527521 -0.00782872 -0.14746192
+v 0.19534020 0.09840584 -0.13940127
+v 0.01490666 -0.00781415 -0.15020260
+v 0.10500547 0.09822777 -0.14719310
+v 0.13524590 0.02242806 -0.14691950
+v 0.12014261 0.06792018 -0.14691139
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 5 4
+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 8 2 7
+f 8 6 4
+f 8 4 3
+f 9 7 5
+f 9 5 6
+f 10 6 8
+f 10 9 6
+f 10 7 9
+f 11 8 7
+f 11 7 10
+f 12 11 10
+f 12 10 8
+f 12 8 11
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_19.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..316705201720acfaf64d55940a1e74c4838bb469
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01490666 -0.40151515 0.01874393
+v 0.01485016 -0.39786163 -0.13734675
+v 0.01490666 -0.26515152 0.01874393
+v -0.15176001 -0.26515152 0.01874393
+v -0.15176001 -0.40151515 0.01874393
+v 0.01490666 -0.26530170 -0.15496994
+v -0.15141603 -0.39793292 -0.13553132
+v 0.01488732 -0.36604689 -0.14837062
+v -0.15096191 -0.26535406 -0.15057239
+v -0.15086126 -0.35493452 -0.14673536
+v -0.13564294 -0.36557567 -0.14589758
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 8 2 7
+f 8 6 1
+f 8 1 2
+f 9 7 4
+f 9 4 6
+f 10 7 9
+f 10 9 6
+f 10 6 8
+f 11 10 8
+f 11 8 7
+f 11 7 10
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_2.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75fc60b753392c355cf1e1a305e5ba5b83b42eb7
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.29521721 0.23483576 0.10820188
+v 0.32163142 0.23490076 -0.07946165
+v 0.27995528 0.45857613 0.05178912
+v 0.19491611 0.49261844 0.00215577
+v 0.19672485 0.23484849 -0.05701364
+v 0.25889423 0.44977729 -0.08951521
+v 0.19408619 0.38119932 0.12319295
+v 0.32182187 0.31001970 0.07269219
+v 0.28124448 0.46263208 -0.05373543
+v 0.19860891 0.45450691 -0.10256565
+v 0.19471979 0.47871746 0.05640241
+v 0.19651770 0.23484118 0.13860702
+v 0.19407795 0.47516966 -0.07726085
+v 0.32285621 0.23484849 0.07331096
+v 0.30439051 0.35257895 0.09807585
+v 0.26509155 0.47442835 0.03710268
+v 0.20887186 0.42044248 0.10727536
+v 0.26445016 0.23479358 0.12221313
+v 0.20975745 0.48967142 -0.02436411
+v 0.24898836 0.47364319 -0.06043280
+v 0.25057945 0.46207361 -0.07782191
+v 0.19402721 0.42160436 0.10906572
+v 0.31522619 0.30963165 0.08388732
+v 0.24990113 0.46131775 0.07008902
+v 0.23957917 0.47401974 0.05351569
+v 0.24954140 0.35259665 0.12226542
+v 0.26406230 0.29389240 0.12135635
+v 0.19481173 0.49141032 -0.02459201
+v 0.20985122 0.49082890 0.00198388
+v 0.26429361 0.47362645 -0.03767249
+v 0.20873594 0.47366827 -0.07594622
+v 0.23935248 0.41113391 0.10684549
+v 0.31622918 0.23484085 0.08453880
+v 0.29442536 0.30905505 0.10633744
+v 0.23929863 0.36533613 0.12118671
+v 0.28015485 0.41098530 0.09150536
+v 0.27911235 0.36570916 0.10548613
+v 0.27989199 0.43445120 0.07632031
+v 0.26518619 0.42002040 0.09251856
+f 9 2 6
+f 9 8 2
+f 9 3 8
+f 10 6 2
+f 10 2 5
+f 12 7 5
+f 13 5 7
+f 13 10 5
+f 13 11 4
+f 14 2 8
+f 15 8 3
+f 16 3 9
+f 18 12 5
+f 18 5 2
+f 18 2 14
+f 20 13 19
+f 21 6 10
+f 21 20 9
+f 21 9 6
+f 22 13 7
+f 22 11 13
+f 23 14 8
+f 23 8 15
+f 24 3 16
+f 24 22 17
+f 24 11 22
+f 25 4 11
+f 25 24 16
+f 25 11 24
+f 26 7 12
+f 27 18 1
+f 27 15 26
+f 27 26 12
+f 27 12 18
+f 28 19 13
+f 28 13 4
+f 28 4 19
+f 29 19 4
+f 29 25 16
+f 29 4 25
+f 30 20 19
+f 30 16 9
+f 30 9 20
+f 30 29 16
+f 30 19 29
+f 31 21 10
+f 31 10 13
+f 31 13 20
+f 31 20 21
+f 32 22 7
+f 32 17 22
+f 32 24 17
+f 33 23 15
+f 33 15 1
+f 33 14 23
+f 33 18 14
+f 33 1 18
+f 34 27 1
+f 34 1 15
+f 34 15 27
+f 35 32 7
+f 35 7 26
+f 35 26 32
+f 36 32 26
+f 37 36 26
+f 37 26 15
+f 37 15 36
+f 38 36 15
+f 38 15 3
+f 38 3 24
+f 39 38 24
+f 39 24 32
+f 39 32 36
+f 39 36 38
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_20.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9e3bb2fd7431b8ada015466f78c03ce36564bb7
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.12085464 0.35534057 0.13761883
+v 0.12096727 0.35606061 0.01874393
+v 0.12096727 0.41666668 0.01874393
+v -0.15146238 0.41462894 0.11805680
+v -0.15157678 0.35488570 0.13612307
+v -0.15176001 0.41666668 0.01874393
+v 0.12069560 0.41498076 0.11930449
+v -0.09028697 0.41110728 0.12181939
+v -0.15176001 0.35606061 0.01874393
+v 0.10489521 0.41095397 0.12131926
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 5 4
+f 7 1 3
+f 7 6 4
+f 7 3 6
+f 8 5 1
+f 8 4 5
+f 8 7 4
+f 9 6 2
+f 9 2 5
+f 9 5 6
+f 10 8 1
+f 10 1 7
+f 10 7 8
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_21.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bb4d14397ac9dfd135766eee4ae180572749700
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.19672485 -0.26515152 0.01874393
+v 0.19598914 -0.26521166 -0.14421037
+v 0.19672485 -0.00757575 0.01874393
+v -0.15176001 -0.00757575 0.01874393
+v -0.15176001 -0.26515152 0.01874393
+v 0.13527521 -0.00782872 -0.14746192
+v 0.17852157 -0.26540100 -0.14767511
+v 0.19550440 -0.00764140 -0.14082540
+v -0.15096191 -0.26535406 -0.15057239
+v 0.15040907 -0.03813704 -0.14713528
+v -0.15166924 -0.00760610 -0.14628453
+v 0.17824017 -0.12907105 -0.14560292
+v -0.13572747 -0.00787026 -0.14717267
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 7 2 1
+f 7 1 5
+f 8 3 2
+f 8 2 7
+f 9 7 5
+f 9 6 7
+f 10 7 6
+f 10 6 8
+f 11 8 6
+f 11 4 3
+f 11 3 8
+f 11 9 5
+f 11 5 4
+f 12 10 8
+f 12 8 7
+f 12 7 10
+f 13 11 6
+f 13 6 9
+f 13 9 11
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_22.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85cb91dd8d39ad4863f2263a1fa94c9b1cd6dedf
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.06087765 -0.39890131 0.13206854
+v -0.06085091 -0.40151515 0.01874393
+v -0.06085091 0.35606061 0.01874393
+v -0.15157678 0.35488570 0.13612307
+v -0.15176001 -0.40151515 0.01874393
+v -0.06085091 0.35369952 0.13985939
+v -0.15093092 -0.36599391 0.13936112
+v -0.15176001 0.35606061 0.01874393
+v -0.15127911 -0.39800625 0.12901157
+v -0.15102040 0.32424682 0.13939631
+v -0.06090859 -0.38072489 0.13809212
+v -0.10553072 0.35361475 0.13871377
+v -0.12046578 -0.38012511 0.13628224
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 5 1
+f 9 7 4
+f 9 4 5
+f 10 7 6
+f 10 4 7
+f 11 1 6
+f 11 6 7
+f 12 10 6
+f 12 6 4
+f 12 4 10
+f 13 9 1
+f 13 1 11
+f 13 11 7
+f 13 7 9
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_23.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e43f5e1d2964e9a226ff4d10f851c017c06fc59c
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01509653 -0.40792158 0.12879809
+v 0.01490666 -0.40151515 0.01874393
+v 0.01491137 0.25010162 0.11099102
+v -0.04716793 0.25404251 0.11172109
+v -0.06078510 -0.40794964 0.12906970
+v -0.06085091 0.23484849 0.01874393
+v 0.01490666 0.23484849 0.01874393
+v -0.06085091 -0.40151515 0.01874393
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 2 6
+f 7 6 4
+f 7 4 3
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_24.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ddd77c06842eb40fdaa99f5a59fe186813b94b5
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.08611340 -0.26673926 0.11271336
+v 0.12096727 -0.26515152 0.01874393
+v 0.12278440 0.09871070 0.14606375
+v 0.01502235 0.09946952 0.10972458
+v 0.01490666 -0.26515152 0.01874393
+v 0.12096727 0.09848485 0.01874393
+v 0.01952562 -0.26638210 0.11007182
+v 0.02455141 -0.26773956 0.10311540
+v 0.01490666 0.09848485 0.01874393
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 5 2
+f 8 2 1
+f 8 7 5
+f 8 1 7
+f 9 6 5
+f 9 5 4
+f 9 4 6
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_25.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92c7a33062590c65bfb553f9d425e43de8cd76e5
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.28274660 -0.00760840 0.11426471
+v 0.32186503 -0.00757575 -0.07937980
+v 0.28267243 0.23484015 0.11392035
+v 0.19651770 0.23484118 0.13860702
+v 0.19672485 -0.00757575 -0.05701364
+v 0.26449399 -0.00762912 0.12272855
+v 0.32163142 0.23490076 -0.07946165
+v 0.26445016 0.23479358 0.12221313
+v 0.19667483 -0.00757743 0.13964746
+v 0.19672485 0.23484849 -0.05701364
+f 1 2 3
+f 6 1 3
+f 6 5 2
+f 6 2 1
+f 7 3 2
+f 7 2 5
+f 7 4 3
+f 8 6 3
+f 8 3 4
+f 9 4 5
+f 9 5 6
+f 9 8 4
+f 9 6 8
+f 10 7 5
+f 10 5 4
+f 10 4 7
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_26.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..904f39acd9515332ee5cccd17f85696df4edce21
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01490666 -0.00757575 0.01874393
+v 0.01490666 -0.00757575 -0.05701364
+v 0.01490666 0.23484849 0.01874393
+v -0.15176001 0.23484849 0.01874393
+v -0.15176001 -0.00757575 -0.05701364
+v -0.15176001 0.23484849 -0.05701364
+v -0.15176001 -0.00757575 0.01874393
+v 0.01490666 0.23484849 -0.05701364
+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/bar_soap/bar_soap_1/collision/model_normalized_collision_27.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a8c86ec204a36833ebd293051a305515a103e3c
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.30579233 -0.18939944 0.10252030
+v 0.32289334 -0.18939394 0.07337159
+v 0.32285621 0.23484849 0.07331096
+v 0.28267243 0.23484015 0.11392035
+v 0.28279414 -0.18940186 0.11454783
+v 0.31110076 0.23485912 0.09321730
+v 0.29521721 0.23483576 0.10820188
+v 0.29518641 -0.18940637 0.10870033
+f 1 2 3
+f 3 2 4
+f 5 4 2
+f 6 1 3
+f 6 3 4
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 8 7 5
+f 8 1 7
+f 8 5 2
+f 8 2 1
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_28.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66aacf18f735f9e608add05c20d6424126c379a9
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.12186377 -0.40733183 0.12654911
+v 0.12054286 -0.39733246 -0.13601607
+v 0.12032527 -0.26534261 -0.15276219
+v 0.01952562 -0.26638210 0.11007182
+v 0.01509653 -0.40792158 0.12879809
+v 0.08611340 -0.26673926 0.11271336
+v 0.01485016 -0.39786163 -0.13734675
+v 0.01488732 -0.36604689 -0.14837062
+v 0.12002567 -0.36586978 -0.14645708
+v 0.01490666 -0.26530170 -0.15496994
+v 0.01490666 -0.40151515 0.01874393
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 2 1
+f 7 1 5
+f 8 2 7
+f 9 3 2
+f 9 2 8
+f 10 4 3
+f 10 9 8
+f 10 3 9
+f 10 5 4
+f 10 8 7
+f 11 10 7
+f 11 7 5
+f 11 5 10
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_29.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6f76f231314b207f260c72a8236d6f8b63aa35b
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.12278440 0.09871070 0.14606375
+v 0.12096727 0.09848485 -0.05701364
+v 0.12096727 0.23484849 -0.05701364
+v 0.01491137 0.25010162 0.11099102
+v 0.01502235 0.09946952 0.10972458
+v 0.12271362 0.23504172 0.14528237
+v 0.01490666 0.09848485 -0.05701364
+v 0.01490666 0.23484849 -0.05701364
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 7 5 4
+f 8 7 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_3.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a19a4761230b988a7a589f6198a5be7442f69ae
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01490666 -0.00757575 -0.05701364
+v 0.12088850 0.09845986 -0.14637896
+v 0.12096727 0.23484849 -0.05701364
+v -0.15176001 0.23484849 -0.05701364
+v -0.15166924 -0.00760610 -0.14628453
+v 0.12077651 0.23477540 -0.14397472
+v 0.12096727 0.09848485 -0.05701364
+v 0.01490666 -0.00781415 -0.15020260
+v -0.15176001 -0.00757575 -0.05701364
+v -0.15148119 0.23475741 -0.14229516
+v 0.08984805 0.09820507 -0.14796893
+v -0.13572747 -0.00787026 -0.14717267
+v -0.09036822 0.12849428 -0.14721502
+v 0.08986564 0.12849812 -0.14742219
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 2 3
+f 7 3 1
+f 8 7 1
+f 8 2 7
+f 9 1 4
+f 9 4 5
+f 10 5 4
+f 10 4 6
+f 11 6 2
+f 11 2 8
+f 12 8 1
+f 12 1 9
+f 12 9 5
+f 12 5 10
+f 13 10 6
+f 13 12 10
+f 13 8 12
+f 14 13 6
+f 14 6 11
+f 14 11 8
+f 14 8 13
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_30.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8311162bfc0a871e023bc92d482f7c4a686b00d
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.12271362 0.23504172 0.14528237
+v 0.12096727 0.23484849 0.01874393
+v 0.12218553 0.36384893 0.13493347
+v -0.04439007 0.34291499 0.11150075
+v -0.06085091 0.23484849 0.01874393
+v 0.12096727 0.35606061 0.01874393
+v -0.04716793 0.25404251 0.11172109
+v -0.06085091 0.35606061 0.01874393
+f 1 3 4
+f 5 2 1
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_31.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2f9282892137819d283eaba45d768b049d87f11
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.19672485 0.09848485 0.01874393
+v 0.19534020 0.09840584 -0.13940127
+v 0.19672485 0.23484849 0.00359242
+v 0.12096727 0.23484849 0.01874393
+v 0.12096727 0.09848485 0.01874393
+v 0.12077651 0.23477540 -0.14397472
+v 0.19672485 0.23484849 0.01874393
+v 0.19512498 0.23468012 -0.13751974
+v 0.12088850 0.09845986 -0.14637896
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 3
+f 8 3 2
+f 9 2 5
+f 9 5 6
+f 9 8 2
+f 9 6 8
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_4.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5710c696588117bb430da24e9220e59c787673c2
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.19672485 0.23484849 0.01874393
+v 0.19512498 0.23468012 -0.13751974
+v 0.19491732 0.49103057 0.01681091
+v -0.15129800 0.49436813 0.01720384
+v -0.24266910 0.23484849 0.01874393
+v 0.17879793 0.46386310 -0.10038883
+v -0.24266910 0.35606061 0.01874393
+v 0.19490183 0.45482825 -0.10286484
+v 0.13529735 0.48985052 -0.06195903
+v -0.24142364 0.23481954 -0.12964296
+v 0.19458384 0.48948464 -0.03949115
+v -0.23367926 0.45910386 -0.09103596
+v -0.22516599 0.23470462 -0.13237921
+v 0.19407795 0.47516966 -0.07726085
+v -0.09021086 0.47436927 -0.09207220
+v -0.23655429 0.46491444 -0.07954058
+v -0.10554815 0.39822373 -0.13040552
+v 0.17896222 0.48929879 -0.05392422
+v 0.10491208 0.47407353 -0.09180376
+v -0.15101646 0.49111231 -0.05503896
+v -0.23699171 0.41093234 -0.11736395
+v 0.17951742 0.38309819 -0.12969249
+v -0.16499617 0.38326929 -0.13064551
+v -0.16429248 0.46486956 -0.10091346
+v -0.12060858 0.49019009 -0.06204271
+v -0.22500726 0.30972599 -0.13051267
+v 0.19437056 0.36855770 -0.13043938
+v 0.12036039 0.39819485 -0.13025180
+v -0.16462750 0.43781169 -0.11425432
+v -0.22525141 0.45303477 -0.09924751
+v -0.19440264 0.47423245 -0.07623310
+v -0.19480126 0.36845242 -0.12969212
+v 0.19468355 0.42464943 -0.11763955
+v 0.17918232 0.43740447 -0.11341920
+v -0.22496600 0.42275951 -0.11369699
+f 5 2 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 1 2
+f 8 3 1
+f 9 4 3
+f 10 5 7
+f 11 3 8
+f 11 9 3
+f 13 2 5
+f 13 5 10
+f 14 11 8
+f 14 8 6
+f 14 6 9
+f 16 7 4
+f 18 14 9
+f 18 9 11
+f 18 11 14
+f 19 15 9
+f 19 9 6
+f 20 4 9
+f 20 16 4
+f 21 16 12
+f 21 10 7
+f 21 7 16
+f 23 17 2
+f 23 2 13
+f 23 21 17
+f 24 19 6
+f 24 15 19
+f 25 20 9
+f 25 9 15
+f 25 24 20
+f 25 15 24
+f 26 13 10
+f 26 10 21
+f 26 23 13
+f 28 22 27
+f 28 27 2
+f 28 2 17
+f 29 17 21
+f 29 28 17
+f 29 24 6
+f 30 21 12
+f 30 12 24
+f 30 24 29
+f 31 24 12
+f 31 12 16
+f 31 16 20
+f 31 20 24
+f 32 26 21
+f 32 21 23
+f 32 23 26
+f 33 27 22
+f 33 8 2
+f 33 2 27
+f 33 22 28
+f 34 29 6
+f 34 28 29
+f 34 33 28
+f 34 6 8
+f 34 8 33
+f 35 30 29
+f 35 29 21
+f 35 21 30
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_5.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86e0ae40e3d246e05540209be8b0ecb55eca34b5
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.15308705 -0.41119795 0.12470274
+v -0.15141603 -0.39793292 -0.13553132
+v -0.15342360 0.36745042 0.13221763
+v -0.25211567 0.36254104 0.11702135
+v -0.25630056 -0.42278831 -0.10589342
+v -0.15148119 0.23475741 -0.14229516
+v -0.24974745 -0.40612693 0.11061765
+v -0.15176001 0.35606061 0.01874393
+v -0.24142364 0.23481954 -0.12964296
+v -0.24266910 0.35606061 0.01874393
+v -0.15091826 -0.33985442 -0.14777155
+v -0.22516599 0.23470462 -0.13237921
+v -0.15086704 -0.09873197 -0.14782268
+v -0.23806570 -0.36709874 -0.13035803
+v -0.16414829 -0.09874951 -0.14673978
+v -0.16372068 -0.33976716 -0.14670748
+v -0.23799620 -0.39890254 -0.12238736
+v -0.17877669 -0.18955611 -0.14556386
+v -0.22497071 -0.38210628 -0.12876392
+v -0.23991788 0.17408332 -0.13071151
+v -0.17851761 -0.32448874 -0.14488869
+v -0.19475009 -0.39739555 -0.12938380
+f 5 2 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 3 1
+f 9 5 4
+f 10 4 3
+f 10 3 8
+f 10 9 4
+f 10 8 6
+f 11 8 1
+f 11 1 2
+f 12 10 6
+f 12 9 10
+f 13 6 8
+f 13 8 11
+f 14 5 9
+f 15 12 6
+f 15 6 13
+f 16 11 2
+f 16 2 14
+f 17 2 5
+f 17 5 14
+f 18 12 15
+f 18 11 16
+f 18 15 13
+f 18 13 11
+f 19 17 14
+f 19 14 2
+f 20 18 14
+f 20 14 9
+f 20 9 12
+f 20 12 18
+f 21 18 16
+f 21 16 14
+f 21 14 18
+f 22 19 2
+f 22 2 17
+f 22 17 19
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_6.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e8b81288bd514bb07da7b05e2c4fd36ef7f731e
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.24085472 -0.49057194 0.01755774
+v 0.28637041 -0.45864287 0.06201425
+v -0.17977421 -0.47340470 0.08494229
+v -0.25216578 -0.39783085 0.11192949
+v 0.12096727 -0.40151515 -0.05701364
+v 0.12067201 -0.38448105 0.13447149
+v 0.16551158 -0.47486960 0.08347826
+v 0.24862227 -0.48159634 -0.04628581
+v -0.24665680 -0.43138368 -0.10436971
+v -0.12064261 -0.42587612 0.12142239
+v -0.06086232 -0.38524906 0.13659270
+v 0.28333788 -0.45538193 0.06940954
+v 0.22466035 -0.47398165 0.07022028
+v -0.16475500 -0.48944966 0.05543874
+v 0.28276434 -0.46386725 0.05578053
+v -0.29928236 -0.46698165 0.04252032
+v -0.27065872 -0.40014128 0.10354030
+v 0.19779159 -0.47798952 -0.06669713
+v -0.25050235 -0.42330394 0.10596269
+v 0.10482277 -0.42537550 0.12124156
+v -0.16428226 -0.46534675 0.09247675
+v -0.15127911 -0.39800625 0.12901157
+v 0.21008019 -0.49136376 0.04042422
+v 0.19478597 -0.45218525 0.09575661
+v 0.24078699 -0.48912861 -0.02292510
+v 0.27912817 -0.45758384 0.06887799
+v -0.24030734 -0.47385483 0.06980248
+v -0.22633073 -0.48083809 -0.05408180
+v -0.28026580 -0.40584667 0.09862211
+v -0.06076976 -0.39429739 0.13359387
+v 0.13512901 -0.46487572 0.09240470
+v -0.24030734 -0.45068910 0.09213787
+v -0.15108589 -0.41174797 0.12461433
+v 0.16554780 -0.48897124 0.05498861
+v 0.12018306 -0.41157857 0.12517630
+v 0.19627357 -0.48571127 -0.05421075
+v -0.07606398 -0.48997327 -0.05324495
+v -0.22602941 -0.49071158 0.03331003
+v -0.21072262 -0.49178009 0.04092558
+v -0.30041888 -0.46020237 0.04672549
+v -0.25049509 -0.46518858 0.07834804
+v -0.20962809 -0.43455061 0.10691807
+v 0.12211059 -0.39378171 0.13120080
+v 0.24072202 -0.48555336 -0.04037151
+v 0.19549759 -0.48931971 -0.03788530
+v -0.09064316 -0.48975684 -0.05311316
+v -0.26824848 -0.47892679 0.04075523
+v -0.28296246 -0.43867702 0.08282590
+v -0.22561731 -0.48902520 -0.02201645
+v -0.29458782 -0.45628508 0.05713775
+v -0.18057835 -0.48943297 -0.03786684
+v -0.27985972 -0.45756761 0.06921855
+v -0.29385284 -0.46250464 0.05290120
+v -0.28016396 -0.44933208 0.07649515
+f 8 5 2
+f 11 6 5
+f 11 5 4
+f 12 2 5
+f 12 5 6
+f 14 7 3
+f 15 8 2
+f 17 4 5
+f 17 5 9
+f 18 9 5
+f 18 5 8
+f 20 6 11
+f 21 3 7
+f 22 11 4
+f 22 10 11
+f 22 4 19
+f 23 13 7
+f 23 15 13
+f 23 1 15
+f 24 7 13
+f 24 20 7
+f 24 12 6
+f 25 15 1
+f 25 8 15
+f 26 15 2
+f 26 2 12
+f 26 13 15
+f 26 24 13
+f 26 12 24
+f 28 16 9
+f 29 17 9
+f 29 19 4
+f 29 4 17
+f 30 20 11
+f 30 11 10
+f 30 10 20
+f 31 20 10
+f 31 10 21
+f 31 21 7
+f 31 7 20
+f 32 3 21
+f 33 22 19
+f 33 10 22
+f 34 23 7
+f 34 7 14
+f 34 14 23
+f 35 20 24
+f 36 18 8
+f 37 18 36
+f 37 9 18
+f 39 14 3
+f 39 3 27
+f 39 23 14
+f 39 37 23
+f 40 29 9
+f 40 9 16
+f 41 27 3
+f 41 3 32
+f 41 16 27
+f 42 32 21
+f 42 21 10
+f 42 19 32
+f 42 33 19
+f 42 10 33
+f 43 35 24
+f 43 24 6
+f 43 6 20
+f 43 20 35
+f 44 36 8
+f 44 8 25
+f 45 37 36
+f 45 25 1
+f 45 1 23
+f 45 23 37
+f 45 44 25
+f 45 36 44
+f 46 28 9
+f 46 9 37
+f 47 27 16
+f 47 39 27
+f 47 38 39
+f 48 41 32
+f 48 32 19
+f 48 19 29
+f 48 29 40
+f 49 38 47
+f 49 47 16
+f 49 16 28
+f 49 39 38
+f 50 48 40
+f 51 49 28
+f 51 28 46
+f 51 46 37
+f 51 37 39
+f 51 39 49
+f 53 16 41
+f 53 41 52
+f 53 50 40
+f 53 40 16
+f 53 48 50
+f 54 52 41
+f 54 41 48
+f 54 53 52
+f 54 48 53
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_7.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c1756d556d33efc5845f124e880bce4d8ae40ba
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.15168854 -0.41614520 0.12317806
+v -0.24524449 0.42080343 0.10109782
+v -0.15251521 0.42724507 0.11096639
+v -0.24030734 0.41177532 0.10780679
+v -0.31133975 -0.00757575 0.09011094
+v -0.15102040 0.32424682 0.13939631
+v -0.30223655 0.35310670 0.09875645
+v -0.30851719 0.35436981 0.08832840
+v -0.15103564 0.39655575 0.12353351
+v -0.19450233 -0.32415996 0.13792194
+v -0.24983095 0.35250437 0.12086794
+v -0.15093092 -0.36599391 0.13936112
+v -0.15108589 -0.41174797 0.12461433
+v -0.15146238 0.41462894 0.11805680
+v -0.24974745 -0.40612693 0.11061765
+v -0.25189278 -0.00758613 0.12664218
+v -0.24013452 0.36577647 0.12106683
+v -0.17925699 0.39570774 0.12072539
+v -0.24027720 -0.38119722 0.12190168
+v -0.29545728 -0.00758944 0.10724564
+v -0.29544390 0.29409734 0.10604904
+v -0.19459033 0.23475574 0.13800562
+v -0.17942685 0.30892797 0.13765614
+v -0.16439709 0.32415699 0.13846212
+v -0.17928579 -0.35442469 0.13750993
+v -0.24030734 -0.39920845 0.11674361
+v -0.30455006 -0.00758244 0.10107068
+v -0.16422948 -0.36586086 0.13841665
+v -0.18141952 -0.41527670 0.11994719
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+f 5 3 1
+f 7 4 2
+f 8 2 3
+f 8 3 5
+f 8 7 2
+f 8 5 7
+f 11 4 7
+f 12 9 6
+f 13 1 3
+f 13 12 1
+f 13 9 12
+f 14 3 4
+f 14 13 3
+f 14 9 13
+f 15 5 1
+f 17 4 11
+f 18 14 4
+f 18 9 14
+f 18 17 9
+f 18 4 17
+f 19 10 16
+f 20 19 16
+f 21 16 11
+f 21 11 7
+f 21 20 16
+f 22 16 10
+f 22 11 16
+f 22 12 6
+f 22 10 12
+f 23 17 11
+f 23 11 22
+f 24 6 9
+f 24 9 17
+f 24 17 23
+f 24 23 22
+f 24 22 6
+f 25 10 19
+f 26 19 15
+f 27 7 5
+f 27 5 15
+f 27 15 19
+f 27 19 20
+f 27 21 7
+f 27 20 21
+f 28 25 19
+f 28 12 10
+f 28 10 25
+f 28 19 26
+f 28 1 12
+f 29 26 15
+f 29 15 1
+f 29 28 26
+f 29 1 28
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_8.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2590186255930ced13800db44baf657d47b1132
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.28142270 -0.47532536 0.03830974
+v 0.31859318 -0.42208251 -0.06150194
+v 0.29596918 -0.39780205 0.09468541
+v 0.19672485 -0.34090909 -0.05701364
+v 0.19565910 -0.46203993 -0.09324673
+v 0.32027587 -0.34269208 -0.07813242
+v 0.31902546 -0.43833606 0.04223452
+v 0.29298287 -0.46230838 -0.05866365
+v 0.19507230 -0.42610610 0.11377514
+v 0.26588280 -0.39625754 0.10796761
+v 0.19557956 -0.34040712 -0.14157467
+v 0.30339876 -0.42055706 0.08527159
+v 0.31626127 -0.39884419 0.06937974
+v 0.32128356 -0.39935646 -0.06448724
+v 0.19646583 -0.48857116 -0.04102279
+v 0.30313246 -0.46760801 0.03794531
+v 0.19637717 -0.40066411 0.12232518
+v 0.27988869 -0.33982730 -0.11593163
+v 0.19472446 -0.39600005 -0.13082435
+v 0.24979895 -0.46545725 0.07707366
+v 0.24978024 -0.42312777 0.10588870
+v 0.29465054 -0.41218432 0.09171802
+v 0.31451379 -0.41371832 0.06834434
+v 0.28075411 -0.47280292 -0.03782563
+v 0.25167646 -0.47496325 -0.05967206
+v 0.19517957 -0.46935381 0.08342613
+v 0.29892013 -0.46502425 -0.03719721
+v 0.29424494 -0.41349753 -0.09905542
+v 0.29529069 -0.46096629 0.05315405
+v 0.23921277 -0.44944243 0.09095180
+v 0.19586070 -0.47956953 -0.06432068
+v 0.23701442 -0.46008775 -0.09171191
+v 0.19478597 -0.45218525 0.09575661
+v 0.24070277 -0.47909640 0.05710975
+v 0.31451198 -0.43500483 -0.05245674
+v 0.30034425 -0.43515367 -0.07437489
+v 0.23905949 -0.36712260 -0.13073137
+v 0.30082061 -0.41312406 -0.09080341
+v 0.30290114 -0.39840316 -0.09222129
+v 0.27936065 -0.44914280 0.07535833
+v 0.27854698 -0.44866456 -0.08426671
+v 0.19571041 -0.45111931 -0.10214221
+v 0.25006505 -0.41953611 -0.11336339
+v 0.30083091 -0.45063204 -0.05958138
+v 0.28954166 -0.43369154 -0.08792497
+v 0.20969044 -0.39548851 -0.12923844
+v 0.23929383 -0.34004927 -0.13336222
+v 0.27893717 -0.36798500 -0.11386728
+v 0.22482092 -0.45144979 -0.09994209
+f 10 6 4
+f 10 3 6
+f 13 7 6
+f 13 6 3
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+f 17 10 4
+f 17 11 9
+f 17 4 11
+f 18 4 6
+f 19 9 11
+f 20 1 16
+f 21 20 12
+f 21 17 9
+f 21 10 17
+f 22 12 3
+f 22 3 10
+f 22 21 12
+f 22 10 21
+f 23 13 12
+f 23 12 7
+f 23 7 13
+f 24 1 15
+f 24 16 1
+f 25 24 15
+f 25 8 24
+f 27 24 8
+f 27 16 24
+f 29 20 16
+f 29 16 12
+f 30 21 9
+f 30 20 21
+f 30 26 20
+f 31 25 15
+f 31 15 26
+f 32 8 25
+f 32 31 5
+f 32 25 31
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+f 33 31 26
+f 33 5 31
+f 33 9 19
+f 33 30 9
+f 33 26 30
+f 34 26 15
+f 34 15 1
+f 34 1 20
+f 34 20 26
+f 35 27 8
+f 35 2 7
+f 35 7 16
+f 35 16 27
+f 36 28 2
+f 38 14 2
+f 38 2 28
+f 39 28 18
+f 39 18 6
+f 39 38 28
+f 39 6 14
+f 39 14 38
+f 40 29 12
+f 40 12 20
+f 40 20 29
+f 41 8 32
+f 42 5 19
+f 43 41 32
+f 43 28 41
+f 43 37 28
+f 44 35 8
+f 44 2 35
+f 44 36 2
+f 44 8 36
+f 45 36 8
+f 45 28 36
+f 45 41 28
+f 45 8 41
+f 46 19 11
+f 46 11 37
+f 46 43 19
+f 46 37 43
+f 47 37 11
+f 47 11 4
+f 47 4 18
+f 48 18 28
+f 48 28 37
+f 48 47 18
+f 48 37 47
+f 49 32 5
+f 49 5 42
+f 49 43 32
+f 49 42 19
+f 49 19 43
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/collision/model_normalized_collision_9.obj b/bar_soap/bar_soap_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d16fa166662619ba8ca58401712b898e04af36b
--- /dev/null
+++ b/bar_soap/bar_soap_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.22698175 -0.48727422 0.04639906
+v -0.22633073 -0.48083809 -0.05408180
+v -0.24030734 -0.00760097 0.13181634
+v -0.30455006 -0.00758244 0.10107068
+v -0.33185454 -0.39890801 -0.00834131
+v -0.24214147 -0.00758711 -0.13154345
+v -0.30176744 -0.38293866 0.09563336
+v -0.30172056 -0.46674257 -0.00724095
+v -0.33302622 -0.00757575 -0.06142084
+v -0.29339004 -0.39788931 -0.10012040
+v -0.24030734 -0.36719145 0.12590556
+v -0.33223334 -0.32498335 0.05402491
+v -0.28121451 -0.47294883 -0.02102725
+v -0.31823674 -0.43756369 0.04351515
+v -0.23799620 -0.39890254 -0.12238736
+v -0.30273508 -0.00760395 -0.10545637
+v -0.33236527 -0.30962388 -0.06100217
+v -0.31809674 -0.41831771 -0.05935174
+v -0.22812419 -0.46526199 0.08416198
+v -0.29467016 -0.32455007 0.10593938
+v -0.33331121 -0.00757575 0.05464625
+v -0.28196663 -0.47480525 0.03964936
+v -0.31689846 -0.43511525 -0.02234800
+v -0.33157749 -0.36940617 0.04718107
+v -0.23953920 -0.32497015 -0.13345301
+v -0.27795653 -0.43551054 -0.08874433
+v -0.30136657 -0.32466329 -0.10527790
+v -0.33112731 -0.35511688 -0.05462560
+v -0.28204416 -0.42192256 0.09433592
+v -0.23214818 -0.41151707 0.11430235
+v -0.29545728 -0.00758944 0.10724564
+v -0.24993318 -0.36607321 0.12199779
+v -0.30177368 -0.46663429 0.03974218
+v -0.33126363 -0.39874546 0.01795279
+v -0.31995916 -0.42310894 0.05549326
+v -0.26480642 -0.38179820 -0.11462584
+v -0.24001656 -0.15922180 -0.13378941
+v -0.24665680 -0.43138368 -0.10436971
+v -0.28028387 -0.41958349 -0.09822179
+v -0.29169618 -0.46044631 -0.05112781
+v -0.31526065 -0.38238133 -0.07400467
+v -0.27980480 -0.34003309 -0.11422190
+v -0.29624626 -0.41249239 0.09108052
+v -0.26841461 -0.42432902 0.09817888
+v -0.28868130 -0.45038138 0.06987006
+v -0.31589847 -0.39868420 0.06858297
+v -0.24971511 -0.15926080 -0.12957836
+v -0.26671764 -0.42205748 -0.10214425
+v -0.25147020 -0.47452374 -0.05178987
+v -0.30265199 -0.42128896 0.08439060
+v -0.29395819 -0.43541238 0.08028399
+v -0.24030734 -0.39920845 0.11674361
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 12 7 4
+f 13 2 1
+f 16 9 6
+f 17 9 16
+f 17 5 12
+f 19 1 3
+f 20 11 3
+f 20 4 7
+f 21 12 4
+f 21 17 12
+f 21 9 17
+f 21 4 6
+f 21 6 9
+f 22 13 1
+f 22 8 13
+f 22 1 19
+f 23 14 5
+f 23 8 14
+f 23 18 8
+f 23 5 18
+f 24 12 5
+f 24 7 12
+f 25 2 15
+f 27 17 16
+f 28 18 5
+f 28 5 17
+f 30 19 3
+f 30 3 11
+f 31 20 3
+f 31 3 4
+f 31 4 20
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+f 32 7 11
+f 32 11 20
+f 33 14 8
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+f 36 25 15
+f 36 15 10
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+f 47 25 27
+f 48 39 15
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+f 49 40 26
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+f 49 2 13
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+f 50 43 7
+f 50 35 14
+f 50 14 33
+f 50 29 43
+f 50 46 35
+f 50 7 46
+f 51 44 29
+f 51 19 44
+f 51 45 19
+f 51 29 50
+f 51 50 33
+f 51 33 45
+f 52 44 30
+f 52 30 11
+f 52 11 29
+f 52 29 44
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/model.xml b/bar_soap/bar_soap_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5d9e7750556e3361dd1007fdcd1e183a17d9291a
--- /dev/null
+++ b/bar_soap/bar_soap_1/model.xml
@@ -0,0 +1,80 @@
+<mujoco model="bar_soap_0">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.09999999999999996 0.09999999999999996 0.09999999999999996" refquat="-1.1102230246251565e-16 0.0 -0.9999999999999999 0.0"/>
+    <material name="03___Default" specular="0.5" shininess="0.000903123" rgba="0.733300 0.270600 0.180400 1.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="03___Default"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="1.4535498267234654e-05 0.00012940200000000063 -0.015549846146313662" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="1.4535498267234654e-05 0.00012940200000000063 0.015496992152614353" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03336773702225528 0.04943681299999998 -2.6426996849655817e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/bar_soap/bar_soap_1/visual/material.mtl b/bar_soap/bar_soap_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..453d029a53dcc669d245b4d188fe2bcb4c8b0ad9
--- /dev/null
+++ b/bar_soap/bar_soap_1/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.73333333 0.27058824 0.18039216
+Ks 0.50196078 0.50196078 0.50196078
+Ns 0.90312300
\ No newline at end of file
diff --git a/bar_soap/bar_soap_1/visual/model_normalized_0.obj b/bar_soap/bar_soap_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..423baafbacaab19cd5b07f5fc229f82a8acf37af
--- /dev/null
+++ b/bar_soap/bar_soap_1/visual/model_normalized_0.obj
@@ -0,0 +1,63569 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.23040510 -0.45383622 -0.09677661
+v -0.27358899 -0.44332285 -0.08545681
+v -0.29094431 -0.41227899 -0.09852041
+v -0.23370661 -0.41412848 -0.12048684
+v -0.29978738 -0.36024973 -0.10430553
+v -0.23865773 -0.36071153 -0.13169866
+v -0.16097226 -0.36182582 -0.14570424
+v -0.15973391 -0.41858563 -0.12932993
+v -0.15890910 -0.46124795 -0.10010339
+v -0.30084655 -0.42109910 0.08740509
+v -0.28459403 -0.45487010 0.07060343
+v -0.24030734 -0.46827144 0.08066190
+v -0.24030734 -0.42375042 0.10972072
+v -0.16138581 -0.47496406 0.08624256
+v -0.16138581 -0.42773199 0.11903712
+v -0.16138581 -0.36411183 0.13943435
+v -0.24030734 -0.36311702 0.12707149
+v -0.30226181 -0.36245304 0.10005053
+v -0.29094431 -0.45945132 -0.05545140
+v -0.27358899 -0.44332285 -0.08545681
+v -0.23040510 -0.45383622 -0.09677661
+v -0.23370661 -0.47959817 -0.05599591
+v -0.15890910 -0.46124795 -0.10010339
+v -0.15973391 -0.48695016 -0.05688734
+v -0.16097226 -0.49784951 -0.00693273
+v -0.23865773 -0.49139813 -0.00736006
+v -0.29931411 -0.47052758 -0.00732101
+v 0.29504535 -0.46425770 -0.05500568
+v 0.27854698 -0.44866457 -0.08426671
+v 0.29504535 -0.41708536 -0.09807470
+v 0.32179059 -0.42182509 -0.05739049
+v 0.30239047 -0.36145133 -0.10419295
+v 0.33106331 -0.36263452 -0.05977530
+v 0.33819476 -0.36363623 -0.00534975
+v 0.32931261 -0.42582734 -0.00658121
+v 0.30195165 -0.47158673 -0.00760819
+v 0.29502008 0.45619581 -0.05563060
+v 0.27851941 0.44194664 -0.08556018
+v 0.23682892 0.45619581 -0.09700866
+v 0.23951700 0.48017714 -0.05670813
+v 0.16523872 0.46565460 -0.10117863
+v 0.16591189 0.49037574 -0.05858290
+v 0.16692049 0.49693970 -0.00758752
+v 0.24355141 0.48775663 -0.00845827
+v 0.30194475 0.46367186 -0.00874546
+v -0.29375413 0.45557546 -0.05563060
+v -0.27671125 0.44125739 -0.08556018
+v -0.29375413 0.40713490 -0.09786103
+v -0.32133109 0.41102685 -0.05739049
+v -0.30049046 0.35078172 -0.10296838
+v -0.33053716 0.35175356 -0.05977530
+v -0.33802936 0.35293678 -0.00539110
+v -0.32865091 0.41575509 -0.00674433
+v -0.30001715 0.46344443 -0.00794133
+v 0.24355371 -0.49210348 -0.00741061
+v 0.30195165 -0.47158673 -0.00760819
+v 0.30308661 -0.46769247 0.03793294
+v 0.24489545 -0.48883641 0.03792375
+v 0.28748197 -0.45422907 0.06840013
+v 0.24489545 -0.46769247 0.07767744
+v 0.16725593 -0.47481932 0.08341431
+v 0.16725593 -0.49600002 0.04062791
+v 0.16692049 -0.49802642 -0.00673514
+v 0.32930802 0.41590674 -0.00728195
+v 0.30194475 0.46367186 -0.00874546
+v 0.30308661 0.46088039 0.03400421
+v 0.32715296 0.41456271 0.04162502
+v 0.28748197 0.44715281 0.06434274
+v 0.30308661 0.41243984 0.08159928
+v 0.30440078 0.35210736 0.09820566
+v 0.33240275 0.35263808 0.05103330
+v 0.33819246 0.35297354 -0.00552666
+v -0.23912645 0.48760495 -0.00792295
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+f 12733/12733/12733 12731/12731/12731 12734/12734/12734
+f 12734/12734/12734 12735/12735/12735 12736/12736/12736
+f 12734/12734/12734 12736/12736/12736 12733/12733/12733
+f 12733/12733/12733 12736/12736/12736 12719/12719/12719
+f 12733/12733/12733 12719/12719/12719 12718/12718/12718
+f 12722/12722/12722 12719/12719/12719 12736/12736/12736
+f 12722/12722/12722 12736/12736/12736 12737/12737/12737
+f 12737/12737/12737 12736/12736/12736 12735/12735/12735
+f 12737/12737/12737 12735/12735/12735 12738/12738/12738
+f 12738/12738/12738 12725/12725/12725 12723/12723/12723
+f 12738/12738/12738 12723/12723/12723 12737/12737/12737
+f 12737/12737/12737 12723/12723/12723 12709/12709/12709
+f 12737/12737/12737 12709/12709/12709 12722/12722/12722
+f 12726/12726/12726 12725/12725/12725 12739/12739/12739
+f 12726/12726/12726 12739/12739/12739 12740/12740/12740
+f 12740/12740/12740 12739/12739/12739 12741/12741/12741
+f 12740/12740/12740 12741/12741/12741 12742/12742/12742
+f 12742/12742/12742 12743/12743/12743 12744/12744/12744
+f 12742/12742/12742 12744/12744/12744 12740/12740/12740
+f 12740/12740/12740 12744/12744/12744 12727/12727/12727
+f 12740/12740/12740 12727/12727/12727 12726/12726/12726
+f 12730/12730/12730 12727/12727/12727 12744/12744/12744
+f 12730/12730/12730 12744/12744/12744 12745/12745/12745
+f 12745/12745/12745 12744/12744/12744 12743/12743/12743
+f 12745/12745/12745 12743/12743/12743 12746/12746/12746
+f 12746/12746/12746 12747/12747/12747 12748/12748/12748
+f 12746/12746/12746 12748/12748/12748 12745/12745/12745
+f 12745/12745/12745 12748/12748/12748 12731/12731/12731
+f 12745/12745/12745 12731/12731/12731 12730/12730/12730
+f 12734/12734/12734 12731/12731/12731 12748/12748/12748
+f 12734/12734/12734 12748/12748/12748 12749/12749/12749
+f 12749/12749/12749 12748/12748/12748 12747/12747/12747
+f 12749/12749/12749 12747/12747/12747 12750/12750/12750
+f 12750/12750/12750 12751/12751/12751 12752/12752/12752
+f 12750/12750/12750 12752/12752/12752 12749/12749/12749
+f 12749/12749/12749 12752/12752/12752 12735/12735/12735
+f 12749/12749/12749 12735/12735/12735 12734/12734/12734
+f 12738/12738/12738 12735/12735/12735 12752/12752/12752
+f 12738/12738/12738 12752/12752/12752 12753/12753/12753
+f 12753/12753/12753 12752/12752/12752 12751/12751/12751
+f 12753/12753/12753 12751/12751/12751 12754/12754/12754
+f 12754/12754/12754 12741/12741/12741 12739/12739/12739
+f 12754/12754/12754 12739/12739/12739 12753/12753/12753
+f 12753/12753/12753 12739/12739/12739 12725/12725/12725
+f 12753/12753/12753 12725/12725/12725 12738/12738/12738
+f 12742/12742/12742 12741/12741/12741 12755/12755/12755
+f 12742/12742/12742 12755/12755/12755 12756/12756/12756
+f 12756/12756/12756 12755/12755/12755 12156/12156/12156
+f 12756/12756/12756 12156/12156/12156 12155/12155/12155
+f 12155/12155/12155 12163/12163/12163 12757/12757/12757
+f 12155/12155/12155 12757/12757/12757 12756/12756/12756
+f 12756/12756/12756 12757/12757/12757 12743/12743/12743
+f 12756/12756/12756 12743/12743/12743 12742/12742/12742
+f 12746/12746/12746 12743/12743/12743 12757/12757/12757
+f 12746/12746/12746 12757/12757/12757 12758/12758/12758
+f 12758/12758/12758 12757/12757/12757 12163/12163/12163
+f 12758/12758/12758 12163/12163/12163 12164/12164/12164
+f 12164/12164/12164 12169/12169/12169 12759/12759/12759
+f 12164/12164/12164 12759/12759/12759 12758/12758/12758
+f 12758/12758/12758 12759/12759/12759 12747/12747/12747
+f 12758/12758/12758 12747/12747/12747 12746/12746/12746
+f 12750/12750/12750 12747/12747/12747 12759/12759/12759
+f 12750/12750/12750 12759/12759/12759 12760/12760/12760
+f 12760/12760/12760 12759/12759/12759 12169/12169/12169
+f 12760/12760/12760 12169/12169/12169 12170/12170/12170
+f 12170/12170/12170 12175/12175/12175 12761/12761/12761
+f 12170/12170/12170 12761/12761/12761 12760/12760/12760
+f 12760/12760/12760 12761/12761/12761 12751/12751/12751
+f 12760/12760/12760 12751/12751/12751 12750/12750/12750
+f 12754/12754/12754 12751/12751/12751 12761/12761/12761
+f 12754/12754/12754 12761/12761/12761 12762/12762/12762
+f 12762/12762/12762 12761/12761/12761 12175/12175/12175
+f 12762/12762/12762 12175/12175/12175 12176/12176/12176
+f 12176/12176/12176 12156/12156/12156 12755/12755/12755
+f 12176/12176/12176 12755/12755/12755 12762/12762/12762
+f 12762/12762/12762 12755/12755/12755 12741/12741/12741
+f 12762/12762/12762 12741/12741/12741 12754/12754/12754
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_0.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0af4ab00c7a64f9ceca5ccc0e608a6a0bc81bcf
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.04767092 -0.48843574 0.13900966
+v 0.14359314 -0.39745941 -0.10408294
+v 0.15667416 -0.40935144 0.12229985
+v -0.10727984 -0.40152463 0.16343587
+v -0.10072119 -0.45990756 -0.07098421
+v -0.03559852 -0.40151419 0.17674709
+v 0.10589546 -0.46080939 -0.05834957
+v -0.08730715 -0.47482443 0.12972982
+v -0.11141836 -0.40124937 -0.10957503
+v 0.06561141 -0.45648898 0.16573846
+v 0.13360386 -0.42955405 -0.08117371
+v 0.13585368 -0.43688783 0.11501972
+v 0.03589080 -0.48986085 -0.05816855
+v -0.09949761 -0.46217305 0.13837905
+v 0.10783056 -0.43895633 0.15274612
+v 0.10103047 -0.45994950 0.13683958
+v 0.05056260 -0.48994417 -0.04770196
+v 0.08000583 -0.46146978 -0.07981514
+v -0.04534531 -0.48872787 -0.05739684
+v -0.10562777 -0.43458612 -0.09365995
+v -0.03193042 -0.47979551 0.16080391
+v 0.07779770 -0.47602254 -0.05777155
+v 0.12225482 -0.43904015 0.13967262
+v 0.08996844 -0.46063974 0.14832153
+v -0.01904242 -0.49108691 0.14968456
+v 0.10976833 -0.43331250 -0.09225502
+v -0.08659044 -0.47385690 -0.05660869
+v -0.07675948 -0.46419869 -0.07913617
+v -0.07165501 -0.46404871 0.15861515
+v 0.06545366 -0.47591542 -0.06821848
+v 0.11594153 -0.44666778 0.13771250
+v 0.06336305 -0.47644690 0.14948256
+v 0.10342079 -0.44970365 0.14746529
+v 0.02268993 -0.49052504 0.14953602
+v -0.04593005 -0.48978386 0.13966647
+v 0.13405938 -0.41599752 -0.09522563
+v -0.07496511 -0.47454466 -0.06677726
+v -0.10118247 -0.43892757 0.15807001
+v -0.07041776 -0.47510297 0.14792650
+v 0.06249427 -0.46575531 0.16096020
+v 0.03596524 -0.47851362 0.16039057
+f 6 3 2
+f 6 2 4
+f 9 4 2
+f 11 2 3
+f 12 11 3
+f 12 7 11
+f 14 5 8
+f 14 4 9
+f 15 3 6
+f 15 6 10
+f 16 7 12
+f 18 11 7
+f 20 14 9
+f 20 5 14
+f 20 9 18
+f 21 10 6
+f 22 16 1
+f 22 7 16
+f 22 1 17
+f 22 18 7
+f 23 12 3
+f 23 3 15
+f 24 15 10
+f 25 13 17
+f 25 19 13
+f 26 11 18
+f 26 18 9
+f 26 9 2
+f 27 19 8
+f 27 8 5
+f 28 18 13
+f 28 13 19
+f 28 20 18
+f 28 5 20
+f 29 21 6
+f 30 22 17
+f 30 17 13
+f 30 13 18
+f 30 18 22
+f 31 16 12
+f 31 12 23
+f 31 24 16
+f 32 1 16
+f 32 16 24
+f 33 23 15
+f 33 15 24
+f 33 31 23
+f 33 24 31
+f 34 25 17
+f 34 17 1
+f 34 1 32
+f 34 21 25
+f 35 25 21
+f 35 8 19
+f 35 19 25
+f 36 26 2
+f 36 2 11
+f 36 11 26
+f 37 27 5
+f 37 5 28
+f 37 28 19
+f 37 19 27
+f 38 29 6
+f 38 6 4
+f 38 4 14
+f 38 14 29
+f 39 29 14
+f 39 14 8
+f 39 8 35
+f 39 35 21
+f 39 21 29
+f 40 32 24
+f 40 24 10
+f 41 34 32
+f 41 32 40
+f 41 21 34
+f 41 40 10
+f 41 10 21
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_1.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac900b3a6c6c62ef66ec90978999cb1699aef64d
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.28335979 -0.05686514 0.01083738
+v 0.28025440 -0.08312718 -0.12522130
+v 0.25116842 0.22842927 -0.11882098
+v 0.18337637 0.23485180 0.13431508
+v 0.16130863 -0.00757576 0.01083936
+v 0.26354546 0.18558803 0.06904800
+v 0.23544945 -0.08248262 -0.17399488
+v 0.18336982 0.09848856 0.13432838
+v 0.16129972 0.23168486 -0.15537708
+v 0.25023576 0.23113264 0.07944322
+v 0.28107893 0.08152501 -0.12336565
+v 0.27533179 -0.08745267 -0.14143443
+v 0.26988872 0.09785872 0.07769586
+v 0.16130368 -0.00746413 -0.17835649
+v 0.24528394 0.09655092 -0.16939309
+v 0.28186560 -0.05138232 -0.13505898
+v 0.26372695 0.18446971 -0.12246861
+v 0.26445918 0.15622791 0.07869656
+v 0.28163120 0.08184677 0.01086454
+v 0.21479863 0.22903420 -0.15320243
+v 0.16130116 0.09760253 -0.17431274
+v 0.25547149 0.05207803 -0.16959654
+v 0.28377283 -0.05187891 0.01083995
+v 0.24898763 0.19792197 -0.14153415
+v 0.25529854 -0.05106087 -0.16970210
+v 0.28131931 0.06608734 -0.13442315
+v 0.23992022 0.18389048 -0.15469778
+v 0.23847516 0.22739454 -0.14032861
+v 0.26408571 0.16870728 -0.13306946
+v 0.26541260 -0.08113245 -0.15784050
+v 0.26574090 0.08069339 -0.15807131
+v 0.22928168 0.21481051 -0.15187680
+v 0.24583863 -0.08189492 -0.17074140
+f 7 1 5
+f 8 5 1
+f 8 4 5
+f 9 5 4
+f 9 4 3
+f 10 6 3
+f 10 3 4
+f 12 2 1
+f 12 1 7
+f 13 4 8
+f 13 8 1
+f 14 7 5
+f 16 2 12
+f 17 3 6
+f 18 10 4
+f 18 4 13
+f 18 13 6
+f 18 6 10
+f 19 6 13
+f 19 17 6
+f 19 11 17
+f 20 9 3
+f 21 15 14
+f 21 20 15
+f 21 9 20
+f 21 14 5
+f 21 5 9
+f 22 7 14
+f 22 14 15
+f 23 1 2
+f 23 2 16
+f 23 19 13
+f 23 13 1
+f 25 7 22
+f 26 23 16
+f 26 11 19
+f 26 19 23
+f 26 17 11
+f 27 15 20
+f 28 20 3
+f 28 3 24
+f 28 24 27
+f 29 24 3
+f 29 3 17
+f 29 17 26
+f 30 16 12
+f 31 22 15
+f 31 15 27
+f 31 27 24
+f 31 24 29
+f 31 29 26
+f 31 26 16
+f 31 16 30
+f 31 30 25
+f 31 25 22
+f 32 28 27
+f 32 27 20
+f 32 20 28
+f 33 30 12
+f 33 12 7
+f 33 7 25
+f 33 25 30
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_10.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..018cab80e2a6605f4cba43ce10afd2ef177a684e
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.09244622 -0.47174324 0.11821965
+v 0.15241700 -0.39647790 0.13969323
+v -0.01968408 -0.45655573 0.17610549
+v -0.11134859 -0.21969712 0.16211639
+v 0.16027814 -0.26515135 0.14470653
+v -0.13651961 -0.42066421 0.14183519
+v 0.07794329 -0.45179545 0.16267949
+v 0.13585368 -0.43688783 0.11501972
+v 0.03865931 -0.21971035 0.17654698
+v -0.04224606 -0.49471642 0.11690846
+v -0.10727984 -0.40152463 0.16343587
+v 0.10562497 -0.42528015 0.16030277
+v -0.08990229 -0.21969409 0.15323467
+v 0.12986669 -0.43256192 0.13764877
+v -0.03404352 -0.21973791 0.17699244
+v -0.03488016 -0.46005213 0.17245290
+v 0.02246027 -0.45554310 0.17589995
+v -0.12497019 -0.26514883 0.15800942
+v 0.14796292 -0.39493093 0.14373897
+v 0.11124871 -0.26515026 0.16226697
+v 0.06884524 -0.21897127 0.15779810
+v 0.11708853 -0.43526852 0.14746604
+v -0.03392261 -0.44508869 0.17612140
+v -0.10724663 -0.21970653 0.16332300
+v 0.03789589 -0.44514302 0.17557136
+v 0.15493439 -0.26515055 0.14691232
+v 0.06877015 -0.21943061 0.16235451
+v 0.13008164 -0.42005673 0.14675566
+f 8 5 2
+f 10 8 1
+f 13 5 8
+f 13 8 10
+f 13 10 6
+f 14 1 8
+f 14 8 2
+f 16 6 10
+f 16 11 6
+f 17 16 10
+f 17 3 16
+f 17 15 3
+f 17 9 15
+f 17 10 1
+f 17 1 7
+f 18 11 4
+f 18 6 11
+f 18 13 6
+f 18 4 13
+f 19 2 5
+f 19 5 12
+f 21 5 13
+f 21 13 4
+f 21 15 9
+f 22 7 1
+f 22 1 14
+f 22 12 7
+f 23 15 11
+f 23 3 15
+f 23 16 3
+f 23 11 16
+f 24 4 11
+f 24 11 15
+f 24 21 4
+f 24 15 21
+f 25 17 7
+f 25 7 12
+f 25 12 20
+f 25 20 9
+f 25 9 17
+f 26 20 12
+f 26 12 5
+f 26 5 9
+f 26 9 20
+f 27 21 9
+f 27 9 5
+f 27 5 21
+f 28 22 14
+f 28 14 2
+f 28 2 19
+f 28 19 12
+f 28 12 22
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_11.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1685fa0d58cfc3ba80e4857b732be7a56a53282
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.05018065 0.19044557 0.17524068
+v 0.15773911 0.23485480 0.14573305
+v 0.03782386 0.44506085 0.17564534
+v -0.05258427 0.49033908 0.12261325
+v -0.12527935 0.23485862 0.15782524
+v 0.13486931 0.43513178 0.12849063
+v 0.11160753 0.35605773 0.16215243
+v 0.05492445 0.18939419 0.16014068
+v -0.13214975 0.43554518 0.12889925
+v -0.03472414 0.23585307 0.17684018
+v 0.01259412 0.49944254 0.11689996
+v 0.14201724 0.23484622 0.15204839
+v 0.10953304 0.41469594 0.16126366
+v 0.00927610 0.18939393 0.17832918
+v -0.10594047 0.41569604 0.16217413
+v 0.05415590 0.47447876 0.15871631
+v 0.14200804 0.35605833 0.15202550
+v 0.03876372 0.18939393 0.17657462
+v -0.10752537 0.23485018 0.16317394
+v -0.03401921 0.44473641 0.17612140
+v 0.06658672 0.46997110 0.15640689
+v 0.16043312 0.35899182 0.14354538
+v 0.05145224 0.46765061 0.16460406
+v 0.06334736 0.46557940 0.16120905
+f 7 3 1
+f 8 5 2
+f 8 2 1
+f 9 2 5
+f 11 6 2
+f 11 9 4
+f 11 2 9
+f 12 7 1
+f 12 1 2
+f 13 3 7
+f 14 5 8
+f 15 9 5
+f 16 11 4
+f 17 12 2
+f 17 7 12
+f 17 13 7
+f 18 14 8
+f 18 8 1
+f 18 1 3
+f 18 3 14
+f 19 14 10
+f 19 5 14
+f 19 15 5
+f 20 14 3
+f 20 10 14
+f 20 4 9
+f 20 9 15
+f 20 16 4
+f 20 19 10
+f 20 15 19
+f 21 6 11
+f 21 11 16
+f 21 13 6
+f 22 17 2
+f 22 2 6
+f 22 6 13
+f 22 13 17
+f 23 20 3
+f 23 16 20
+f 23 3 13
+f 24 21 16
+f 24 16 23
+f 24 23 13
+f 24 13 21
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_12.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..721903bd7200b4e5ad389a121b7e68737a9d6689
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.17184005 -0.26514973 0.13968568
+v 0.15493439 -0.26515055 0.14691232
+v 0.05830110 -0.25352515 0.15959048
+v 0.08347808 0.35606053 0.16922756
+v 0.17183152 0.23485006 0.13965412
+v 0.05477535 -0.26515006 0.17459807
+v 0.11543136 0.35606083 0.16102028
+v 0.06070649 0.22069113 0.15918874
+v 0.05265771 -0.26111069 0.16235451
+v 0.15506364 0.23484507 0.14680777
+v 0.11124871 -0.26515026 0.16226697
+v 0.05159936 0.23123625 0.16235451
+v 0.11160753 0.35605773 0.16215243
+v 0.05478904 0.23484164 0.17454960
+f 5 2 1
+f 5 1 3
+f 6 1 2
+f 8 5 3
+f 8 7 5
+f 9 3 1
+f 9 1 6
+f 10 7 2
+f 10 2 5
+f 10 5 7
+f 11 6 2
+f 11 2 7
+f 11 4 6
+f 12 4 7
+f 12 7 8
+f 12 9 6
+f 12 8 3
+f 12 3 9
+f 13 11 7
+f 13 7 4
+f 13 4 11
+f 14 12 6
+f 14 6 4
+f 14 4 12
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_13.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1be98d1d7b105d5290e37724f5d58683ae3f065
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.26013716 0.09916491 0.08852276
+v -0.20232518 0.15860333 -0.16751846
+v -0.20232773 0.09848485 0.01083936
+v -0.24304238 0.23743936 0.09106778
+v -0.27740253 0.09569484 -0.13413271
+v -0.20061183 0.23139251 -0.15494153
+v -0.24405020 0.15965157 0.10005334
+v -0.27702873 0.11182520 0.05430735
+v -0.20232773 0.09848485 -0.08006973
+v -0.27867299 0.09687218 0.05447004
+v -0.24601119 0.22812205 -0.12889128
+v -0.25378767 0.11378484 0.09363337
+v -0.26757605 0.11297379 0.07912961
+v -0.24678240 0.09811289 -0.16853742
+v -0.26343434 0.09522939 -0.15798844
+v -0.24630537 0.25032645 0.01097463
+v -0.25898625 0.18589022 0.07879907
+v -0.23478497 0.19788764 -0.15361077
+v -0.26153051 0.15433418 -0.14304936
+v -0.23633485 0.22898458 -0.14053032
+v -0.25972949 0.19864070 -0.12057260
+v -0.25955587 0.20039386 0.06898320
+v -0.21152205 0.22977167 -0.15412348
+v -0.24878735 0.16918139 -0.15234782
+v -0.27518110 0.11045494 -0.13321477
+v -0.25902022 0.18385565 -0.13271345
+v -0.24903132 0.23138892 0.08062709
+v -0.26141156 0.10996798 -0.15657623
+f 6 4 3
+f 7 3 4
+f 9 6 3
+f 9 2 6
+f 10 3 1
+f 10 8 5
+f 12 7 1
+f 12 1 3
+f 12 3 7
+f 13 7 4
+f 13 1 7
+f 13 10 1
+f 13 8 10
+f 14 2 9
+f 15 9 3
+f 15 14 9
+f 15 10 5
+f 15 3 10
+f 16 4 6
+f 17 13 4
+f 17 8 13
+f 19 15 5
+f 20 16 6
+f 20 11 16
+f 21 16 11
+f 22 8 17
+f 22 21 8
+f 22 16 21
+f 23 6 2
+f 23 2 14
+f 23 14 18
+f 23 20 6
+f 23 18 20
+f 24 18 14
+f 24 20 18
+f 24 19 11
+f 24 11 20
+f 25 5 8
+f 25 8 21
+f 25 19 5
+f 26 21 11
+f 26 11 19
+f 26 25 21
+f 26 19 25
+f 27 22 17
+f 27 17 4
+f 27 4 16
+f 27 16 22
+f 28 24 14
+f 28 14 15
+f 28 15 19
+f 28 19 24
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_14.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6269f900496708835ea6c2228cb567cee28b19d5
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.23754328 -0.26528019 0.08680630
+v 0.26277229 -0.16884077 -0.13252053
+v 0.28240648 -0.05187248 0.05440840
+v 0.25251476 -0.05303123 0.09481693
+v 0.23544945 -0.08248262 -0.17399488
+v 0.26629912 -0.14173320 0.07747991
+v 0.22731565 -0.25983196 -0.13298749
+v 0.28186560 -0.05138232 -0.13505898
+v 0.27729185 -0.05270768 0.06944004
+v 0.24685728 -0.14449030 0.09827173
+v 0.26551573 -0.17112944 0.06784142
+v 0.25364659 -0.15354789 -0.15282101
+v 0.24987776 -0.22849336 -0.11813935
+v 0.27984852 -0.05274151 -0.13957031
+v 0.28128096 -0.06693863 0.05426939
+v 0.26343641 -0.15606324 0.07895079
+v 0.28060114 -0.06637997 -0.13421706
+v 0.23171236 -0.18635301 -0.15787921
+v 0.23686784 -0.22755249 -0.14020952
+v 0.23457316 -0.25552528 -0.12676308
+v 0.24028035 -0.26164335 0.08280458
+v 0.24583863 -0.08189492 -0.17074140
+v 0.26541361 -0.14009372 -0.14263095
+v 0.22893809 -0.23050528 -0.14496073
+v 0.23949409 -0.18425446 -0.15414292
+v 0.24933711 -0.23091230 0.07900432
+v 0.23507104 -0.11180501 -0.17113947
+v 0.27812216 -0.05746734 -0.14250879
+v 0.24462384 -0.11064091 -0.16756566
+f 5 1 4
+f 7 1 5
+f 8 4 3
+f 9 3 4
+f 10 4 1
+f 10 9 4
+f 10 6 9
+f 13 2 11
+f 14 5 4
+f 14 4 8
+f 15 9 6
+f 15 3 9
+f 15 6 11
+f 15 8 3
+f 16 10 1
+f 16 6 10
+f 16 11 6
+f 17 11 2
+f 17 15 11
+f 17 8 15
+f 19 12 2
+f 19 2 13
+f 20 1 7
+f 20 19 13
+f 20 7 19
+f 21 20 13
+f 21 1 20
+f 22 5 14
+f 23 17 2
+f 23 2 12
+f 24 7 5
+f 24 5 18
+f 24 19 7
+f 25 12 19
+f 25 24 18
+f 25 19 24
+f 26 21 13
+f 26 13 11
+f 26 11 16
+f 26 16 1
+f 26 1 21
+f 27 18 5
+f 27 5 22
+f 28 17 23
+f 28 14 8
+f 28 8 17
+f 28 22 14
+f 28 23 12
+f 28 12 22
+f 29 25 18
+f 29 12 25
+f 29 18 27
+f 29 27 22
+f 29 22 12
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_15.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a795b0b0de802cd6acd44f26d79d26a0ee25ba8f
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.19937576 -0.14394061 0.12637829
+v -0.20232773 -0.14393939 0.01083936
+v -0.19934231 0.23484724 0.12631400
+v -0.22261039 0.23666511 0.11290516
+v -0.27585797 -0.12609688 0.05406698
+v -0.24630537 0.25032645 0.01097463
+v -0.21086490 0.23484831 0.12019976
+v -0.27376793 -0.14321434 0.01084167
+v -0.26389915 -0.09815967 0.08547676
+v -0.27491571 0.11199226 0.06432979
+v -0.23932010 -0.14393861 0.10337077
+v -0.27978598 0.09685936 0.01081869
+v -0.24903132 0.23138892 0.08062709
+v -0.26415918 0.08298902 0.08543141
+v -0.27543126 -0.11223887 0.06456153
+v -0.21095163 -0.14393719 0.12011083
+v -0.26613979 -0.14287663 0.07807776
+v -0.24964550 0.24083684 0.01089169
+v -0.27668190 -0.12594500 0.01082657
+v -0.24455680 0.23076703 0.09140766
+v -0.27702873 0.11182520 0.05430735
+v -0.23394793 0.23262843 0.10453929
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 11 7 4
+f 11 8 2
+f 11 2 1
+f 13 4 6
+f 14 11 4
+f 14 9 11
+f 15 14 10
+f 15 9 14
+f 15 12 5
+f 16 11 1
+f 16 1 7
+f 16 7 11
+f 17 5 8
+f 17 8 11
+f 17 15 5
+f 17 11 9
+f 17 9 15
+f 18 6 2
+f 18 2 12
+f 18 13 6
+f 19 8 5
+f 19 5 12
+f 19 12 2
+f 19 2 8
+f 20 13 10
+f 20 10 14
+f 20 4 13
+f 21 15 10
+f 21 12 15
+f 21 18 12
+f 21 10 13
+f 21 13 18
+f 22 20 14
+f 22 14 4
+f 22 4 20
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_16.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24a3160940e50bb328ee4bf8ae536944b2573c73
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.10558577 -0.45473304 0.14288550
+v -0.10719954 -0.45428093 -0.07356353
+v -0.11135689 -0.26515165 0.16214460
+v -0.23574350 -0.26148741 0.09630684
+v -0.18458998 -0.37735235 0.10955181
+v -0.11143668 -0.27384132 -0.14633566
+v -0.14506370 -0.39633372 0.14649071
+v -0.15620132 -0.41763173 0.11396793
+v -0.22773277 -0.28526999 -0.11702114
+v -0.21260411 -0.26110303 -0.14361955
+v -0.10511727 -0.44130741 0.15490901
+v -0.19344589 -0.26514777 0.12936253
+v -0.19870554 -0.33444801 0.11929296
+v -0.12716252 -0.44591915 0.12462223
+v -0.15454840 -0.40653769 0.13229539
+v -0.22863218 -0.28962604 0.09309247
+v -0.18654912 -0.37375657 -0.08627153
+v -0.23729295 -0.26092181 -0.12118332
+v -0.11141354 -0.39670583 -0.11108874
+v -0.15153560 -0.26514789 0.14831516
+v -0.19044984 -0.32438690 0.12949296
+v -0.12789101 -0.44570934 -0.06203226
+v -0.16969987 -0.37748724 0.13326415
+v -0.14069323 -0.43239385 0.12269658
+v -0.12881574 -0.42231675 0.14827817
+v -0.21235722 -0.31834586 0.10725821
+v -0.16474055 -0.37668439 -0.10888321
+v -0.21838591 -0.28657919 -0.12777772
+v -0.19779394 -0.27563227 -0.14400199
+v -0.10966735 -0.42571892 -0.09883052
+v -0.15668125 -0.41617386 -0.07211452
+v -0.11428825 -0.44902516 0.13932317
+v -0.11532258 -0.43665766 0.14964869
+v -0.20121783 -0.26303296 -0.14722987
+v -0.11141631 -0.36952772 -0.12002463
+v -0.14942039 -0.39003745 -0.10744679
+v -0.21116550 -0.27382281 -0.13958426
+v -0.13144249 -0.43241395 -0.08172166
+v -0.11658582 -0.44879893 -0.07324844
+v -0.14239111 -0.42990122 -0.07076180
+v -0.13346330 -0.41887350 -0.09489892
+f 10 4 3
+f 10 3 6
+f 11 1 2
+f 11 2 6
+f 11 6 3
+f 11 3 7
+f 14 2 1
+f 15 5 8
+f 17 8 5
+f 17 16 9
+f 17 5 16
+f 18 4 10
+f 18 16 4
+f 18 9 16
+f 20 7 3
+f 20 3 4
+f 20 4 12
+f 21 12 4
+f 21 4 13
+f 21 20 12
+f 21 7 20
+f 22 14 8
+f 22 2 14
+f 23 13 5
+f 23 5 15
+f 23 21 13
+f 23 7 21
+f 24 15 8
+f 24 8 14
+f 25 11 7
+f 25 23 15
+f 25 7 23
+f 26 13 4
+f 26 4 16
+f 26 16 5
+f 26 5 13
+f 28 18 10
+f 28 9 18
+f 28 27 17
+f 28 17 9
+f 30 6 2
+f 31 22 8
+f 31 8 17
+f 31 17 27
+f 32 24 14
+f 32 14 1
+f 32 25 15
+f 32 15 24
+f 33 1 11
+f 33 11 25
+f 33 32 1
+f 33 25 32
+f 34 29 10
+f 34 10 6
+f 34 6 29
+f 35 29 6
+f 35 19 29
+f 35 30 19
+f 35 6 30
+f 36 29 19
+f 36 27 29
+f 36 19 30
+f 37 28 10
+f 37 10 29
+f 37 29 27
+f 37 27 28
+f 38 31 27
+f 39 38 2
+f 39 2 22
+f 40 22 31
+f 40 31 38
+f 40 39 22
+f 40 38 39
+f 41 38 27
+f 41 27 36
+f 41 36 30
+f 41 30 2
+f 41 2 38
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_17.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d11f080188f04d8f904abe615b13669c14a084ca
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.14770260 -0.40332569 -0.09706980
+v 0.13969073 -0.39129151 -0.10964580
+v 0.14615326 -0.26353988 -0.14864776
+v -0.20121783 -0.26303296 -0.14722987
+v -0.11265042 -0.40693496 -0.10706944
+v -0.21579496 -0.32480808 -0.09493340
+v 0.14614826 -0.30604080 -0.13829198
+v -0.22224943 -0.30535770 -0.10590449
+v -0.19272529 -0.36353979 -0.08977468
+v 0.14618423 -0.27649176 -0.14574038
+v -0.11141354 -0.39670583 -0.11108874
+v -0.21856452 -0.27709576 -0.13271693
+v -0.20347203 -0.34783332 -0.09108793
+v -0.11144386 -0.27730045 -0.14549981
+v -0.18482523 -0.30509990 -0.13705172
+v -0.20469698 -0.31458199 -0.12260042
+v -0.21505623 -0.31418603 -0.11133773
+v -0.19603304 -0.28896970 -0.13940911
+v -0.17616103 -0.36047144 -0.11316597
+v -0.21730019 -0.31637463 -0.10386000
+v -0.21921192 -0.30260775 -0.11476053
+v -0.18853821 -0.36006539 -0.10251026
+v -0.17809072 -0.34567312 -0.12078447
+v -0.20044720 -0.34460157 -0.10110279
+f 5 2 1
+f 6 1 3
+f 7 1 2
+f 8 6 3
+f 9 5 1
+f 10 3 1
+f 10 1 7
+f 11 7 2
+f 11 2 5
+f 12 8 3
+f 12 3 4
+f 13 9 1
+f 13 1 6
+f 14 10 7
+f 14 4 3
+f 14 3 10
+f 14 7 11
+f 15 11 5
+f 15 14 11
+f 15 4 14
+f 18 12 4
+f 18 4 15
+f 18 16 12
+f 20 17 13
+f 20 13 6
+f 20 6 8
+f 20 8 17
+f 21 17 8
+f 21 8 12
+f 21 12 16
+f 21 16 17
+f 22 9 13
+f 22 17 16
+f 22 16 19
+f 22 19 5
+f 22 5 9
+f 23 18 15
+f 23 16 18
+f 23 19 16
+f 23 15 5
+f 23 5 19
+f 24 22 13
+f 24 13 17
+f 24 17 22
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_18.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5979316e9ee1f76bbc210dc5bf8837cdd2cdab9
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.25249591 0.23089299 0.06950083
+v 0.25295190 0.22998459 -0.10856137
+v 0.20427106 0.34718124 0.09728399
+v -0.12527023 0.35607073 0.15779829
+v -0.12527935 0.23485862 0.15782524
+v -0.11141333 0.35154467 -0.12551807
+v 0.23393780 0.28871855 0.04109249
+v 0.15773911 0.23485480 0.14573305
+v 0.16896814 0.34719838 -0.12410396
+v -0.11141799 0.23467403 -0.15489114
+v 0.24879174 0.24505940 0.06901653
+v 0.20439358 0.34596268 -0.09140990
+v 0.22772684 0.23537827 0.10937650
+v 0.16043312 0.35899182 0.14354538
+v -0.11141151 0.30594684 -0.13835267
+v 0.22951678 0.23042184 -0.14566495
+v 0.23392002 0.28802141 -0.04970194
+v 0.21801830 0.31869334 0.09441210
+v 0.18618928 0.30390337 -0.13716837
+v 0.23425067 0.27124684 -0.11802823
+v 0.22969886 0.27824903 0.09849155
+v 0.24265366 0.23034323 -0.13321002
+v 0.21816368 0.31609753 -0.10222755
+v 0.21982599 0.28510699 -0.12683270
+v 0.24846095 0.24350359 -0.10775802
+v 0.22387482 0.25742627 -0.13809595
+v 0.20465441 0.32853948 -0.11149728
+v 0.23491460 0.25695350 -0.12705802
+v 0.19313794 0.34466932 -0.11065350
+f 5 2 1
+f 8 5 1
+f 8 4 5
+f 10 5 4
+f 10 2 5
+f 11 1 2
+f 12 3 7
+f 13 8 1
+f 14 4 8
+f 14 12 9
+f 14 3 12
+f 14 9 6
+f 14 6 4
+f 14 8 13
+f 15 10 4
+f 15 4 6
+f 16 2 10
+f 17 7 11
+f 17 12 7
+f 18 11 7
+f 18 7 3
+f 18 3 14
+f 19 15 6
+f 19 6 9
+f 19 10 15
+f 19 16 10
+f 21 1 11
+f 21 11 18
+f 21 13 1
+f 21 18 14
+f 21 14 13
+f 22 2 16
+f 23 12 17
+f 24 19 9
+f 25 23 17
+f 25 20 23
+f 25 22 20
+f 25 2 22
+f 25 17 11
+f 25 11 2
+f 26 16 19
+f 26 19 24
+f 26 22 16
+f 27 23 20
+f 27 20 24
+f 27 12 23
+f 28 24 20
+f 28 20 22
+f 28 26 24
+f 28 22 26
+f 29 27 24
+f 29 24 9
+f 29 9 12
+f 29 12 27
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_19.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b60d3373a4f6fbb0efe1be61799bd2b7b5e54d2
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.27162294 -0.15125102 0.01086496
+v 0.23509680 -0.14316216 -0.16620483
+v 0.28527017 -0.00874662 0.01081630
+v -0.28551607 -0.00763434 0.01083490
+v -0.27376793 -0.14321434 0.01084167
+v 0.23590113 -0.00742383 -0.17729180
+v -0.23023822 -0.14130344 -0.16811350
+v -0.27378877 -0.14320157 -0.08007305
+v 0.21970230 -0.14190865 -0.16950733
+v -0.25661410 -0.00778607 -0.17088530
+v -0.27675014 -0.12595672 -0.08008247
+v 0.23350324 -0.12656918 -0.16954448
+v -0.27438564 -0.08060721 -0.14719432
+v -0.27668190 -0.12594500 0.01082657
+v -0.25349851 -0.08086281 -0.16798672
+v -0.27800611 -0.00783940 -0.14951053
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 8 7 1
+f 8 1 5
+f 9 7 6
+f 9 2 7
+f 10 4 6
+f 10 6 7
+f 11 8 5
+f 12 9 6
+f 12 6 2
+f 12 2 9
+f 13 7 8
+f 13 8 11
+f 14 11 5
+f 14 5 4
+f 14 4 11
+f 15 13 10
+f 15 10 7
+f 15 7 13
+f 16 13 11
+f 16 11 4
+f 16 4 10
+f 16 10 13
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_2.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e6ea2c2d4f63f396746413b84a3dda08b6ac7d9
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.18130382 -0.26514903 0.13540744
+v -0.19121581 -0.27507851 -0.14503253
+v -0.18717532 -0.14375664 -0.16949222
+v -0.28183516 -0.08210473 -0.08007023
+v -0.24663308 -0.24613104 0.07968281
+v -0.26529246 -0.08099146 -0.15894548
+v -0.18161770 -0.14394229 0.13526084
+v -0.18716905 -0.21711818 -0.15836964
+v -0.23056340 -0.26132958 0.10294120
+v -0.24566581 -0.24303688 -0.11837801
+v -0.26613979 -0.14287663 0.07807776
+v -0.23114455 -0.08226193 -0.17465124
+v -0.19344589 -0.26514777 0.12936253
+v -0.26030447 -0.19939104 -0.12019487
+v -0.23294208 -0.25806781 -0.12899152
+v -0.23932010 -0.14393861 0.10337077
+v -0.26027473 -0.20064862 0.06917979
+v -0.24539922 -0.23134877 0.09082556
+v -0.24219424 -0.08165016 -0.17254728
+v -0.23060711 -0.12650234 -0.17021810
+v -0.27935946 -0.08138287 -0.13490097
+v -0.24899659 -0.16960139 -0.15267858
+v -0.19345603 -0.14393565 0.12938290
+v -0.27675014 -0.12595672 -0.08008247
+v -0.25947483 -0.18607666 0.07899717
+v -0.22545545 -0.21506058 -0.15333409
+v -0.24024706 -0.12523560 -0.16763905
+v -0.26177598 -0.15474988 -0.14322749
+v -0.28113951 -0.08856045 -0.08006761
+v -0.27580339 -0.12550393 -0.12328621
+v -0.21260411 -0.26110303 -0.14361955
+v -0.23405936 -0.24188852 -0.13743553
+v -0.26208171 -0.11075793 -0.15656588
+v -0.23477897 -0.19858323 -0.15371260
+v -0.25976854 -0.18372672 -0.13311761
+v -0.27578916 -0.11118410 -0.13341525
+v -0.22089575 -0.25820285 -0.14003959
+v -0.24752053 -0.22757490 -0.12896204
+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 12 4 7
+f 12 7 3
+f 13 9 2
+f 13 2 1
+f 14 10 5
+f 15 9 5
+f 15 5 10
+f 15 2 9
+f 16 4 11
+f 16 11 9
+f 16 9 13
+f 17 14 5
+f 18 5 9
+f 18 9 11
+f 18 17 5
+f 19 6 4
+f 19 4 12
+f 20 12 3
+f 20 3 8
+f 20 19 12
+f 21 4 6
+f 23 7 4
+f 23 4 16
+f 23 16 13
+f 23 13 1
+f 23 1 7
+f 24 14 17
+f 25 18 11
+f 25 11 17
+f 25 17 18
+f 26 20 8
+f 26 8 2
+f 27 6 19
+f 27 19 20
+f 27 20 26
+f 29 24 17
+f 29 17 11
+f 29 11 4
+f 30 14 24
+f 30 24 29
+f 30 29 4
+f 30 4 21
+f 31 26 2
+f 33 27 22
+f 33 6 27
+f 33 22 28
+f 34 27 26
+f 34 22 27
+f 34 32 22
+f 35 14 30
+f 35 28 22
+f 36 30 21
+f 36 35 30
+f 36 28 35
+f 36 33 28
+f 36 21 6
+f 36 6 33
+f 37 31 2
+f 37 2 15
+f 37 15 32
+f 37 26 31
+f 37 34 26
+f 37 32 34
+f 38 32 15
+f 38 15 10
+f 38 10 14
+f 38 14 35
+f 38 35 22
+f 38 22 32
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_20.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..719e6d409ea5965900f4d87e3ebc74c62b4b2bb0
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.27958131 0.10242481 -0.08013648
+v 0.27578515 0.09760111 -0.13787382
+v 0.26985666 0.16624288 -0.08001710
+v -0.26851256 0.16653194 -0.08016199
+v -0.27882876 0.10483184 -0.08016702
+v -0.24250260 0.15674157 -0.16049903
+v -0.24157200 0.09617459 -0.17096664
+v 0.21968537 0.14161265 -0.16940186
+v -0.26472636 0.16319842 -0.13258355
+v 0.27146606 0.09675018 -0.14733915
+v 0.25363238 0.15469644 -0.15292205
+v -0.23036027 0.14119183 -0.16828248
+v -0.27497971 0.10327705 -0.13676285
+v 0.24528394 0.09655092 -0.16939309
+v 0.26379477 0.15832470 -0.13918420
+v -0.23993148 0.12590018 -0.16712233
+v 0.24467188 0.11153172 -0.16791568
+v 0.26917190 0.14109459 -0.13514924
+v 0.26580836 0.13967610 -0.14296420
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 7 1 5
+f 9 4 3
+f 10 2 1
+f 10 1 7
+f 11 8 6
+f 12 8 7
+f 12 6 8
+f 13 5 4
+f 13 4 9
+f 13 7 5
+f 13 9 6
+f 13 6 7
+f 14 10 7
+f 14 7 8
+f 15 9 3
+f 15 11 6
+f 15 6 9
+f 16 12 7
+f 16 7 6
+f 16 6 12
+f 17 11 10
+f 17 10 14
+f 17 14 8
+f 17 8 11
+f 18 15 3
+f 18 3 2
+f 19 10 11
+f 19 11 15
+f 19 15 18
+f 19 18 2
+f 19 2 10
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_21.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2e807e3571322f19270e12f1ddcff51b8380022
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.13601629 -0.42447865 0.13734105
+v 0.23753152 -0.25835347 -0.11941258
+v 0.23546489 -0.26061193 0.09441870
+v 0.14729579 -0.26515089 0.15003771
+v 0.14615326 -0.26353988 -0.14864776
+v 0.17574995 -0.36505688 0.13072367
+v 0.13851997 -0.42187830 -0.08558658
+v 0.21219658 -0.26403634 0.11865891
+v 0.20289605 -0.34609407 0.09860139
+v 0.19963615 -0.28875719 -0.13770803
+v 0.20684224 -0.30694014 0.11755402
+v 0.18525336 -0.26515252 0.13348613
+v 0.21864895 -0.31747300 0.08441978
+v 0.20311633 -0.34425068 -0.09235490
+v 0.17417727 -0.39143936 0.11032905
+v 0.14525881 -0.35115653 -0.12563869
+v 0.21510787 -0.25962892 -0.14238896
+v 0.20473113 -0.33323595 0.10887957
+v 0.23237836 -0.27416311 0.09277005
+v 0.21854320 -0.31616510 -0.09209071
+v 0.21981900 -0.29964377 -0.11434232
+v 0.14371425 -0.41905149 0.13346444
+v 0.17444841 -0.38670796 -0.08537143
+v 0.16559742 -0.37383457 -0.10951695
+v 0.14055208 -0.40775024 -0.09865402
+v 0.17442752 -0.30504213 -0.13789527
+v 0.23247660 -0.27116513 -0.11730897
+v 0.21870229 -0.28543585 -0.12619587
+v 0.14656804 -0.41556850 -0.08571677
+v 0.19268424 -0.34335462 -0.11001214
+v 0.16871111 -0.34649924 -0.12326015
+v 0.14614826 -0.30604080 -0.13829198
+v 0.21043643 -0.27242123 -0.13949805
+v 0.14945623 -0.40283289 -0.09609124
+v 0.18864770 -0.35781613 -0.10062579
+v 0.17802062 -0.35894646 -0.11054970
+f 3 2 4
+f 5 1 4
+f 5 4 2
+f 6 4 1
+f 7 1 5
+f 8 3 4
+f 11 8 6
+f 11 3 8
+f 12 8 4
+f 12 4 6
+f 12 6 8
+f 14 13 9
+f 15 14 9
+f 17 5 2
+f 18 3 11
+f 18 9 13
+f 18 11 6
+f 18 15 9
+f 18 6 15
+f 19 13 2
+f 19 2 3
+f 19 18 13
+f 19 3 18
+f 20 2 13
+f 20 13 14
+f 21 20 14
+f 22 15 6
+f 22 6 1
+f 22 1 7
+f 23 14 15
+f 25 7 5
+f 25 5 16
+f 26 17 10
+f 26 5 17
+f 27 2 20
+f 27 20 21
+f 28 17 2
+f 28 27 21
+f 28 2 27
+f 29 22 7
+f 29 15 22
+f 29 23 15
+f 29 24 23
+f 29 7 25
+f 30 21 14
+f 30 28 21
+f 30 10 28
+f 31 25 16
+f 31 24 25
+f 31 16 26
+f 31 26 10
+f 31 10 24
+f 32 26 16
+f 32 16 5
+f 32 5 26
+f 33 28 10
+f 33 10 17
+f 33 17 28
+f 34 29 25
+f 34 25 24
+f 34 24 29
+f 35 30 14
+f 35 14 23
+f 35 23 24
+f 35 24 30
+f 36 30 24
+f 36 24 10
+f 36 10 30
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_22.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1440843dc1f3bc24a052d7e7c50cc00a9159511
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00979348 -0.00757576 0.01083936
+v 0.00978859 -0.00746551 -0.17845295
+v 0.00979348 0.09848485 0.01083936
+v -0.27978598 0.09685936 0.01081869
+v -0.28551607 -0.00763434 0.01083490
+v -0.12656290 0.09735974 -0.17440495
+v -0.27800611 -0.00783940 -0.14951053
+v 0.00978607 0.09760964 -0.17440793
+v -0.25661410 -0.00778607 -0.17088530
+v -0.27740253 0.09569484 -0.13413271
+v -0.24157200 0.09617459 -0.17096664
+v -0.26343434 0.09522939 -0.15798844
+v -0.25301344 0.08164569 -0.16798549
+v -0.27500057 0.06640700 -0.14794884
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 6 2
+f 9 2 7
+f 10 7 5
+f 10 5 4
+f 11 10 4
+f 11 4 6
+f 11 6 9
+f 12 9 7
+f 12 10 11
+f 13 12 11
+f 13 11 9
+f 13 9 12
+f 14 12 7
+f 14 7 10
+f 14 10 12
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_23.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63022b28174469048edbaa04aea26feab80520b1
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.15667416 -0.40935144 0.12229985
+v 0.14770260 -0.40332569 -0.09706980
+v 0.15801990 -0.26515328 0.14563868
+v -0.12497019 -0.26514883 0.15800942
+v -0.13651961 -0.42066421 0.14183519
+v -0.11144386 -0.27730045 -0.14549981
+v 0.14618423 -0.27649176 -0.14574038
+v -0.11265042 -0.40693496 -0.10706944
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 5 4
+f 7 1 2
+f 7 3 1
+f 7 6 4
+f 7 4 3
+f 8 2 5
+f 8 5 6
+f 8 7 2
+f 8 6 7
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_24.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fedf27892d72f8113b1a0b44632947265594a1d
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01256927 -0.26515151 0.16405159
+v 0.00979348 -0.26515151 0.01083936
+v 0.00979348 0.23484848 0.01083936
+v -0.13887173 0.23485748 0.15322172
+v -0.14519126 -0.26516413 0.15072720
+v 0.01201940 0.23484848 0.16384731
+v -0.14015832 -0.26516072 0.15264066
+v -0.12657015 -0.26515151 0.01083936
+v -0.12657015 0.23484848 0.01083936
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 3 2
+f 8 2 5
+f 9 8 5
+f 9 5 4
+f 9 4 3
+f 9 3 8
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_25.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c294f1cc0db8cd087474d4a1fa900699aa79c2a
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.23754328 -0.26528019 0.08680630
+v 0.27167665 -0.15126239 -0.06489258
+v 0.24685728 -0.14449030 0.09827173
+v 0.18337701 -0.14393567 0.13434393
+v 0.16130863 -0.26515151 -0.06491821
+v 0.16130863 -0.14393939 -0.06491821
+v 0.18338060 -0.26514779 0.13435170
+v 0.24048880 -0.26641298 -0.06492225
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 2 1
+f 8 7 5
+f 8 1 7
+f 8 6 2
+f 8 5 6
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_26.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78bca5ed3519772ba731ba53ac81155a081aab1e
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.14522239 0.09847220 0.15080906
+v -0.12657015 0.09848485 -0.08006973
+v -0.12657015 0.23484848 -0.08006973
+v -0.21220717 0.23484874 0.11945065
+v -0.20232773 0.09848485 -0.08006973
+v -0.14622255 0.23486117 0.15042013
+v -0.21220802 0.09848510 0.11945216
+v -0.24655417 0.25041402 -0.07993370
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 7 5 1
+f 7 6 4
+f 7 1 6
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_27.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5ad25d14de88d4a979f3dca9e9df3fa30c18b93
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.17184005 -0.26514973 0.13968568
+v 0.16130863 -0.26515151 0.01083936
+v 0.16130863 -0.00757576 0.01083936
+v 0.01574615 0.00545177 0.16392845
+v 0.01256927 -0.26515151 0.16405159
+v 0.17183795 -0.00757417 0.13966802
+v 0.00979348 -0.00757576 0.01083936
+v 0.00979348 -0.26515151 0.01083936
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 3 2
+f 7 5 4
+f 7 4 3
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_28.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ba926cebf9068756c9851ae0b12edb0ce4a1311
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.17183795 -0.00757417 0.13966802
+v 0.16130368 -0.00746413 -0.17835649
+v 0.17183514 0.09848643 0.13966194
+v 0.01223141 0.09690008 0.16362788
+v 0.00979348 -0.00757576 0.01083936
+v 0.00978607 0.09760964 -0.17440793
+v 0.01574615 0.00545177 0.16392845
+v 0.16130116 0.09760253 -0.17431274
+v 0.00978859 -0.00746551 -0.17845295
+v 0.16130863 0.09848485 0.01083936
+f 1 2 3
+f 5 2 1
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 3 2
+f 9 2 5
+f 9 5 6
+f 9 8 2
+f 9 6 8
+f 10 8 6
+f 10 6 3
+f 10 3 8
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_29.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2e5847a14e4a0ccfbdbbe89e3facc1144a7f8e8
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.16130863 0.09848485 0.01083936
+v 0.16130863 0.09848485 -0.08006973
+v 0.16130863 0.23484848 0.01083936
+v -0.12657015 0.23484848 0.01083936
+v -0.12657015 0.09848485 -0.08006973
+v -0.12657015 0.23484848 -0.08006973
+v -0.12657015 0.09848485 0.01083936
+v 0.16130863 0.23484848 -0.08006973
+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/bar_soap/bar_soap_3/collision/model_normalized_collision_3.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bd63af59798af88ade32ec28edb9a43bdb87736
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.12512138 -0.26515179 0.15795958
+v -0.12657015 -0.26515151 0.01083936
+v -0.12506119 0.23484737 0.15789913
+v -0.21220717 0.23484874 0.11945065
+v -0.23536132 -0.28451688 0.01081860
+v -0.12657015 0.09848485 0.01083936
+v -0.18130382 -0.26514903 0.13540744
+v -0.20232773 0.09848485 0.01083936
+v -0.14622255 0.23486117 0.15042013
+v -0.15153560 -0.26514789 0.14831516
+v -0.19345603 -0.14393565 0.12938290
+v -0.15123688 0.23484484 0.14839547
+v -0.19313820 0.23484467 0.12954223
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 8 6 5
+f 8 5 4
+f 8 4 6
+f 9 1 3
+f 9 3 4
+f 10 7 5
+f 10 5 1
+f 10 1 9
+f 11 4 5
+f 11 5 7
+f 12 10 9
+f 12 7 10
+f 13 11 7
+f 13 7 12
+f 13 4 11
+f 13 12 9
+f 13 9 4
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_30.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..742116a7cff837745cb29b0e45bd00a089aa6eca
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.16130863 0.15909090 -0.08006973
+v 0.16130662 0.15870824 -0.16774418
+v 0.16130863 0.23484848 -0.08006973
+v -0.24655417 0.25041402 -0.07993370
+v -0.20232518 0.15860333 -0.16751846
+v 0.16129972 0.23168486 -0.15537708
+v -0.20232773 0.15909090 -0.08006973
+v -0.20061183 0.23139251 -0.15494153
+v 0.10069368 0.23169160 -0.15541033
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 9 6 2
+f 9 2 5
+f 9 5 8
+f 9 8 4
+f 9 4 6
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_31.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7be33bf11e779277593a6f2936ff71c9b9b8bcbd
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.17183514 0.09848643 0.13966194
+v 0.16130863 0.09848485 0.01083936
+v 0.17760395 0.23485093 0.13698460
+v 0.01201940 0.23484848 0.16384731
+v 0.01223141 0.09690008 0.16362788
+v 0.00979348 0.23484848 0.01083936
+v 0.17183152 0.23485006 0.13965412
+v 0.16130863 0.23484848 0.01083936
+v 0.00979348 0.09848485 0.10174845
+v 0.00979348 0.09848485 0.01083936
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 5 4
+f 9 4 6
+f 10 9 6
+f 10 6 2
+f 10 2 5
+f 10 5 9
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_4.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61359c4fcd8e3ef9f42cf13f23cae46e14f31fd8
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.19124673 0.34986800 0.12090261
+v 0.19583084 0.34865397 -0.10442163
+v 0.09075986 0.47439407 -0.03459778
+v -0.04586377 0.48894184 0.13927933
+v -0.12527023 0.35607073 0.15779829
+v 0.08951220 0.47324830 0.12943814
+v -0.11141820 0.35569073 -0.12428283
+v 0.04939879 0.48850323 0.13904549
+v 0.18883683 0.37482023 0.09903511
+v 0.08072761 0.46251901 -0.07942229
+v -0.09984941 0.45869786 -0.07130816
+v 0.04903300 0.48786992 -0.05696524
+v -0.01960080 0.45610361 0.17610274
+v 0.14502838 0.42019643 0.13292660
+v 0.18875757 0.37399535 -0.07684909
+v 0.18322889 0.34905225 -0.11637520
+v -0.11141594 0.39651808 -0.11119686
+v -0.09836466 0.46171038 0.13795383
+v 0.02174475 0.49094328 0.14950121
+v -0.04514969 0.48808814 -0.05714346
+v 0.10447394 0.45764762 -0.07115169
+v 0.11543136 0.35606083 0.16102028
+v 0.18763780 0.36357919 0.11830952
+v 0.09015751 0.44933917 0.15876500
+v 0.13463263 0.43116342 -0.08062429
+v -0.10557107 0.43408808 -0.09316184
+v 0.15348356 0.38902221 -0.10625102
+v -0.05893839 0.47761459 0.15037397
+v -0.10594047 0.41569604 0.16217413
+v -0.01874458 0.49074455 0.14958517
+v -0.08597066 0.47494012 -0.04708424
+v 0.07792353 0.47348058 -0.06634734
+v -0.01894117 0.44510041 0.17760569
+v 0.14797833 0.39544854 0.14450686
+v 0.10191790 0.46080539 0.13815552
+v 0.06250037 0.47729720 0.15003260
+v 0.17517201 0.38830144 -0.08590915
+v 0.13539672 0.41657903 -0.09567584
+v -0.07629663 0.46357291 -0.07903894
+v 0.10963614 0.43400516 -0.09268495
+v -0.08600137 0.47385653 0.12927806
+v -0.10085786 0.43867245 0.15749832
+v -0.03141806 0.47949104 0.16069545
+v -0.07454549 0.47390365 -0.06642116
+v 0.02312472 0.45597692 0.17586783
+v 0.17716573 0.36624455 0.13032928
+v 0.13079951 0.42078945 0.14757111
+v 0.10953304 0.41469594 0.16126366
+v 0.08960620 0.46161903 0.14896446
+v 0.19044711 0.35833004 -0.10147031
+v -0.08623598 0.46217882 0.14955339
+v -0.08606179 0.45018934 0.15971146
+v 0.03506256 0.47963030 0.16049165
+v 0.02389290 0.44501116 0.17726043
+v 0.15490816 0.35591808 0.14684367
+v 0.10601957 0.42542802 0.16091226
+v 0.17916165 0.35918229 -0.11157894
+v 0.17879291 0.35244275 0.13289542
+f 5 2 1
+f 7 2 5
+f 8 6 3
+f 9 1 2
+f 12 8 3
+f 14 3 6
+f 15 9 2
+f 16 2 7
+f 17 7 5
+f 18 11 5
+f 19 8 12
+f 20 19 12
+f 20 12 10
+f 22 5 1
+f 23 1 9
+f 23 9 14
+f 25 14 9
+f 25 9 15
+f 25 3 14
+f 25 21 3
+f 26 17 5
+f 26 5 11
+f 27 16 7
+f 27 7 17
+f 30 20 4
+f 30 19 20
+f 30 4 28
+f 31 4 20
+f 31 11 18
+f 32 12 3
+f 32 3 21
+f 32 21 10
+f 32 10 12
+f 33 5 22
+f 33 29 5
+f 33 13 29
+f 35 14 6
+f 36 8 19
+f 36 35 6
+f 36 6 8
+f 37 25 15
+f 38 21 25
+f 38 37 27
+f 38 25 37
+f 39 26 11
+f 39 20 10
+f 39 10 17
+f 39 17 26
+f 40 27 17
+f 40 17 10
+f 40 38 27
+f 40 10 21
+f 40 21 38
+f 41 28 4
+f 41 31 18
+f 41 4 31
+f 42 18 5
+f 42 5 29
+f 43 30 28
+f 43 19 30
+f 44 31 20
+f 44 11 31
+f 44 39 11
+f 44 20 39
+f 45 13 33
+f 46 23 14
+f 46 14 34
+f 46 1 23
+f 47 34 14
+f 47 14 35
+f 49 36 24
+f 49 35 36
+f 49 47 35
+f 49 24 47
+f 50 37 15
+f 50 15 2
+f 50 2 16
+f 51 18 42
+f 51 41 18
+f 51 28 41
+f 52 42 29
+f 52 29 13
+f 52 13 43
+f 52 51 42
+f 52 43 28
+f 52 28 51
+f 53 45 24
+f 53 24 36
+f 53 36 19
+f 53 19 43
+f 53 43 13
+f 53 13 45
+f 54 45 33
+f 54 33 22
+f 54 22 48
+f 55 48 22
+f 55 34 48
+f 56 24 45
+f 56 54 48
+f 56 45 54
+f 56 47 24
+f 56 48 34
+f 56 34 47
+f 57 50 16
+f 57 16 27
+f 57 27 37
+f 57 37 50
+f 58 46 34
+f 58 34 55
+f 58 1 46
+f 58 55 22
+f 58 22 1
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_5.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6d48757db60a17668774ef85f9dff39b6d7e337
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.24048880 -0.26641298 -0.06492225
+v 0.27167665 -0.15126239 -0.06489258
+v 0.16130863 -0.26515151 0.01083936
+v -0.18717621 -0.14393939 0.01083936
+v -0.18717532 -0.14375664 -0.16949222
+v 0.16130863 -0.14393939 0.01083936
+v 0.23509680 -0.14316216 -0.16620483
+v -0.23370720 -0.27336937 -0.11714589
+v 0.22378866 -0.25620946 -0.13771384
+v -0.23536132 -0.28451688 0.01081860
+v -0.24815021 -0.23206469 -0.12306579
+v 0.22914863 -0.21379868 -0.15146863
+v -0.21260411 -0.26110303 -0.14361955
+v 0.21462217 -0.22937186 -0.15261751
+v -0.21559439 -0.21687318 -0.15664146
+v -0.21256934 -0.22981419 -0.15395009
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 6 2
+f 7 5 4
+f 7 4 6
+f 9 2 1
+f 9 1 8
+f 10 8 1
+f 10 1 3
+f 10 3 4
+f 11 4 5
+f 11 10 4
+f 11 8 10
+f 12 7 2
+f 12 2 9
+f 13 9 8
+f 13 8 11
+f 14 5 7
+f 14 7 12
+f 14 12 9
+f 14 9 13
+f 15 13 11
+f 15 11 5
+f 15 5 14
+f 16 15 14
+f 16 14 13
+f 16 13 15
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_6.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a97417fda7517557cc0f710863ab8253ab45fdd4
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.21219658 -0.26403634 0.11865891
+v 0.25474511 -0.20177270 0.08131708
+v 0.23543662 0.23226817 0.10356613
+v 0.17816577 0.37101659 0.12629601
+v 0.16027814 -0.26515135 0.14470653
+v 0.23860363 0.27565669 0.06944450
+v 0.23461717 -0.23198542 0.10356995
+v 0.24028035 -0.26164335 0.08280458
+v 0.18337637 0.23485180 0.13431508
+v 0.25292619 0.21656462 0.08056655
+v 0.14201724 0.23484622 0.15204839
+v 0.25055181 -0.20180978 0.08901154
+v 0.18525336 -0.26515252 0.13348613
+v 0.23546489 -0.26061193 0.09441870
+v 0.15490816 0.35591808 0.14684367
+v 0.25127271 0.23459716 0.07132186
+v 0.21742115 0.30392255 0.10672597
+v 0.20062150 0.35296973 0.10019439
+v 0.24955921 0.21691359 0.08829372
+v 0.16337454 0.23484590 0.14345930
+v 0.17879291 0.35244275 0.13289542
+v 0.23294961 0.27493114 0.09323056
+v 0.20631548 0.33447596 0.10755586
+v 0.14200804 0.35605833 0.15202550
+v 0.20402198 0.32090868 0.11812822
+v 0.24714719 0.24032883 0.08204936
+v 0.21016093 0.33512286 0.09798998
+v 0.19124673 0.34986800 0.12090261
+v 0.23492706 0.28474400 0.07335790
+f 7 3 1
+f 8 6 2
+f 8 5 6
+f 9 1 3
+f 12 3 7
+f 13 8 1
+f 13 5 8
+f 13 1 9
+f 14 7 1
+f 14 1 8
+f 14 12 7
+f 14 8 2
+f 14 2 12
+f 16 10 2
+f 16 2 6
+f 18 6 5
+f 18 5 11
+f 19 3 12
+f 19 17 3
+f 19 12 2
+f 19 2 10
+f 20 13 9
+f 20 5 13
+f 20 9 15
+f 20 15 11
+f 20 11 5
+f 21 15 9
+f 21 9 3
+f 21 4 15
+f 22 17 19
+f 23 18 4
+f 24 15 4
+f 24 4 18
+f 24 18 11
+f 24 11 15
+f 25 21 3
+f 25 3 17
+f 25 17 23
+f 26 10 16
+f 26 22 19
+f 26 19 10
+f 27 23 17
+f 27 17 22
+f 27 18 23
+f 28 4 21
+f 28 21 25
+f 28 25 23
+f 28 23 4
+f 29 22 26
+f 29 27 22
+f 29 6 18
+f 29 18 27
+f 29 26 16
+f 29 16 6
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_7.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e80eb564c10e5ed27174fdd4cbe1e314b25c9ebd
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.11135839 0.23484850 0.16213271
+v -0.11141799 0.23467403 -0.15489114
+v -0.10485526 0.44030153 0.15438161
+v -0.10454373 0.45392526 0.14233190
+v -0.24918180 0.23004440 -0.11974644
+v -0.23633485 0.22898458 -0.14053032
+v -0.24903132 0.23138892 0.08062709
+v -0.11609544 0.44740669 -0.07273928
+v -0.19024877 0.32405616 0.12887094
+v -0.19952478 0.34379335 -0.10066135
+v -0.10676845 0.45350862 -0.07317328
+v -0.19313820 0.23484467 0.12954223
+v -0.14461172 0.39620437 0.14583609
+v -0.23091627 0.28720431 -0.10366769
+v -0.18375331 0.37619941 0.10888263
+v -0.12647694 0.44631321 0.11399194
+v -0.18450895 0.30411450 -0.13700738
+v -0.23394793 0.23262843 0.10453929
+v -0.14155157 0.42119490 0.13413180
+v -0.15123688 0.23484484 0.14839547
+v -0.20127311 0.32984529 -0.11243438
+v -0.23307712 0.24134834 -0.13770072
+v -0.24588164 0.24569187 0.07970273
+v -0.16894136 0.37687388 0.13260002
+v -0.14127236 0.43096015 -0.06174412
+v -0.18514514 0.37337738 -0.08592027
+v -0.12783711 0.44584818 -0.04834905
+v -0.11141594 0.39651808 -0.11119686
+v -0.12786710 0.42103768 0.14836998
+v -0.14071840 0.43225793 0.11409517
+v -0.24496348 0.24250906 -0.11804765
+v -0.18947434 0.33015006 -0.12261927
+v -0.22796211 0.28865073 0.09252272
+v -0.16884799 0.39025074 0.12361549
+v -0.13060260 0.43155454 -0.08097209
+v -0.14896103 0.38995414 -0.10675472
+v -0.10792689 0.42462745 -0.09920347
+v -0.11141151 0.30594684 -0.13835267
+v -0.11459649 0.43622571 0.14906073
+v -0.11339869 0.44834938 0.13881010
+v -0.19828194 0.34722069 0.10894256
+v -0.23002672 0.26153976 0.10243295
+v -0.13185198 0.41724107 -0.09542196
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 6 1
+f 7 5 6
+f 11 4 2
+f 13 1 3
+f 16 4 11
+f 17 2 6
+f 18 12 9
+f 18 7 1
+f 20 1 13
+f 20 18 1
+f 20 12 18
+f 20 13 9
+f 20 9 12
+f 21 14 10
+f 22 6 5
+f 22 14 21
+f 22 17 6
+f 23 14 5
+f 23 5 7
+f 24 9 13
+f 26 10 14
+f 26 14 15
+f 26 15 25
+f 27 16 11
+f 27 11 8
+f 27 8 25
+f 29 13 3
+f 29 24 13
+f 29 19 24
+f 30 25 15
+f 30 27 25
+f 30 16 27
+f 31 22 5
+f 31 5 14
+f 31 14 22
+f 32 22 21
+f 32 17 22
+f 33 15 14
+f 33 14 23
+f 34 24 19
+f 34 30 15
+f 34 19 30
+f 35 26 25
+f 35 25 8
+f 35 8 11
+f 36 21 10
+f 36 10 26
+f 36 32 21
+f 36 28 17
+f 36 17 32
+f 37 11 2
+f 37 28 36
+f 38 2 17
+f 38 17 28
+f 38 37 2
+f 38 28 37
+f 39 29 3
+f 39 3 4
+f 39 19 29
+f 40 30 19
+f 40 4 16
+f 40 16 30
+f 40 39 4
+f 40 19 39
+f 41 15 33
+f 41 34 15
+f 41 24 34
+f 41 9 24
+f 42 18 9
+f 42 41 33
+f 42 9 41
+f 42 7 18
+f 42 33 23
+f 42 23 7
+f 43 36 26
+f 43 26 35
+f 43 37 36
+f 43 35 11
+f 43 11 37
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_8.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4237c59c034e678e4f980517555da4ba9eb8ecdc
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.07841721 -0.26125374 0.16235451
+v 0.06884524 -0.21897127 0.15779810
+v 0.01029989 0.24373163 0.17822735
+v -0.13887173 0.23485748 0.15322172
+v -0.14015832 -0.26516072 0.15264066
+v 0.06070649 0.22069113 0.15918874
+v 0.03865931 -0.21971035 0.17654698
+v -0.08375786 -0.25755644 0.15471233
+v -0.03404352 -0.21973791 0.17699244
+v 0.07215053 0.23484842 0.17164413
+v 0.06877015 -0.21943061 0.16235451
+v -0.12512138 -0.26515179 0.15795958
+v -0.03472414 0.23585307 0.17684018
+v 0.03876372 0.18939393 0.17657462
+v -0.10752537 0.23485018 0.16317394
+v -0.12506119 0.23484737 0.15789913
+v -0.10724663 -0.21970653 0.16332300
+f 5 4 2
+f 6 2 4
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 7 3
+f 9 1 7
+f 10 6 4
+f 10 4 3
+f 10 2 6
+f 11 7 1
+f 11 1 2
+f 11 10 7
+f 11 2 10
+f 12 5 1
+f 12 1 9
+f 12 4 5
+f 13 9 3
+f 14 10 3
+f 14 3 7
+f 14 7 10
+f 15 13 3
+f 16 15 3
+f 16 3 4
+f 16 4 12
+f 16 12 15
+f 17 15 12
+f 17 12 9
+f 17 9 13
+f 17 13 15
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/collision/model_normalized_collision_9.obj b/bar_soap/bar_soap_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..024d3a1abc5cd4893056de3cb8bc4f6584010ae7
--- /dev/null
+++ b/bar_soap/bar_soap_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.24235153 -0.14393836 0.10138872
+v 0.27162294 -0.15125102 0.01086496
+v 0.28049872 0.08187543 0.05420336
+v 0.18336982 0.09848856 0.13432838
+v 0.16130863 -0.14393939 0.01083936
+v 0.24238157 0.09848474 0.10137925
+v 0.27058346 -0.14204558 0.06666274
+v 0.18337701 -0.14393567 0.13434393
+v 0.28010998 0.09826144 0.01084314
+v 0.26629912 -0.14173320 0.07747991
+v 0.28377283 -0.05187891 0.01083995
+v 0.23171865 -0.14393929 0.10798580
+v 0.16130863 0.09848485 0.01083936
+v 0.26988872 0.09785872 0.07769586
+v 0.27927836 -0.05189540 0.06439102
+v 0.28163120 0.08184677 0.01086454
+v 0.23170816 0.09848556 0.10799663
+v 0.27952192 0.05257425 0.06452375
+f 8 5 2
+f 8 4 5
+f 10 1 2
+f 10 2 7
+f 11 7 2
+f 11 2 5
+f 12 8 2
+f 12 2 1
+f 12 1 6
+f 13 5 4
+f 13 6 9
+f 13 11 5
+f 13 9 11
+f 14 9 6
+f 14 3 9
+f 14 6 1
+f 14 1 10
+f 15 10 7
+f 15 14 10
+f 15 11 3
+f 15 7 11
+f 16 11 9
+f 16 9 3
+f 16 3 11
+f 17 12 6
+f 17 4 8
+f 17 8 12
+f 17 13 4
+f 17 6 13
+f 18 15 3
+f 18 3 14
+f 18 14 15
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/model.xml b/bar_soap/bar_soap_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..05aef06737985ebf0c695d3a9ce8b5336785c459
--- /dev/null
+++ b/bar_soap/bar_soap_3/model.xml
@@ -0,0 +1,80 @@
+<mujoco model="bar_soap_4">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
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+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="0.9999999999999998 -3.9252311467094367e-17 1.1102230246251563e-16 3.925231146709438e-17"/>
+    <material name="Scene_-_Root.004" specular="0.5" shininess="0.15999998099999999" rgba="1.000000 1.000000 1.000000 1.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Scene_-_Root.004"/>
+        <geom solimp="0.998 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_6._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"/>
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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"/>
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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="-1.3524500000001158e-05 0.00025993659999999993 -0.019629824499999993" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-1.3524500000001158e-05 0.00025993659999999993 0.0196162098" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03137971869999999 0.05493867939999999 -6.807349999999738e-06" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/bar_soap/bar_soap_3/visual/material.mtl b/bar_soap/bar_soap_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..26e7e716ad7164e873bf876cf280463d8791d9fd
--- /dev/null
+++ b/bar_soap/bar_soap_3/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 159.99998100
\ No newline at end of file
diff --git a/bar_soap/bar_soap_3/visual/model_normalized_0.obj b/bar_soap/bar_soap_3/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd85a068e5ab819f627bd59aafcff52ef23cc62c
--- /dev/null
+++ b/bar_soap/bar_soap_3/visual/model_normalized_0.obj
@@ -0,0 +1,6023 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.03401062 0.49673854 0.12060860
+v 0.04865019 0.49312022 -0.03504120
+v 0.02553168 0.49821884 -0.03369718
+v 0.05579683 0.49085763 0.11924459
+v 0.07456787 0.48332012 -0.03769694
+v 0.07708075 0.48213183 0.11718571
+v 0.19056642 0.37419164 0.09028231
+v 0.20376112 0.35226399 -0.07413901
+v 0.18139176 0.38788577 -0.06468549
+v 0.21255949 0.33595126 0.08136250
+v 0.22338017 0.31367133 -0.08360681
+v 0.23173025 0.29447657 0.07250870
+v 0.24236607 0.26684574 -0.09383834
+v 0.24802698 0.25031272 0.06418005
+v 0.25785622 0.21752497 -0.10298271
+v 0.26135368 0.20422056 0.05681655
+v 0.26989605 0.16628733 -0.11060222
+v 0.27179064 0.15641409 0.05070078
+v 0.22716449 -0.30108492 0.07474444
+v 0.23114710 -0.29168283 -0.08865686
+v 0.24621639 -0.25128873 0.06516149
+v 0.06539578 -0.48610672 0.11852087
+v 0.07538816 -0.48156668 -0.03819123
+v 0.09148232 -0.47281174 0.11546541
+v 0.05463796 -0.49025333 -0.03581378
+v 0.04418671 -0.49356365 0.12014345
+v 0.03340004 -0.49625254 -0.03421319
+v 0.02257765 -0.49821855 0.12109746
+v 0.01185097 -0.49945257 -0.03337632
+v 0.01812332 0.49914742 0.12117546
+v 0.00214974 0.50000000 -0.03323489
+v 0.00214974 0.50000000 0.12140518
+v 0.14276282 0.43435222 -0.05161279
+v 0.12858411 0.44762406 -0.04780275
+v 0.13685562 0.44010199 0.10674818
+v 0.11430597 0.45923875 -0.04447386
+v 0.11773857 0.45659929 0.11091308
+v 0.09950554 0.46956456 -0.04153783
+v 0.09769981 0.47071086 0.11441797
+v 0.16438303 0.41038827 0.09922411
+v 0.15630580 0.41990494 -0.05573883
+v 0.15093347 0.42585414 0.10313300
+v 0.17784858 0.39286839 0.09484921
+v 0.24789241 -0.24622011 -0.09793295
+v 0.26182883 -0.19757363 -0.10623360
+v 0.26155997 -0.19865079 0.05670798
+v 0.27254779 -0.14731343 -0.11296281
+v 0.27316180 -0.14384140 0.04987763
+v 0.28007901 -0.09589122 -0.11784829
+v 0.28026129 -0.09428749 0.04551187
+v 0.28444248 -0.04372728 -0.12070203
+v 0.28443019 -0.04395986 0.04288242
+v 0.28564506 0.00929238 -0.12141318
+v 0.28566106 0.00673007 0.04209669
+v 0.28362904 0.06224346 -0.11991545
+v 0.28394990 0.05737399 0.04318756
+v 0.27838556 0.11471569 -0.11626513
+v 0.27932528 0.10732619 0.04609416
+v 0.09575522 -0.47017800 -0.04138412
+v 0.11531541 -0.45637700 -0.04532187
+v 0.11637913 -0.45554128 0.11130480
+v 0.13395330 -0.44037628 -0.04992306
+v 0.13107413 -0.44304116 0.10821677
+v 0.14814487 -0.42613614 -0.05400995
+v 0.14519970 -0.42924703 0.10477502
+v 0.16166843 -0.41072799 -0.05838914
+v 0.15914583 -0.41374716 0.10090041
+v 0.17534713 -0.39310296 -0.06331062
+v 0.17242367 -0.39705557 0.09675608
+v 0.18822469 -0.37438021 -0.06840381
+v 0.19258101 -0.36752300 0.08958773
+v 0.21126434 -0.33460868 -0.07864476
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+f 1567//1567 1628//1628 1278//1278
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+f 1401//1401 1622//1622 1293//1293
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+f 1295//1295 1616//1616 1296//1296
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+f 1524//1524 1423//1423 1530//1530
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+f 1524//1524 1584//1584 1300//1300
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+f 1564//1564 1510//1510 1708//1708
+f 1564//1564 1708//1708 1504//1504
+f 1564//1564 1504//1504 1621//1621
+f 1564//1564 1621//1621 1619//1619
+f 1564//1564 1619//1619 1615//1615
+f 1564//1564 1615//1615 1526//1526
+f 1377//1377 1532//1532 1427//1427
+f 1427//1427 1532//1532 1530//1530
+f 1427//1427 1530//1530 1423//1423
+f 1532//1532 1613//1613 1504//1504
+f 1504//1504 1613//1613 1400//1400
+f 1504//1504 1400//1400 1621//1621
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+f 1605//1605 1521//1521 1526//1526
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+f 1704//1704 1299//1299 1300//1300
+f 1381//1381 1562//1562 1671//1671
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+f 1696//1696 1700//1700 1698//1698
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+f 1698//1698 1386//1386 1411//1411
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+f 1683//1683 1651//1651 1601//1601
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+f 1631//1631 1601//1601 1512//1512
+f 1631//1631 1512//1512 1300//1300
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+f 1627//1627 1538//1538 1566//1566
+f 1671//1671 1562//1562 1603//1603
+f 1603//1603 1562//1562 1528//1528
+f 1603//1603 1528//1528 1408//1408
+f 1408//1408 1528//1528 1484//1484
+f 1408//1408 1484//1484 1392//1392
+f 1392//1392 1484//1484 1610//1610
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_0.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77102da5b9278ab1f14adb0e47d928d476d8964f
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_0.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.46732547 0.10347072 0.05325366
+v 0.47588735 0.10633788 -0.04586405
+v 0.39603287 0.21410930 -0.03216791
+v 0.14355009 0.23140153 0.03078698
+v 0.14177243 0.11900846 -0.09468277
+v 0.33730251 0.20146623 0.04967550
+v 0.44853207 0.18334104 0.00126960
+v 0.14386364 0.10802673 0.10981602
+v 0.38580929 0.10780802 -0.11150939
+v 0.14397112 0.23143875 -0.02008125
+v 0.32368626 0.22629438 0.01428505
+v 0.47370108 0.14532862 0.00476043
+v 0.45795393 0.15952233 -0.04358487
+v 0.41029620 0.17134242 0.05097235
+v 0.14344064 0.14800901 0.09843867
+v 0.42551848 0.10598403 -0.10064973
+v 0.14285563 0.18550602 -0.06951105
+v 0.26392933 0.22643639 0.02902303
+v 0.32455794 0.22988936 -0.01901504
+v 0.39559948 0.21003562 0.01516937
+v 0.46199874 0.14423828 0.03581307
+v 0.47878876 0.10361525 0.04025149
+v 0.44653731 0.18660931 -0.01984850
+v 0.47361840 0.13362630 -0.03205925
+v 0.38448439 0.10568569 0.08787302
+v 0.14331942 0.21626831 0.05532803
+v 0.32391092 0.10441528 0.09862316
+v 0.44601706 0.14574000 -0.06949787
+v 0.38485480 0.14696602 -0.09942408
+v 0.32308528 0.21307360 0.03853859
+v 0.26508123 0.22725594 -0.03375368
+v 0.43643896 0.18171023 0.02535352
+v 0.38047263 0.18629981 0.05054361
+v 0.45891346 0.15729997 0.02636678
+v 0.46486154 0.11718718 0.04971759
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+v 0.47482433 0.13168246 0.02728727
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+v 0.32332670 0.11814764 0.09431498
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+v 0.39557430 0.17350126 -0.08317542
+v 0.36699645 0.14467596 0.07811540
+v 0.29378020 0.13315609 0.09328429
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+f 18 11 4
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+f 22 1 16
+f 26 4 5
+f 26 5 15
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+f 27 8 16
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+f 30 11 18
+f 31 17 10
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+f 46 30 18
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+f 50 22 37
+f 50 37 21
+f 50 21 35
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+f 51 3 23
+f 52 31 19
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+f 52 3 38
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+f 53 33 6
+f 53 6 41
+f 53 14 33
+f 54 44 9
+f 54 9 29
+f 54 43 44
+f 55 44 43
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+f 55 28 16
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+f 57 49 35
+f 57 35 14
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+f 59 53 41
+f 59 41 42
+f 60 43 54
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+f 60 47 56
+f 60 54 29
+f 60 29 47
+f 61 57 53
+f 61 49 57
+f 61 53 59
+f 61 58 25
+f 61 25 49
+f 62 42 27
+f 62 27 58
+f 62 59 42
+f 62 61 59
+f 62 58 61
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_1.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86c0a1445326dbb6f7de5282f376fe6f35e4a69c
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_1.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.26570821 -0.22968043 -0.02005127
+v 0.40277851 -0.18224379 -0.07429286
+v 0.26515151 -0.13368234 -0.02406358
+v -0.23484849 -0.13368234 -0.02406358
+v -0.36699881 -0.18631674 -0.07447190
+v 0.34097020 -0.13342958 -0.09900633
+v 0.40103176 -0.19309963 -0.06769120
+v -0.23497334 -0.23135062 -0.02293397
+v 0.40006592 -0.17564342 -0.07931729
+v -0.23496013 -0.13336917 -0.09826239
+v -0.38182116 -0.21391769 -0.03519533
+v 0.33956618 -0.21289812 -0.05404210
+v -0.23594710 -0.17270270 -0.08504344
+v -0.38278094 -0.18965446 -0.06315507
+v -0.35299512 -0.22076303 -0.04262998
+v 0.26607664 -0.22549386 -0.03060195
+v 0.34190441 -0.17154618 -0.08374736
+v -0.19067335 -0.19825536 -0.06645987
+v -0.39132731 -0.20082615 -0.04518404
+v -0.35288978 -0.22395742 -0.03513096
+v -0.23558201 -0.22166131 -0.04488864
+v -0.36422447 -0.20753353 -0.05658990
+v 0.33560199 -0.15789071 -0.08973578
+v 0.39827998 -0.18648983 -0.07272144
+v -0.37773110 -0.19839214 -0.05908162
+v -0.36551897 -0.19551963 -0.06750095
+v -0.37986349 -0.21095325 -0.04362498
+f 1 3 4
+f 7 2 3
+f 7 3 1
+f 8 1 4
+f 9 6 3
+f 9 3 2
+f 9 2 7
+f 10 4 3
+f 10 3 6
+f 11 8 4
+f 12 7 1
+f 13 10 6
+f 13 5 10
+f 14 10 5
+f 14 4 10
+f 16 12 1
+f 16 1 8
+f 17 12 13
+f 18 13 12
+f 18 5 13
+f 19 11 4
+f 19 4 14
+f 20 15 8
+f 20 8 11
+f 20 11 15
+f 21 8 15
+f 21 16 8
+f 21 12 16
+f 21 18 12
+f 22 21 15
+f 23 17 13
+f 23 13 6
+f 23 6 9
+f 23 9 17
+f 24 17 9
+f 24 9 7
+f 24 7 12
+f 24 12 17
+f 25 14 5
+f 25 19 14
+f 26 5 18
+f 26 18 21
+f 26 21 22
+f 26 25 5
+f 26 22 25
+f 27 22 15
+f 27 15 11
+f 27 25 22
+f 27 11 19
+f 27 19 25
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_10.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3a12e1ecb51abe8ceb2a793d75fe0f2f39942cd
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_10.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.26449221 -0.01264061 0.11829316
+v 0.26538777 -0.01243038 -0.11257474
+v 0.26607599 0.10707735 -0.10528991
+v -0.15900039 0.10795928 0.10902378
+v -0.15909092 -0.01247022 -0.03921509
+v 0.26443872 0.10623495 0.10420481
+v -0.15873677 -0.01199808 0.11696080
+v -0.15800910 0.12094036 -0.09152148
+v 0.15854776 0.10577481 0.10990457
+v -0.15869541 0.09165907 0.11171498
+v -0.09870640 -0.01208840 -0.10566734
+v 0.26367849 0.07513964 0.11024731
+v -0.12832346 0.10472688 0.11064357
+v -0.09869562 0.07654239 -0.09955100
+v 0.21876167 0.09044401 0.11004216
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 7 5 1
+f 7 4 5
+f 8 5 4
+f 8 6 3
+f 8 4 6
+f 9 6 4
+f 10 7 1
+f 10 4 7
+f 10 1 9
+f 11 3 2
+f 11 2 5
+f 11 5 8
+f 12 1 6
+f 13 10 9
+f 13 9 4
+f 13 4 10
+f 14 11 8
+f 14 8 3
+f 14 3 11
+f 15 9 1
+f 15 1 12
+f 15 12 6
+f 15 6 9
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_11.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a67d0ab5b0641f5b30d81f8a3187f6080ae9c0aa
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_11.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v -0.44683602 -0.14469372 -0.00382257
+v -0.40952808 -0.11596611 -0.07718280
+v -0.41409523 -0.01108132 0.09651144
+v -0.42592960 0.21527665 0.03804426
+v -0.48835668 0.13736191 -0.00254948
+v -0.41186351 0.20273502 -0.05394333
+v -0.41340691 -0.13252159 -0.06659734
+v -0.48918379 -0.00877764 0.05891823
+v -0.40798522 -0.07119374 -0.09049100
+v -0.41382423 0.20214361 0.05441206
+v -0.46466773 0.20175198 -0.01483308
+v -0.47527244 -0.00969549 -0.01519205
+v -0.45450431 -0.05375575 0.07918486
+v -0.48959300 0.13456299 0.05604994
+v -0.41383945 0.21710019 0.03914019
+v -0.41399271 0.14891662 0.08190820
+v -0.42090945 0.14821278 -0.08137085
+v -0.44221954 -0.12660596 -0.02902659
+v -0.44489334 -0.04004852 -0.05675307
+v -0.48854326 0.00485571 0.01108489
+v -0.46842142 -0.05435230 0.07027983
+v -0.44151173 -0.05498988 0.08442878
+v -0.48998414 0.16558540 0.02302161
+v -0.45547222 0.17250577 0.06226635
+v -0.46854538 0.10524745 0.07781592
+v -0.44979318 0.21519842 -0.01459094
+v -0.41412872 0.06197363 0.09692271
+v -0.46064919 0.17729896 -0.03920056
+v -0.41196666 0.14961219 -0.08393439
+v -0.41980752 -0.12948140 -0.06035867
+v -0.41618131 -0.06965290 -0.08313072
+v -0.45760628 -0.09792041 -0.01441521
+v -0.47426995 0.03498564 -0.02781214
+v -0.46206755 -0.11416263 0.00983857
+v -0.45543840 -0.13124946 0.00762074
+v -0.47454471 0.18027231 -0.01624684
+v -0.48906577 0.06441249 -0.00180350
+v -0.49017126 -0.00950453 0.02588717
+v -0.44005679 0.19766361 0.05087532
+v -0.47733565 0.18818237 0.02923634
+v -0.47844382 0.13336409 0.06672499
+v -0.46538149 -0.02455439 0.07959664
+v -0.41397760 0.21299713 -0.04291733
+v -0.42894351 0.06180741 0.09451935
+v -0.42655839 0.20072852 -0.05123970
+v -0.42845020 -0.11348540 -0.05581148
+v -0.41631872 -0.11353091 -0.07075825
+v -0.45929271 -0.00960747 -0.04308160
+v -0.45841180 -0.11320705 -0.00195853
+v -0.47422308 0.15246199 -0.02791551
+v -0.47615572 -0.03919281 0.06891867
+v -0.47515057 0.19068113 -0.00212644
+v -0.49032428 0.16205672 0.03411976
+v -0.47826088 0.16087688 0.05524659
+v -0.45081387 0.21089214 0.03004389
+v -0.44110392 0.14720259 0.07693449
+v -0.42712857 -0.01058856 0.09388876
+v -0.44810875 0.17646928 -0.05249809
+v -0.42426758 0.21173317 -0.03947339
+v -0.46714343 0.16186521 0.06253207
+f 7 2 3
+f 7 3 1
+f 9 3 2
+f 10 9 6
+f 15 10 6
+f 15 4 10
+f 16 9 10
+f 22 1 3
+f 24 16 10
+f 25 14 8
+f 26 4 15
+f 27 3 9
+f 27 9 16
+f 29 6 9
+f 29 9 17
+f 30 7 1
+f 30 1 18
+f 31 9 2
+f 31 19 17
+f 31 17 9
+f 32 19 18
+f 32 20 12
+f 35 13 21
+f 35 22 13
+f 35 1 22
+f 36 5 23
+f 36 11 28
+f 37 23 5
+f 37 33 12
+f 37 12 20
+f 38 23 37
+f 38 37 20
+f 38 34 8
+f 38 20 34
+f 39 24 10
+f 39 10 4
+f 40 26 11
+f 41 14 25
+f 42 13 22
+f 42 21 13
+f 42 25 8
+f 43 26 15
+f 43 15 6
+f 44 27 16
+f 44 25 42
+f 44 3 27
+f 45 29 17
+f 45 6 29
+f 45 43 6
+f 45 11 26
+f 46 30 18
+f 46 18 19
+f 47 2 7
+f 47 7 30
+f 47 30 46
+f 47 31 2
+f 47 46 19
+f 47 19 31
+f 48 32 12
+f 48 19 32
+f 48 12 33
+f 48 17 19
+f 49 32 18
+f 49 18 1
+f 49 35 34
+f 49 1 35
+f 49 34 20
+f 49 20 32
+f 50 48 33
+f 50 17 48
+f 50 36 28
+f 50 5 36
+f 50 37 5
+f 50 33 37
+f 51 8 34
+f 51 42 8
+f 51 21 42
+f 51 35 21
+f 51 34 35
+f 52 36 23
+f 52 11 36
+f 52 40 11
+f 52 23 40
+f 53 23 38
+f 53 40 23
+f 53 38 8
+f 53 8 14
+f 54 24 39
+f 54 14 41
+f 54 53 14
+f 54 40 53
+f 55 39 4
+f 55 4 26
+f 55 26 40
+f 55 54 39
+f 55 40 54
+f 56 41 25
+f 56 16 24
+f 56 44 16
+f 56 25 44
+f 57 42 22
+f 57 22 3
+f 57 44 42
+f 57 3 44
+f 58 45 17
+f 58 28 11
+f 58 11 45
+f 58 50 28
+f 58 17 50
+f 59 45 26
+f 59 26 43
+f 59 43 45
+f 60 54 41
+f 60 24 54
+f 60 56 24
+f 60 41 56
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_12.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3cefdf533d0bd67516009e364ee64702dc8d1c3
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_12.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.23484849 -0.13368234 0.00623945
+v -0.23599809 -0.13045760 -0.09892168
+v -0.23394409 0.18583150 -0.06647450
+v -0.43235622 0.20845430 0.04260776
+v -0.44683602 -0.14469372 -0.00382257
+v -0.23484849 0.16934797 0.00623945
+v -0.40812786 0.10621147 -0.09618559
+v -0.23551326 0.10446330 -0.09776805
+v -0.37691242 -0.12784939 -0.09649473
+v -0.40918205 0.16108327 -0.08048630
+v -0.32650804 0.03184674 -0.11386491
+v -0.40371514 -0.05482703 -0.09668696
+v -0.39674200 0.12052131 -0.09658606
+v -0.29622291 -0.05637827 -0.11374175
+v -0.40638716 -0.13009676 -0.07532894
+v -0.36970243 0.03212567 -0.11327782
+v -0.29643240 0.11930506 -0.09701277
+v -0.29651343 0.01661955 -0.11339726
+v -0.36676602 -0.05584162 -0.11276036
+v -0.39089084 -0.09935425 -0.09689693
+v -0.28117481 0.16206610 -0.08124764
+v -0.40249055 -0.11361137 -0.08449292
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 8 3 2
+f 9 2 5
+f 10 7 5
+f 10 5 4
+f 10 4 3
+f 12 5 7
+f 13 7 10
+f 14 8 2
+f 15 9 5
+f 15 5 12
+f 16 12 7
+f 16 11 14
+f 16 13 11
+f 16 7 13
+f 17 8 11
+f 17 11 13
+f 18 14 11
+f 18 11 8
+f 18 8 14
+f 19 14 2
+f 19 2 9
+f 19 16 14
+f 19 12 16
+f 20 19 9
+f 20 12 19
+f 21 3 8
+f 21 8 17
+f 21 10 3
+f 21 17 13
+f 21 13 10
+f 22 15 12
+f 22 12 20
+f 22 20 9
+f 22 9 15
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_13.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cb77dc5a545b0ab266a7002fbe492bba934ba87
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_13.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.23464533 0.10745368 0.10640289
+v -0.23484849 0.10874191 0.00623945
+v -0.23463416 0.23262879 0.03040532
+v -0.41449285 0.22801627 0.01740974
+v -0.41666668 0.10874191 0.00623945
+v -0.23372940 0.19268312 -0.06228700
+v -0.41324268 0.18889350 0.06394046
+v -0.36961736 0.10584407 0.09783151
+v -0.23498214 0.23149044 -0.01731572
+v -0.43295557 0.18894845 -0.05589803
+v -0.23424849 0.14820339 0.09647296
+v -0.35416966 0.21437396 0.05140979
+v -0.41571327 0.10764306 0.09146877
+v -0.41284633 0.22617964 -0.01847051
+v -0.41383945 0.21710019 0.03914019
+v -0.23439965 0.21776412 0.05500368
+v -0.33964324 0.13544240 0.09449056
+v -0.39847512 0.22579849 0.02693212
+v -0.29447021 0.14741506 0.09384101
+v -0.36929948 0.12041799 0.09494761
+v -0.41325901 0.16254547 0.07733054
+f 6 2 5
+f 6 1 2
+f 8 5 2
+f 8 2 1
+f 9 4 3
+f 9 3 6
+f 10 6 5
+f 11 1 6
+f 13 5 8
+f 13 10 5
+f 13 7 10
+f 14 9 6
+f 14 6 10
+f 14 10 4
+f 14 4 9
+f 15 10 7
+f 15 4 10
+f 15 7 12
+f 16 11 6
+f 16 6 3
+f 16 3 12
+f 16 12 7
+f 16 7 11
+f 17 8 1
+f 18 15 12
+f 18 12 3
+f 18 3 4
+f 18 4 15
+f 19 17 1
+f 19 1 11
+f 19 11 7
+f 20 13 8
+f 20 8 17
+f 21 19 7
+f 21 17 19
+f 21 20 17
+f 21 7 13
+f 21 13 20
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_14.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a142bef83e052e6e8338c75f51d27fc61128d0f3
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_14.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.21982963 0.16839601 -0.08283994
+v 0.22068894 0.19112366 -0.07094193
+v 0.21966948 0.23159067 -0.02001189
+v -0.41555753 0.22445935 -0.02243976
+v -0.41124288 0.18602424 -0.06708239
+v 0.22003754 0.22856612 -0.03005124
+v -0.41358352 0.16594347 -0.07670498
+v 0.11366824 0.23137391 -0.02006235
+v -0.41397760 0.21299713 -0.04291733
+v -0.43295557 0.18894845 -0.05589803
+v 0.21716996 0.20156241 -0.06185250
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 6 4
+f 8 4 3
+f 8 3 6
+f 9 4 6
+f 10 7 4
+f 10 4 9
+f 10 9 5
+f 10 5 7
+f 11 9 6
+f 11 6 2
+f 11 2 5
+f 11 5 9
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_15.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa1e14cd9d95ce3e8f2b72092391d5ddd4c61db7
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_15.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.23425586 -0.22414650 0.02755202
+v -0.23539081 -0.22772702 -0.03307016
+v -0.23496013 -0.13336917 -0.09826239
+v -0.45088357 -0.12531070 0.05456808
+v -0.40341740 -0.20792510 0.00373109
+v -0.23460668 -0.13225364 0.09354056
+v -0.36562918 -0.21990783 0.01265930
+v -0.33964244 -0.18427526 -0.08167988
+v -0.23385664 -0.15856696 0.08326112
+v -0.25107527 -0.13066613 -0.09995964
+v -0.42189662 -0.18061141 0.03587726
+v -0.23594710 -0.17270270 -0.08504344
+v -0.36399408 -0.22221269 -0.03301479
+v -0.43174876 -0.12832751 -0.04486254
+v -0.23386988 -0.18568214 0.06820502
+v -0.36860289 -0.12940985 0.08202652
+v -0.39189475 -0.20689464 0.02384470
+v -0.28145914 -0.18372178 -0.08170442
+v -0.25137084 -0.14246801 -0.09679449
+v -0.36620915 -0.12872013 -0.09967783
+v -0.44283849 -0.15458131 -0.00345335
+v -0.38918663 -0.19366209 -0.05461328
+v -0.30900001 -0.15630296 0.07817372
+v -0.42568595 -0.12707236 0.06981376
+v -0.41766487 -0.19435455 0.01541801
+v -0.35257755 -0.20777811 0.03625955
+v -0.36488274 -0.14255605 -0.09562282
+v -0.44737432 -0.12845150 -0.01696236
+v -0.39894466 -0.19611521 -0.04274471
+v -0.30859216 -0.18272230 0.06400717
+v -0.42141707 -0.16469332 0.04990715
+v -0.44473266 -0.15052017 0.04177300
+v -0.30914002 -0.22093166 0.02614789
+v -0.37803153 -0.16908528 -0.07943429
+v -0.42822721 -0.14224011 -0.04266365
+v -0.41354961 -0.19563693 -0.01728252
+v -0.39037575 -0.21010695 -0.03137156
+v -0.35258137 -0.19510009 0.04996503
+v -0.42291696 -0.13940410 0.06454812
+v -0.42973913 -0.18143414 0.01864610
+v -0.44677698 -0.13740296 0.05008152
+v -0.39228513 -0.12983392 -0.08734044
+v -0.44329441 -0.14202567 -0.01526086
+v -0.40083379 -0.15622447 -0.06908158
+v -0.40340080 -0.20808003 -0.00547704
+v -0.36802405 -0.16791758 0.06539901
+v -0.39552758 -0.18114881 0.04908964
+v -0.42985512 -0.18168877 0.00837121
+v -0.39097642 -0.14197508 -0.08408983
+v -0.41393076 -0.15528220 -0.05510497
+v -0.36770795 -0.14039554 0.07770189
+v -0.41077425 -0.15438031 0.06162716
+f 1 2 3
+f 7 2 1
+f 9 3 6
+f 10 6 3
+f 10 4 6
+f 12 3 2
+f 13 7 5
+f 13 8 2
+f 13 2 7
+f 15 1 3
+f 15 3 9
+f 17 5 7
+f 18 12 2
+f 18 2 8
+f 19 10 3
+f 19 3 12
+f 19 12 18
+f 19 18 8
+f 20 10 19
+f 20 14 4
+f 20 4 10
+f 22 8 13
+f 23 9 6
+f 23 6 16
+f 24 16 6
+f 24 6 4
+f 25 17 11
+f 25 5 17
+f 26 17 7
+f 27 20 19
+f 27 19 8
+f 28 21 4
+f 28 4 14
+f 30 15 9
+f 30 9 23
+f 32 4 21
+f 32 11 31
+f 33 26 7
+f 33 7 1
+f 33 1 15
+f 34 27 8
+f 34 8 22
+f 35 28 14
+f 36 35 29
+f 37 29 22
+f 37 22 13
+f 37 36 29
+f 38 15 30
+f 38 33 15
+f 38 26 33
+f 38 17 26
+f 39 24 4
+f 40 25 11
+f 40 11 32
+f 41 32 31
+f 41 4 32
+f 41 39 4
+f 41 31 39
+f 42 14 20
+f 43 21 28
+f 43 28 35
+f 43 36 21
+f 43 35 36
+f 44 22 29
+f 44 14 42
+f 44 34 22
+f 45 5 25
+f 45 36 37
+f 45 37 13
+f 45 13 5
+f 46 38 30
+f 46 30 23
+f 47 31 11
+f 47 11 17
+f 47 17 38
+f 47 38 46
+f 48 40 32
+f 48 32 21
+f 48 21 36
+f 48 36 45
+f 48 45 25
+f 48 25 40
+f 49 42 20
+f 49 20 27
+f 49 27 34
+f 49 44 42
+f 49 34 44
+f 50 44 29
+f 50 29 35
+f 50 35 14
+f 50 14 44
+f 51 46 23
+f 51 23 16
+f 51 16 24
+f 52 24 39
+f 52 47 46
+f 52 39 31
+f 52 31 47
+f 52 51 24
+f 52 46 51
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_16.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c79f5018fd09504e6adb3b2cf7b6eadee5ea0fb3
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_16.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.38636364 0.10874191 -0.03921509
+v 0.38580929 0.10780802 -0.11150939
+v 0.38400159 0.21692125 -0.03424042
+v 0.21987189 0.22473354 -0.03564069
+v 0.14405833 0.10817839 -0.09677662
+v 0.35519219 0.20120488 -0.06796965
+v 0.19029934 0.10600147 -0.09953564
+v 0.38365522 0.17404675 -0.08540528
+v 0.38168315 0.21243197 -0.04710240
+v 0.14285563 0.18550602 -0.06951105
+v 0.38485480 0.14696602 -0.09942408
+v 0.22010836 0.21767598 -0.04595999
+v 0.22068894 0.19112366 -0.07094193
+v 0.28208100 0.14837103 -0.09598010
+v 0.31110277 0.20099210 -0.06802363
+v 0.14177243 0.11900846 -0.09468277
+v 0.25131670 0.17505086 -0.08166048
+v 0.14468406 0.16326586 -0.08143802
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 9 6 4
+f 9 4 3
+f 9 8 6
+f 9 3 8
+f 10 5 4
+f 11 8 3
+f 11 3 2
+f 12 10 4
+f 12 4 6
+f 13 10 12
+f 14 11 2
+f 15 6 8
+f 15 13 12
+f 15 12 6
+f 16 14 2
+f 16 2 5
+f 16 5 10
+f 17 10 13
+f 17 8 11
+f 17 11 14
+f 17 15 8
+f 17 13 15
+f 18 16 10
+f 18 14 16
+f 18 17 14
+f 18 10 17
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_17.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ef247ef9a1d27e61096c52a8763b78585984d65
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_17.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.35578246 -0.08783909 0.09475231
+v -0.35606062 -0.08822779 0.00623945
+v -0.35516235 -0.01187780 0.10443364
+v -0.48617228 -0.01113652 0.06271277
+v -0.47447139 -0.08297832 0.02439313
+v -0.44559029 -0.01701638 -0.06071167
+v -0.44498530 -0.01165645 0.08927393
+v -0.35436536 -0.07070728 0.09769580
+v -0.43567383 -0.09332586 -0.05345510
+v -0.35606062 -0.01247022 0.00623945
+v -0.47527244 -0.00969549 -0.01519205
+v -0.41409523 -0.01108132 0.09651144
+v -0.46405680 -0.08106681 0.06544778
+v -0.47351017 -0.05380558 -0.00147679
+v -0.46598285 -0.01066297 -0.03215045
+v -0.39853916 -0.05475303 0.09432084
+v -0.43908706 -0.08398911 0.07877809
+v -0.46842142 -0.05435230 0.07027983
+v -0.47395913 -0.08206276 0.04816370
+v -0.46074021 -0.08409271 -0.01574363
+v -0.45729226 -0.06883133 -0.02896660
+v -0.36937952 -0.07039793 0.09603712
+v -0.41388534 -0.02611947 0.09522274
+v -0.38331795 -0.06991195 0.09420234
+v -0.47559050 -0.06780667 0.05603991
+v -0.45154986 -0.08537917 -0.03260347
+v -0.47335311 -0.02451730 -0.01424063
+f 8 1 2
+f 9 2 1
+f 10 9 6
+f 10 2 9
+f 10 8 2
+f 10 3 8
+f 11 3 10
+f 12 4 7
+f 12 11 4
+f 12 3 11
+f 14 5 4
+f 14 4 11
+f 15 11 10
+f 15 10 6
+f 17 9 1
+f 18 7 4
+f 18 17 7
+f 18 13 17
+f 19 4 5
+f 19 17 13
+f 19 5 9
+f 19 9 17
+f 20 9 5
+f 20 5 14
+f 21 15 6
+f 21 6 9
+f 22 8 3
+f 22 3 16
+f 22 1 8
+f 23 16 3
+f 23 3 12
+f 23 12 7
+f 23 17 16
+f 23 7 17
+f 24 17 1
+f 24 16 17
+f 24 22 16
+f 24 1 22
+f 25 18 4
+f 25 13 18
+f 25 19 13
+f 25 4 19
+f 26 21 9
+f 26 9 20
+f 26 20 21
+f 27 11 15
+f 27 15 21
+f 27 14 11
+f 27 21 20
+f 27 20 14
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_18.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba066811d57e20c721705f3f43e43c4c8c8157cb
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_18.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.40851663 -0.22262201 0.02729659
+v 0.47568008 -0.12962571 -0.01829537
+v 0.45458585 -0.12965434 0.07159027
+v 0.26482343 -0.13163725 0.10575427
+v 0.26165073 -0.15451717 -0.08389345
+v 0.34200157 -0.12916397 -0.10040690
+v 0.39646276 -0.16950502 0.07959865
+v 0.45857086 -0.18213922 0.02910464
+v 0.26511796 -0.22651596 0.04272760
+v 0.47821960 -0.12939888 0.04480710
+v 0.36894928 -0.12935346 0.09824221
+v 0.42133807 -0.20779913 -0.04280818
+v 0.42243658 -0.18340243 0.06364651
+v 0.26445741 -0.15933989 0.09711948
+v 0.45865875 -0.18427445 -0.00419700
+v 0.46056183 -0.15491655 0.05610223
+v 0.42666715 -0.12973731 0.08553381
+v 0.42547762 -0.13044656 -0.08839535
+v 0.39660056 -0.19735382 -0.06609549
+v 0.38278389 -0.22260263 -0.04235217
+v 0.42335045 -0.20879377 0.03998932
+v 0.39637180 -0.21007323 0.05091799
+v 0.26463331 -0.18683017 0.08302231
+v 0.32411594 -0.15847861 0.09415316
+v 0.47437163 -0.14064828 0.04559829
+v 0.47260060 -0.14168000 -0.01777506
+v 0.42454371 -0.22019810 0.01765752
+v 0.44909953 -0.15578432 0.06537692
+v 0.42318809 -0.15737583 0.07768911
+v 0.38461732 -0.12957574 -0.10125118
+v 0.34232150 -0.14299227 -0.09614129
+v 0.41987759 -0.18082739 -0.06804768
+v 0.40833475 -0.22332033 -0.02901875
+v 0.39804071 -0.20865525 -0.05481322
+v 0.26607664 -0.22549386 -0.03060195
+v 0.43352056 -0.20833309 0.02994517
+v 0.39621589 -0.19425368 0.06540924
+v 0.38187795 -0.22177031 0.04052695
+v 0.36827916 -0.14322303 0.09407917
+v 0.46264380 -0.12990581 -0.04691755
+v 0.32750507 -0.19624184 -0.06717302
+v 0.38409542 -0.14349995 -0.09715033
+v 0.43044391 -0.20914793 -0.03073222
+v 0.35436270 -0.18470974 0.07878064
+v 0.46006461 -0.14234600 -0.04539384
+v 0.26607882 -0.20067706 -0.05773630
+v 0.29716319 -0.20918583 -0.05428758
+v 0.40772651 -0.16826897 -0.08130358
+v 0.42022275 -0.22066828 -0.01856995
+v 0.44412256 -0.18306931 -0.04086620
+v 0.44522297 -0.15729667 -0.05798683
+v 0.26551003 -0.19090047 -0.06496298
+v 0.32699400 -0.22260885 -0.04071527
+v 0.42053869 -0.15568351 -0.08163741
+v 0.45707986 -0.17163946 -0.02930835
+f 6 5 4
+f 10 2 6
+f 11 6 4
+f 11 10 6
+f 11 3 10
+f 14 4 5
+f 17 3 11
+f 22 21 13
+f 22 1 21
+f 23 14 5
+f 23 5 9
+f 24 11 4
+f 24 4 14
+f 24 14 23
+f 25 15 10
+f 25 8 15
+f 25 16 8
+f 25 10 3
+f 25 3 16
+f 26 2 10
+f 26 10 15
+f 27 15 8
+f 27 21 1
+f 28 16 3
+f 28 21 16
+f 28 13 21
+f 28 3 17
+f 29 7 13
+f 29 28 17
+f 29 13 28
+f 30 6 2
+f 31 5 6
+f 32 12 19
+f 33 1 9
+f 33 27 1
+f 34 20 19
+f 34 19 12
+f 34 33 20
+f 34 12 33
+f 35 9 5
+f 35 33 9
+f 35 20 33
+f 36 8 16
+f 36 16 21
+f 36 27 8
+f 36 21 27
+f 37 22 13
+f 37 13 7
+f 38 9 1
+f 38 1 22
+f 38 23 9
+f 39 24 7
+f 39 11 24
+f 39 7 29
+f 39 29 17
+f 39 17 11
+f 40 30 2
+f 40 18 30
+f 41 5 31
+f 41 19 20
+f 42 41 31
+f 42 19 41
+f 42 30 18
+f 42 31 6
+f 42 6 30
+f 43 33 12
+f 44 22 37
+f 44 38 22
+f 44 23 38
+f 44 24 23
+f 44 37 7
+f 44 7 24
+f 45 40 2
+f 45 2 26
+f 46 35 5
+f 47 41 20
+f 47 46 41
+f 47 35 46
+f 48 32 19
+f 48 19 42
+f 49 43 15
+f 49 15 27
+f 49 27 33
+f 49 33 43
+f 50 43 12
+f 50 12 32
+f 51 18 40
+f 51 40 45
+f 51 50 32
+f 52 46 5
+f 52 5 41
+f 52 41 46
+f 53 47 20
+f 53 20 35
+f 53 35 47
+f 54 48 42
+f 54 42 18
+f 54 32 48
+f 54 51 32
+f 54 18 51
+f 55 15 43
+f 55 43 50
+f 55 26 15
+f 55 45 26
+f 55 51 45
+f 55 50 51
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_19.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9409d5f62119a58b89226206dad0ac13d7768299
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_19.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.26511796 -0.22651596 0.04272760
+v 0.26570821 -0.22968043 -0.02005127
+v 0.26515151 -0.13368234 -0.02406358
+v -0.23460668 -0.13225364 0.09354056
+v -0.23497334 -0.23135062 -0.02293397
+v 0.26482343 -0.13163725 0.10575427
+v -0.18847351 -0.20937649 0.05123572
+v -0.23484849 -0.13368234 -0.02406358
+v 0.26620403 -0.14024313 0.10299635
+v -0.23425586 -0.22414650 0.02755202
+v -0.17349422 -0.12840154 0.09864352
+v 0.26463331 -0.18683017 0.08302231
+v -0.06771012 -0.22171223 0.04061808
+v -0.23364004 -0.16804945 0.07911408
+v -0.03714760 -0.15750358 0.09406688
+v -0.17321571 -0.14158732 0.09356001
+v 0.26445741 -0.15933989 0.09711948
+v -0.06741960 -0.18353765 0.07885068
+v -0.17340061 -0.19454546 0.06645505
+f 5 2 1
+f 5 3 2
+f 8 5 4
+f 8 3 5
+f 9 1 2
+f 9 2 3
+f 9 3 6
+f 10 5 1
+f 10 4 5
+f 11 6 3
+f 11 3 8
+f 11 8 4
+f 12 7 1
+f 12 1 9
+f 13 10 1
+f 13 1 7
+f 13 7 10
+f 14 10 7
+f 14 4 10
+f 15 6 11
+f 16 11 4
+f 16 4 14
+f 16 15 11
+f 16 14 15
+f 17 9 6
+f 17 6 15
+f 17 15 12
+f 17 12 9
+f 18 15 14
+f 18 12 15
+f 19 18 14
+f 19 14 7
+f 19 7 12
+f 19 12 18
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_2.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2c8471f46519216083da322918094f695442709
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_2.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.45073279 -0.13569389 0.07204256
+v 0.46650933 -0.08959596 0.07337498
+v 0.26426690 -0.10075781 0.11217363
+v 0.38691974 0.15504855 0.06848630
+v 0.45701134 0.10598084 0.05979369
+v 0.26620403 -0.14024313 0.10299635
+v 0.42710191 -0.07205088 0.09438851
+v 0.41472335 0.15119554 0.06108506
+v 0.26685632 0.11473788 0.10135873
+v 0.45385151 -0.08535612 0.08277007
+v 0.39666641 -0.12795452 0.09420357
+v 0.41163280 0.04586623 0.09394530
+v 0.26443872 0.10623495 0.10420481
+v 0.45446397 0.04576496 0.07876412
+v 0.40705830 -0.14023046 0.08753366
+v 0.41147958 -0.11523603 0.09264903
+v 0.33914132 -0.07210433 0.11049693
+v 0.30966245 -0.10043873 0.10968941
+v 0.42581315 0.10199552 0.07741540
+v 0.26482343 -0.13163725 0.10575427
+v 0.42668879 0.01551344 0.09357625
+v 0.43954736 -0.12799778 0.08041239
+v 0.26367849 0.07513964 0.11024731
+v 0.41103331 0.14549731 0.06529840
+v 0.33881513 0.10379248 0.09680767
+v 0.45102042 0.10239752 0.06553783
+v 0.35420037 -0.02812973 0.11072392
+v 0.41051842 0.11698613 0.07694476
+v 0.39169531 0.06924803 0.09484526
+v 0.27881933 0.07480601 0.10906674
+v 0.38415881 0.14921716 0.07204255
+v 0.35424409 -0.04174329 0.11066689
+v 0.33893838 0.01593053 0.11080825
+f 5 2 1
+f 8 5 1
+f 8 6 4
+f 8 1 6
+f 9 4 6
+f 10 1 2
+f 13 9 6
+f 14 10 2
+f 14 2 5
+f 15 11 6
+f 15 6 1
+f 16 10 7
+f 16 7 11
+f 17 11 7
+f 18 17 3
+f 18 11 17
+f 19 12 14
+f 20 13 6
+f 20 18 3
+f 20 6 11
+f 20 11 18
+f 21 14 12
+f 21 7 10
+f 21 10 14
+f 22 16 11
+f 22 11 15
+f 22 15 1
+f 22 1 10
+f 22 10 16
+f 23 20 3
+f 23 13 20
+f 24 8 4
+f 25 9 13
+f 26 5 8
+f 26 24 19
+f 26 8 24
+f 26 19 14
+f 26 14 5
+f 27 7 21
+f 28 19 24
+f 29 12 19
+f 29 28 25
+f 29 19 28
+f 30 25 13
+f 30 13 23
+f 31 4 9
+f 31 9 25
+f 31 25 28
+f 31 28 24
+f 31 24 4
+f 32 17 7
+f 32 7 27
+f 32 27 3
+f 32 3 17
+f 33 27 21
+f 33 21 12
+f 33 12 29
+f 33 29 25
+f 33 25 30
+f 33 30 23
+f 33 23 3
+f 33 3 27
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_20.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05c928f3d5c81b915a58e7d72ee9809321150452
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_20.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.47840420 -0.13921442 0.00384864
+v 0.48907864 -0.08540236 -0.00481243
+v 0.47637037 -0.07120773 0.06763503
+v 0.45701134 0.10598084 0.05979369
+v 0.45357331 0.10633392 -0.07752008
+v 0.49026337 0.09000429 0.01856258
+v 0.45970079 -0.08747313 0.07839547
+v 0.48972249 -0.08452624 0.04349290
+v 0.45429292 -0.07133002 -0.07749234
+v 0.47581014 0.03080202 0.06694887
+v 0.47588735 0.10633788 -0.04586405
+v 0.48205134 -0.13017374 0.00776883
+v 0.47018581 -0.08598766 0.07165581
+v 0.49041315 -0.05629222 -0.01730367
+v 0.46264380 -0.12990581 -0.04691755
+v 0.45494596 0.07580345 0.07143676
+v 0.47878876 0.10361525 0.04025149
+v 0.48859723 0.06003132 0.04298410
+v 0.47416448 0.06246719 -0.05914678
+v 0.47568008 -0.12962571 -0.01829537
+v 0.48983922 0.07562252 -0.01994488
+v 0.45847877 -0.13267603 -0.05188922
+v 0.47391863 -0.08497588 -0.04462469
+v 0.47479500 0.08719800 0.05234103
+v 0.49039073 0.09064928 -0.00671780
+v 0.46020767 0.10393459 -0.07039624
+v 0.47518593 -0.11399970 -0.03071917
+v 0.48915339 0.03202871 -0.03173757
+v 0.45919804 -0.06962897 -0.07217375
+v 0.46550749 0.07411757 0.06468138
+v 0.46732547 0.10347072 0.05325366
+v 0.47377981 -0.02567589 -0.05942785
+v 0.48920784 0.01824868 -0.03188799
+f 10 3 8
+f 10 7 3
+f 11 5 4
+f 12 2 8
+f 13 7 1
+f 13 12 8
+f 13 1 12
+f 13 8 3
+f 13 3 7
+f 14 8 2
+f 14 6 8
+f 16 9 7
+f 16 4 5
+f 16 5 9
+f 16 7 10
+f 17 11 4
+f 18 10 8
+f 18 8 6
+f 18 6 17
+f 19 9 5
+f 20 12 1
+f 20 2 12
+f 22 1 7
+f 22 7 9
+f 22 20 1
+f 22 15 20
+f 24 18 17
+f 24 10 18
+f 25 17 6
+f 25 11 17
+f 25 21 11
+f 25 6 14
+f 25 14 21
+f 26 19 5
+f 26 5 11
+f 26 11 19
+f 27 14 2
+f 27 2 20
+f 27 23 14
+f 27 20 15
+f 27 15 23
+f 28 19 11
+f 28 11 21
+f 29 22 9
+f 29 15 22
+f 29 23 15
+f 30 16 10
+f 30 10 24
+f 30 4 16
+f 31 24 17
+f 31 17 4
+f 31 30 24
+f 31 4 30
+f 32 14 23
+f 32 23 29
+f 32 29 9
+f 32 9 19
+f 33 14 32
+f 33 28 21
+f 33 21 14
+f 33 32 19
+f 33 19 28
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_21.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..880d83a807c368c77ae9a1cd33cb91d21d41f1b9
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_21.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.26450739 -0.23089154 0.03226346
+v 0.26508617 -0.19238182 0.07975543
+v 0.21968533 -0.19255540 0.07997590
+v 0.21939721 -0.01253656 0.12016398
+v 0.26515151 -0.01247022 0.02139097
+v 0.21931634 -0.11565090 0.11074544
+v 0.26449221 -0.01264061 0.11829316
+v 0.21918618 -0.23027111 0.03205853
+v 0.26426690 -0.10075781 0.11217363
+v 0.21969697 -0.01247022 0.02139097
+v 0.24960410 -0.11553538 0.11007529
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 5 4
+f 7 2 5
+f 8 5 1
+f 8 1 3
+f 8 6 4
+f 8 3 6
+f 9 2 7
+f 9 7 4
+f 9 4 6
+f 10 8 4
+f 10 4 5
+f 10 5 8
+f 11 9 6
+f 11 6 2
+f 11 2 9
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_22.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a226c11ec28879ee894013c10fbc933f7704ee5
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_22.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.45250498 -0.08608270 -0.07585308
+v 0.44502370 -0.08460416 -0.08449891
+v 0.45357331 0.10633392 -0.07752008
+v 0.40776927 0.11370571 -0.10553506
+v 0.40002525 -0.08723296 -0.10982473
+v 0.43500939 0.09011480 -0.09792239
+v 0.40067580 0.10724605 -0.10934197
+v 0.40784808 -0.09245639 -0.10655124
+v 0.43322174 -0.06938205 -0.09789562
+v 0.42551848 0.10598403 -0.10064973
+v 0.41179082 0.07601644 -0.11186054
+v 0.42422471 -0.08534804 -0.10061265
+v 0.44756412 0.10448035 -0.08405774
+v 0.39813925 0.07637652 -0.11560096
+v 0.41179729 -0.05585701 -0.11186755
+v 0.39753297 -0.05635925 -0.11574322
+f 1 2 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 2 1
+f 8 1 5
+f 9 6 3
+f 9 3 2
+f 10 4 3
+f 11 10 6
+f 11 7 4
+f 11 4 10
+f 12 9 2
+f 12 2 8
+f 13 10 3
+f 13 3 6
+f 13 6 10
+f 14 7 11
+f 15 14 11
+f 15 9 12
+f 15 12 8
+f 15 8 5
+f 15 11 6
+f 15 6 9
+f 16 5 7
+f 16 7 14
+f 16 15 5
+f 16 14 15
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_23.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d8db091f7107bc3aae2570a44f47037eedc9b80
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_23.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.14393939 0.10874191 -0.02406358
+v 0.14405833 0.10817839 -0.09677662
+v 0.14273541 0.19992842 -0.05959814
+v -0.27894225 0.18676823 -0.06748767
+v -0.28035120 0.10850885 -0.09890764
+v 0.14412030 0.16665081 -0.07961253
+v -0.23484849 0.10874191 -0.02406358
+v -0.28055958 0.16720512 -0.07920398
+v 0.14450967 0.14967949 -0.08581137
+v -0.23372940 0.19268312 -0.06228700
+v -0.28097536 0.14888533 -0.08643018
+v -0.27756691 0.12276023 -0.09513616
+f 6 4 3
+f 6 3 1
+f 7 1 3
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 4 6
+f 9 6 1
+f 9 1 2
+f 10 7 3
+f 10 3 4
+f 10 4 7
+f 11 5 4
+f 11 4 8
+f 11 8 6
+f 11 6 9
+f 12 11 9
+f 12 5 11
+f 12 9 2
+f 12 2 5
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_24.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a56e6679bcb626739b2336b746c105746480309c
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_24.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.27976911 -0.13112834 0.09084040
+v -0.28030304 -0.13368234 0.00623945
+v -0.28030304 -0.08822779 0.00623945
+v -0.46707813 -0.08398466 0.06067945
+v -0.45769780 -0.12655609 0.01028545
+v -0.27961043 -0.08677176 0.10211728
+v -0.39814539 -0.12804895 0.07731858
+v -0.46969267 -0.08605737 0.00804910
+v -0.45420005 -0.08396956 0.07206316
+v -0.27882135 -0.11418882 0.09536237
+v -0.45944528 -0.12412403 0.04229599
+v -0.42792878 -0.08531714 0.08219038
+v -0.33875147 -0.09849323 0.09402189
+v -0.45890510 -0.11082158 0.05562574
+v -0.43835731 -0.12439898 0.06488628
+v -0.33913582 -0.08574975 0.09702355
+v -0.29386485 -0.11387227 0.09412753
+v -0.42693117 -0.09773417 0.07890510
+v -0.44821509 -0.11073359 0.06477582
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 8 4 3
+f 9 6 3
+f 9 3 4
+f 10 1 2
+f 10 2 3
+f 10 3 6
+f 11 5 7
+f 11 8 5
+f 11 4 8
+f 13 7 1
+f 14 9 4
+f 14 4 11
+f 15 14 11
+f 15 11 7
+f 16 6 9
+f 16 9 12
+f 16 13 6
+f 16 12 7
+f 16 7 13
+f 17 13 1
+f 17 1 10
+f 17 10 6
+f 17 6 13
+f 18 12 9
+f 18 9 15
+f 18 15 7
+f 18 7 12
+f 19 15 9
+f 19 9 14
+f 19 14 15
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_25.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02acd1235398f7be26d7a6ea9c3822b0c74996b0
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.14386364 0.10802673 0.10981602
+v 0.14393939 0.10874191 0.02139097
+v 0.14572373 0.21306389 0.05897690
+v -0.23638284 0.21101887 0.06187202
+v -0.23464533 0.10745368 0.10640289
+v -0.23484849 0.10874191 0.02139097
+v 0.11286349 0.16126937 0.09375637
+v 0.14365232 0.16634735 0.09026090
+v -0.14348583 0.16214201 0.09388343
+v 0.14344064 0.14800901 0.09843867
+v -0.23461006 0.16659954 0.08968064
+v -0.23424849 0.14820339 0.09647296
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 8 3 4
+f 8 4 7
+f 9 7 4
+f 10 8 7
+f 10 1 3
+f 10 3 8
+f 10 9 1
+f 10 7 9
+f 11 9 4
+f 11 4 5
+f 12 11 5
+f 12 9 11
+f 12 5 1
+f 12 1 9
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_26.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99b5f23662a3014e68a568d7a97915e1b53395e4
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_26.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.09646322 -0.10197426 -0.09775297
+v -0.09902722 -0.08647348 -0.10011002
+v -0.09799119 0.12028959 -0.09086792
+v -0.15800910 0.12094036 -0.09152148
+v -0.15966366 -0.08687501 -0.10258254
+v -0.15909092 -0.08822779 -0.03921509
+v -0.09869562 0.07654239 -0.09955100
+v -0.15950989 0.08972446 -0.09893301
+v -0.15919743 0.10754083 -0.09467098
+v -0.12904535 0.08970798 -0.09826537
+v -0.09854280 0.10738638 -0.09375788
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 1 2
+f 7 3 1
+f 7 2 5
+f 8 5 6
+f 8 7 5
+f 8 4 3
+f 9 8 6
+f 9 6 4
+f 9 4 8
+f 10 7 8
+f 11 10 8
+f 11 8 3
+f 11 3 7
+f 11 7 10
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_27.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70835d8a5dd6925dff996ade66ae8cc31c8cb416
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515151 -0.13368234 0.02139097
+v 0.26165073 -0.15451717 -0.08389345
+v 0.26515151 -0.01247022 -0.03921509
+v -0.15909092 -0.01247022 0.02139097
+v -0.15909092 -0.13368234 0.02139097
+v -0.15638835 -0.15138003 -0.08753548
+v 0.26515151 -0.01247022 0.02139097
+v -0.15909092 -0.01247022 -0.03921509
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 8 5 4
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_28.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d24b156e3a4a7ebfc36fee395232d6ff38c48f1
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.15909092 -0.13368234 0.02139097
+v -0.15939976 -0.13238776 -0.09380125
+v -0.15909092 0.10874191 0.02139097
+v -0.23484849 0.10874191 0.02139097
+v -0.23599809 -0.13045760 -0.09892168
+v -0.15919743 0.10754083 -0.09467098
+v -0.23484849 -0.13368234 0.02139097
+v -0.15950989 0.08972446 -0.09893301
+v -0.23551326 0.10446330 -0.09776805
+v -0.15998150 -0.11479780 -0.09761381
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 6 4 3
+f 7 5 2
+f 7 2 1
+f 7 1 4
+f 7 4 5
+f 8 6 2
+f 9 5 4
+f 9 4 6
+f 9 8 5
+f 9 6 8
+f 10 8 2
+f 10 2 5
+f 10 5 8
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_29.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eb13c2dab9e75174783c26331bd2c319f144177
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.14393939 0.10874191 0.02139097
+v 0.14393939 0.10874191 -0.02406358
+v 0.14384008 0.23535709 0.02072009
+v -0.23472391 0.23479927 0.02009344
+v -0.23484849 0.10874191 -0.02406358
+v 0.14397112 0.23143875 -0.02008125
+v -0.23484849 0.10874191 0.02139097
+v -0.23498214 0.23149044 -0.01731572
+f 5 2 1
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_3.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceabcb9d81bd89ce870616df3b874d18e2c7f7a3
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_3.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.26383492 0.16327247 0.08408926
+v 0.26632559 0.17476581 0.07849119
+v -0.21903874 0.18867943 0.07922021
+v -0.34033711 0.20743011 0.05946933
+v 0.14384008 0.23535709 0.02072009
+v -0.35512321 0.16461886 0.08366690
+v 0.14321335 0.18742205 0.07960386
+v 0.26479226 0.19725166 0.06363409
+v -0.35479215 0.17446424 0.08019040
+v -0.23472391 0.23479927 0.02009344
+v 0.26325556 0.17575050 0.07834259
+v 0.11317423 0.22664569 0.04371272
+v -0.33967040 0.20202073 0.06492764
+v -0.35596933 0.19892878 0.06562508
+v 0.21841167 0.20207275 0.06455340
+v 0.26376461 0.19011247 0.06904396
+v -0.23638284 0.21101887 0.06187202
+v -0.23463416 0.23262879 0.03040532
+v 0.14355009 0.23140153 0.03078698
+v -0.35695867 0.17645276 0.07885161
+v 0.14572373 0.21306389 0.05897690
+v -0.21928902 0.22687390 0.04247450
+f 7 6 1
+f 7 3 6
+f 8 2 1
+f 8 1 5
+f 9 6 3
+f 10 5 1
+f 10 1 6
+f 11 7 1
+f 11 1 2
+f 13 9 3
+f 14 10 6
+f 14 4 10
+f 14 13 4
+f 14 9 13
+f 16 11 2
+f 16 2 8
+f 16 8 15
+f 16 15 7
+f 16 7 11
+f 17 3 7
+f 17 13 3
+f 17 4 13
+f 18 12 5
+f 18 5 10
+f 18 10 4
+f 19 8 5
+f 19 5 12
+f 19 15 8
+f 19 12 15
+f 20 14 6
+f 20 6 9
+f 20 9 14
+f 21 15 12
+f 21 7 15
+f 21 17 7
+f 21 12 17
+f 22 17 12
+f 22 12 18
+f 22 18 4
+f 22 4 17
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_30.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea7327fecad5c5d69fc002f1d22a99d6c60bb071
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26515151 0.10874191 0.00623945
+v 0.26515151 0.10874191 -0.03921509
+v 0.26473269 0.23336490 0.00575600
+v 0.21947816 0.23488304 0.00572928
+v 0.21969697 0.10874191 -0.03921509
+v 0.26508123 0.22725594 -0.03375368
+v 0.21969697 0.10874191 0.00623945
+v 0.22003754 0.22856612 -0.03005124
+f 5 2 1
+f 6 4 3
+f 6 2 5
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 6 5
+f 8 5 4
+f 8 4 6
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_31.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62079e69c9ecc2384020b729815a308b99b7ef4f
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.35516235 -0.01187780 0.10443364
+v -0.35606062 -0.01247022 -0.05436661
+v -0.35658986 0.11972734 -0.09951388
+v -0.41571327 0.10764306 0.09146877
+v -0.43661727 -0.01556961 -0.07195903
+v -0.35513811 0.10611654 0.09932129
+v -0.41409523 -0.01108132 0.09651144
+v -0.43729043 0.11152623 -0.07763631
+v -0.41378063 0.09210459 0.09444906
+v -0.39877104 0.10533930 0.09475839
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 7 5 1
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
+f 9 1 6
+f 9 7 1
+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/bar_soap/bar_soap_4/collision/model_normalized_collision_4.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..523d7ebdacbcf69d7538441b37ef26cf92160961
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_4.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.45847877 -0.13267603 -0.05188922
+v 0.46559376 -0.11551584 -0.04841967
+v -0.15909092 -0.08822779 -0.03921509
+v -0.09848485 -0.01247022 -0.03921509
+v 0.39859627 -0.01218360 -0.11930238
+v 0.26515151 -0.01247022 -0.03921509
+v 0.42422471 -0.08534804 -0.10061265
+v -0.09870640 -0.01208840 -0.10566734
+v 0.47280159 -0.01293961 -0.06218939
+v 0.44577704 -0.12876288 -0.07024382
+v -0.15966366 -0.08687501 -0.10258254
+v 0.45854163 -0.01228776 -0.08124444
+v 0.47035077 -0.08701143 -0.05072268
+v 0.46004607 -0.11357511 -0.05748124
+v 0.26165073 -0.15451717 -0.08389345
+v 0.31195507 -0.01220757 -0.11730432
+v 0.46431022 -0.08565950 -0.06038949
+v 0.41088377 -0.12825868 -0.09624003
+v -0.15638835 -0.15138003 -0.08753548
+v 0.43286439 -0.12870428 -0.08309604
+v 0.39686971 -0.06997444 -0.11407319
+v -0.15939976 -0.13238776 -0.09380125
+v 0.42120256 -0.11303972 -0.09570607
+v 0.35632923 -0.08477981 -0.11260576
+v -0.15998150 -0.11479780 -0.09761381
+v 0.38450322 -0.08476492 -0.11238217
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 8 4 6
+f 11 3 4
+f 11 4 8
+f 12 8 6
+f 12 5 8
+f 12 6 9
+f 12 7 5
+f 12 10 7
+f 13 9 6
+f 13 6 2
+f 14 2 1
+f 14 1 10
+f 16 11 8
+f 16 8 5
+f 16 5 11
+f 17 12 9
+f 17 9 13
+f 17 13 2
+f 17 2 14
+f 17 14 10
+f 17 10 12
+f 19 15 1
+f 19 1 3
+f 19 18 15
+f 20 7 10
+f 20 10 1
+f 20 1 15
+f 20 15 18
+f 21 5 7
+f 21 7 18
+f 22 19 3
+f 23 20 18
+f 23 18 7
+f 23 7 20
+f 24 11 5
+f 24 5 21
+f 24 18 19
+f 24 19 22
+f 25 22 3
+f 25 3 11
+f 25 24 22
+f 25 11 24
+f 26 24 21
+f 26 21 18
+f 26 18 24
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_5.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcdff532906c2f16e40bad0fb3ee03ef1c1369c4
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_5.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.46474392 -0.12697002 0.06522225
+v 0.49119708 -0.08803774 0.00651533
+v 0.46827979 -0.01219557 0.07639173
+v 0.26774643 -0.01179956 0.11804325
+v 0.33787611 -0.14622641 -0.09480462
+v 0.44281086 -0.08644473 0.08719609
+v 0.48247622 -0.08578842 0.05821324
+v 0.45847877 -0.13267603 -0.05188922
+v 0.26620403 -0.14024313 0.10299635
+v 0.34090909 -0.01247022 -0.05436661
+v 0.40651155 -0.01180602 0.10073321
+v 0.47507302 -0.12680906 0.05299138
+v 0.45385151 -0.08535612 0.08277007
+v 0.48205134 -0.13017374 0.00776883
+v 0.26515151 -0.01247022 0.00623945
+v 0.44080890 -0.11586255 0.08269764
+v 0.47280159 -0.01293961 -0.06218939
+v 0.26515151 -0.13368234 0.00623945
+v 0.45087176 -0.11476876 0.07860955
+f 7 2 3
+f 11 6 3
+f 11 9 6
+f 11 4 9
+f 11 10 4
+f 12 7 1
+f 12 2 7
+f 13 1 7
+f 13 7 3
+f 13 3 6
+f 14 9 5
+f 14 1 9
+f 14 12 1
+f 14 5 8
+f 14 8 2
+f 14 2 12
+f 15 9 4
+f 15 10 5
+f 15 4 10
+f 16 9 1
+f 16 6 9
+f 16 13 6
+f 17 8 5
+f 17 5 10
+f 17 2 8
+f 17 3 2
+f 17 11 3
+f 17 10 11
+f 18 15 5
+f 18 5 9
+f 18 9 15
+f 19 16 1
+f 19 1 13
+f 19 13 16
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_6.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..344577f995832a9765cc2d05defc5d9669f517e0
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_6.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.34090909 -0.13368234 0.00623945
+v 0.33787611 -0.14622641 -0.09480462
+v 0.34110877 0.10825337 -0.11199555
+v 0.26685632 0.11473788 0.10135873
+v 0.26515151 -0.13368234 0.00623945
+v 0.34247099 0.11243371 0.09355288
+v 0.34176107 -0.01224658 -0.12014721
+v 0.26774643 -0.01179956 0.11804325
+v 0.26607599 0.10707735 -0.10528991
+v 0.34417186 -0.01157922 0.11133654
+v 0.26275315 -0.14366485 -0.08823155
+v 0.28205875 0.06214744 -0.11294621
+v 0.34193236 0.09108686 -0.11486776
+v 0.31134985 -0.08684527 -0.10790445
+v 0.26627145 -0.08603582 -0.10347273
+v 0.31226949 0.09063128 -0.11256041
+v 0.28205211 -0.02586134 -0.11320602
+v 0.31230312 -0.04112681 -0.11479648
+v 0.29725002 -0.04101007 -0.11320484
+f 5 2 1
+f 6 3 4
+f 7 1 2
+f 8 5 1
+f 8 4 5
+f 9 4 3
+f 10 1 7
+f 10 8 1
+f 10 6 4
+f 10 4 8
+f 11 5 4
+f 11 4 9
+f 11 2 5
+f 13 10 7
+f 13 3 6
+f 13 6 10
+f 13 7 12
+f 14 7 2
+f 14 2 11
+f 15 11 9
+f 15 14 11
+f 16 13 12
+f 16 12 9
+f 16 9 3
+f 16 3 13
+f 17 15 9
+f 17 9 12
+f 17 12 7
+f 18 17 7
+f 18 7 14
+f 18 14 15
+f 19 18 15
+f 19 15 17
+f 19 17 18
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_7.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58f1f48f67544a01f26ac00ff36b283c9a5cb20d
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_7.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.46827979 -0.01219557 0.07639173
+v 0.45854163 -0.01228776 -0.08124444
+v 0.45357331 0.10633392 -0.07752008
+v 0.33881513 0.10379248 0.09680767
+v 0.34084614 -0.01248741 0.11173397
+v 0.34176107 -0.01224658 -0.12014721
+v 0.45701134 0.10598084 0.05979369
+v 0.39923855 -0.01280657 0.10270818
+v 0.39859627 -0.01218360 -0.11930238
+v 0.34209404 0.10584281 -0.11245720
+v 0.34090909 -0.01247022 0.00623945
+v 0.39681835 0.05967667 0.09588892
+v 0.39899903 0.09112110 -0.11330732
+v 0.35287685 0.10315435 0.09511094
+v 0.38360119 0.10408815 -0.11286590
+f 1 2 3
+f 7 1 3
+f 8 2 1
+f 8 6 2
+f 9 2 6
+f 10 6 4
+f 10 7 3
+f 10 4 7
+f 11 5 4
+f 11 4 6
+f 11 8 5
+f 11 6 8
+f 12 4 5
+f 12 5 8
+f 12 8 1
+f 12 1 7
+f 13 3 2
+f 13 2 9
+f 14 12 7
+f 14 7 4
+f 14 4 12
+f 15 10 3
+f 15 3 13
+f 15 6 10
+f 15 13 9
+f 15 9 6
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_8.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf3a9a1c7544ca6c4b96349202be8fe3d00a7eab
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_8.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.21957550 -0.13188219 0.10668444
+v 0.21969697 -0.13368234 0.02139097
+v 0.21969697 -0.01247022 0.02139097
+v -0.15873677 -0.01199808 0.11696080
+v -0.23484849 -0.13368234 0.02139097
+v 0.21939721 -0.01253656 0.12016398
+v -0.23361426 -0.12935173 0.09473514
+v -0.15909092 -0.01247022 0.02139097
+v 0.14381669 -0.11547589 0.11138053
+v -0.23436260 -0.08715585 0.10514001
+v 0.21931634 -0.11565090 0.11074544
+v 0.02319691 -0.11491984 0.10963447
+v -0.23484849 -0.08822779 0.02139097
+v -0.08277939 -0.09942338 0.10972882
+v -0.14321221 -0.08509067 0.11043722
+v -0.15848953 -0.07100653 0.11161593
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 8 4 3
+f 8 3 5
+f 9 6 4
+f 10 4 8
+f 10 5 7
+f 11 9 1
+f 11 1 6
+f 11 6 9
+f 12 7 1
+f 12 1 9
+f 13 10 8
+f 13 8 5
+f 13 5 10
+f 14 7 12
+f 15 10 7
+f 15 7 14
+f 15 14 12
+f 15 12 9
+f 16 4 10
+f 16 10 15
+f 16 15 9
+f 16 9 4
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/collision/model_normalized_collision_9.obj b/bar_soap/bar_soap_4/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aee92d25d4f1ae18ff57417ee85dcbdadf03716
--- /dev/null
+++ b/bar_soap/bar_soap_4/collision/model_normalized_collision_9.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.23361426 -0.12935173 0.09473514
+v -0.15909092 -0.08822779 0.02139097
+v -0.15900039 0.10795928 0.10902378
+v -0.35513811 0.10611654 0.09932129
+v -0.35606062 -0.08822779 0.00623945
+v -0.27930075 -0.01141473 0.11065543
+v -0.15891031 -0.08749200 0.10918619
+v -0.23484849 -0.13368234 0.00623945
+v -0.23484849 0.10874191 0.00623945
+v -0.26417937 0.06144218 0.11082743
+v -0.35409099 -0.08547537 0.09533208
+v -0.15848953 -0.07100653 0.11161593
+v -0.15909092 0.10874191 0.02139097
+v -0.35606062 0.10874191 0.00623945
+v -0.20389094 0.09163899 0.11016248
+v -0.27938761 0.03269180 0.11117204
+v -0.24869558 -0.12910543 0.09373615
+v -0.23364318 -0.05539090 0.10973103
+v -0.15869541 0.09165907 0.11171498
+v -0.27976911 -0.13112834 0.09084040
+v -0.28030304 -0.13368234 0.00623945
+f 8 7 1
+f 8 2 7
+f 9 8 5
+f 9 2 8
+f 11 6 4
+f 11 4 5
+f 12 7 2
+f 13 2 9
+f 13 12 2
+f 14 9 5
+f 14 5 4
+f 14 4 3
+f 14 13 9
+f 14 3 13
+f 15 3 4
+f 15 4 10
+f 16 10 4
+f 16 4 6
+f 16 6 12
+f 17 1 7
+f 17 7 11
+f 18 11 7
+f 18 7 12
+f 18 12 6
+f 18 6 11
+f 19 13 3
+f 19 12 13
+f 19 3 15
+f 19 15 10
+f 19 16 12
+f 19 10 16
+f 20 8 1
+f 20 1 17
+f 20 17 11
+f 20 11 5
+f 21 20 5
+f 21 5 8
+f 21 8 20
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/model.xml b/bar_soap/bar_soap_4/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..029986a2eb077f0b498261d73cab40f19d2a4457
--- /dev/null
+++ b/bar_soap/bar_soap_4/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="bar_soap_2">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.10999999999999997 0.10999999999999997 0.10999999999999997" refquat="-5.551115123125783e-17 -0.7071067811865472 0.7071067811865472 -5.551115123125783e-17"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="SoapMaterial" texture="image0" specular="0.5" shininess="0.736929487"/>
+  </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="SoapMaterial"/>
+        <geom solimp="0.998 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"/>
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diff --git a/bar_soap/bar_soap_4/visual/image0.png b/bar_soap/bar_soap_4/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0b4bc4b9636a292adf489b055488d7469c9eb77
--- /dev/null
+++ b/bar_soap/bar_soap_4/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:952e7e2b16fba91a2923d91e71c5d909bf19d70c3590ce1550d84f2f8a97ea91
+size 472025
diff --git a/bar_soap/bar_soap_4/visual/material.mtl b/bar_soap/bar_soap_4/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1b332f7ba1f7178dcd53d7884bbc4a99d479fe1
--- /dev/null
+++ b/bar_soap/bar_soap_4/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 736.92948700
+map_Kd material_0.png
\ No newline at end of file
diff --git a/bar_soap/bar_soap_4/visual/material_0.png b/bar_soap/bar_soap_4/visual/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0b4bc4b9636a292adf489b055488d7469c9eb77
--- /dev/null
+++ b/bar_soap/bar_soap_4/visual/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:952e7e2b16fba91a2923d91e71c5d909bf19d70c3590ce1550d84f2f8a97ea91
+size 472025
diff --git a/bar_soap/bar_soap_4/visual/model_normalized_0.obj b/bar_soap/bar_soap_4/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb31fe3f14f23fab1524878afc371adb88213df1
--- /dev/null
+++ b/bar_soap/bar_soap_4/visual/model_normalized_0.obj
@@ -0,0 +1,5164 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_10.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..968539d470ab4dcbc9a715005f828c12c3e9197d
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_10.obj
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_101.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d7a967af99840ec4ececc4757b6714d28b37f95
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_101.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00226472 0.01549833 0.10880625
+v -0.00226472 -0.03225387 0.10880625
+v -0.00226472 0.01549833 0.10338865
+v -0.05619771 0.01549833 0.10880625
+v -0.00226472 -0.03225387 0.10338865
+v -0.05619771 -0.03225387 0.10880625
+v -0.05619771 0.01549833 0.10338865
+v -0.05619771 -0.03225387 0.10338865
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_103.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92d0009a39f1c498dce9826595102537327f61d3
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_103.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.04679275 -0.06521265 0.10880725
+v -0.04590639 -0.06525313 0.10880725
+v -0.04679275 -0.06462048 0.11359091
+v -0.04679275 -0.01571340 0.10880725
+v -0.04326513 -0.06534930 0.10880725
+v -0.04330073 -0.06473689 0.11359091
+v -0.04679275 -0.01571340 0.11359091
+v -0.03888320 -0.06494440 0.11318677
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+v -0.03888320 -0.06544546 0.10880725
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_105.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec3d9fdabef57d9c91658bfae0107978bb300433
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_105.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.03188378 -0.05100169 0.00373705
+v 0.03188378 -0.05075760 -0.00003561
+v 0.03189039 -0.05101145 0.00374149
+v 0.03188378 -0.04781883 0.00374149
+v 0.03190858 -0.05075760 -0.00003561
+v 0.03188378 0.04873103 -0.00003561
+v 0.03896874 -0.05081618 0.00374149
+v 0.03188378 0.04873103 0.00374149
+v 0.03896874 -0.05055257 -0.00003561
+v 0.04470451 0.04873103 -0.00003561
+v 0.04332389 -0.05001559 -0.00003561
+v 0.04361654 -0.05014251 0.00374149
+v 0.04523195 0.04873103 0.00374149
+v 0.04517408 0.04873103 0.00326639
+v 0.04708876 0.04727629 0.00374149
+v 0.04679941 0.04708102 -0.00003561
+v 0.04714993 -0.04741853 0.00374149
+v 0.04685397 -0.04722327 -0.00003561
+v 0.04544690 0.04856506 0.00374149
+v 0.04868598 0.04563605 0.00374149
+v 0.04877361 0.04551889 0.00352816
+v 0.04877361 0.04528457 0.00171947
+v 0.04877361 0.04505025 -0.00003561
+v 0.04877361 -0.04521201 -0.00003561
+v 0.04877361 -0.04536823 0.00204519
+v 0.04877361 -0.04549515 0.00374149
+v 0.04877361 0.04552865 0.00374149
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_109.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_109.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6414008a57287e52862bf58df301b066da59ab04
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_109.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.04632377 -0.01110839 -0.00251477
+v 0.00092457 -0.01112050 -0.00251477
+v -0.04632377 -0.01110839 -0.00003561
+v -0.04632377 0.04733489 -0.00251477
+v 0.00092457 -0.01112050 -0.00003561
+v 0.00636003 -0.01112050 -0.00251477
+v -0.04632377 0.04717137 -0.00003561
+v -0.04632377 0.04732884 -0.00003804
+v -0.04318316 0.04985431 -0.00003561
+v -0.04318316 0.04985431 -0.00251477
+v 0.00636003 -0.01112050 -0.00003561
+v 0.00636003 0.05073853 -0.00251477
+v -0.04168248 0.05003600 -0.00251477
+v -0.03889255 0.05036304 -0.00003561
+v 0.00636003 0.05073248 -0.00003561
+v 0.00357526 0.05075064 -0.00251477
+v -0.03888224 0.05036304 -0.00251477
+v -0.03181716 0.05056290 -0.00003561
+v -0.03180169 0.05056896 -0.00251477
+v 0.00357526 0.05074459 -0.00003561
+v 0.00092457 0.05074459 -0.00003561
+v -0.00545463 0.05073853 -0.00251477
+v -0.02475208 0.05065374 -0.00003561
+v -0.02473145 0.05065374 -0.00251477
+v -0.00352076 0.05073853 -0.00003561
+v -0.01767669 0.05068403 -0.00003561
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+f 22 26 25
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_111.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e48f4193870d89ad8611e1332839c42bc720077d
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_111.obj
@@ -0,0 +1,204 @@
+# https://github.com/mikedh/trimesh
+v -0.00096869 0.05426572 0.13190605
+v 0.00356657 0.05404729 0.13443839
+v 0.00356657 0.05426255 0.13190605
+v -0.00347910 0.05426255 0.13190605
+v -0.00347910 0.05404729 0.13443839
+v 0.00607697 0.05418025 0.13190605
+v 0.01060190 0.05364842 0.13443839
+v 0.01315363 0.05378138 0.13190605
+v -0.01056609 0.05391750 0.13190605
+v -0.01056609 0.05364209 0.13443839
+v 0.01064323 0.05364525 0.13443839
+v 0.02023029 0.05315458 0.13190605
+v -0.01764275 0.05331287 0.13190605
+v -0.01764275 0.05293299 0.13443839
+v 0.01771989 0.05295832 0.13443839
+v 0.02730695 0.05234735 0.13190605
+v -0.02471941 0.05250563 0.13190605
+v -0.02471941 0.05198014 0.13443839
+v 0.02479655 0.05204979 0.13443839
+v 0.03457990 0.05123939 0.13190605
+v -0.03179607 0.05153696 0.13190605
+v -0.03180640 0.05083419 0.13443839
+v 0.03187321 0.05095132 0.13443839
+v 0.03723494 0.04991616 0.13443839
+v 0.03789612 0.05059677 0.13190605
+v -0.03758137 0.05053346 0.13190605
+v -0.03685821 0.04984968 0.13443839
+v 0.04077843 0.04903929 0.13443839
+v 0.03856762 0.05043216 0.13190605
+v -0.04081494 0.04908044 0.13190605
+v -0.04039137 0.04897914 0.13443839
+v 0.04009659 0.05005229 0.13190605
+v 0.04557197 0.04550963 0.13443839
+v 0.04604719 0.04595598 0.13190605
+v 0.04347480 0.04783952 0.13190605
+v -0.04040171 0.04897598 0.13442004
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_112.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_112.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6f0988bbf3efa83105f75183894b36b2dbad370
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_112.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.06159413 -0.00358421 0.07314881
+v -0.06158788 0.00349228 0.07314881
+v -0.06110040 0.00349228 0.07048175
+v -0.06110040 -0.00390297 0.07048175
+v -0.06107540 -0.01097946 0.07048175
+v -0.06105040 -0.01773719 0.07048175
+v -0.06149414 -0.02946759 0.07314881
+v -0.06107540 0.01031376 0.07048175
+v -0.06148164 0.03178761 0.07314881
+v -0.06099415 -0.03190080 0.07048175
+v -0.06148164 -0.03190080 0.07314881
+v -0.06098790 0.03178761 0.07048175
+v -0.06145039 0.03421019 0.07314881
+v -0.06089415 -0.03896666 0.07048175
+v -0.06138789 -0.03896666 0.07314881
+v -0.06138789 0.03886410 0.07314881
+v -0.06089415 0.03861972 0.07048175
+v -0.06088790 -0.03929605 0.07048175
+v -0.06135039 -0.04034796 0.07314881
+v -0.06116289 0.04594058 0.07314881
+v -0.06068166 0.04562183 0.07048175
+v -0.06088790 0.03886410 0.07048175
+v -0.06068166 -0.04605378 0.07048175
+v -0.06117540 -0.04605378 0.07314881
+v -0.06070040 0.04836317 0.07314881
+v -0.06066916 0.04594058 0.07048175
+v -0.06060666 -0.04635129 0.07048175
+v -0.06000042 -0.05051642 0.07314881
+v -0.06026916 0.05002072 0.07314881
+v -0.05980667 0.05177391 0.07314881
+v -0.05937543 0.05339959 0.07314881
+v -0.05863170 0.05361210 0.07048175
+v -0.05950668 -0.05051642 0.07048175
+v 0.00225451 -0.05051642 0.07314881
+v -0.05933168 0.05348459 0.07314881
+v -0.05720048 0.05717159 0.07220418
+v -0.05835670 0.05414336 0.07048175
+v 0.00225451 -0.05051642 0.07048175
+v 0.00225451 0.05803224 0.07314881
+v -0.05733797 0.05730972 0.07314881
+v -0.05576301 0.05803224 0.07314881
+v -0.05514427 0.05803224 0.07182899
+v -0.05463803 0.05803224 0.07075747
+v -0.05450054 0.05803224 0.07048175
+v -0.05690674 0.05689533 0.07048175
+v 0.00225451 0.05803224 0.07048175
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+f 39 42 41
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_113.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_113.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18895361bf5b48a5efa3d3dcf62f93bb7877c2cf
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_113.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.06047359 0.00347741 -0.07567317
+v -0.06046860 -0.00359286 -0.07567317
+v -0.05954611 -0.00359286 -0.07082571
+v -0.05954611 0.00347741 -0.07082571
+v -0.05947131 0.02469899 -0.07082571
+v -0.06038383 0.02691585 -0.07567317
+v -0.06044367 -0.01066314 -0.07567317
+v -0.05952118 -0.01066314 -0.07082571
+v -0.05944140 0.03178002 -0.07082571
+v -0.06036389 0.03178002 -0.07567317
+v -0.06039879 -0.02260835 -0.07567317
+v -0.05944140 -0.03189548 -0.07082571
+v -0.06026416 0.03886106 -0.07567317
+v -0.05933170 0.03886106 -0.07082571
+v -0.06036389 -0.03189548 -0.07567317
+v -0.06029408 -0.03673813 -0.07567317
+v -0.06025917 -0.03897651 -0.07567317
+v -0.05932671 -0.03897651 -0.07082571
+v -0.06003478 0.04593133 -0.07567317
+v -0.05910232 0.04593133 -0.07082571
+v -0.05910232 -0.04604679 -0.07082571
+v -0.06002979 -0.04604679 -0.07567317
+v -0.05899760 0.04641560 -0.07082998
+v -0.05899760 0.04908444 -0.07403141
+v -0.05961592 0.04775002 -0.07567317
+v -0.05777093 0.05171023 -0.07082571
+v -0.05899760 -0.04652029 -0.07082998
+v -0.05777093 -0.05182568 -0.07082571
+v -0.05987023 -0.04667095 -0.07567317
+v -0.05899760 0.04928891 -0.07434696
+v -0.05899760 0.05009602 -0.07567317
+v -0.05472422 0.05459430 -0.07082571
+v -0.05562178 0.05459430 -0.07082998
+v -0.05670882 0.05459430 -0.07358681
+v -0.05693321 0.05459430 -0.07445229
+v -0.05822470 0.05298008 -0.07567317
+v -0.05822470 -0.05309554 -0.07567317
+v -0.05683348 -0.05534468 -0.07567317
+v -0.05516302 -0.05534468 -0.07082998
+v -0.05407099 -0.05534468 -0.07082571
+v -0.00953203 0.05459430 -0.07082571
+v -0.05723739 0.05459430 -0.07567317
+v -0.00953203 -0.05534468 -0.07567317
+v -0.00953203 -0.05534468 -0.07082571
+v -0.00953203 0.05459430 -0.07567317
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_121.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_121.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b6dddc8b5ae054598e595d473fe46519b83660f
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_121.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.05055755 0.04894134 -0.08422119
+v 0.05055755 0.04894134 -0.08640583
+v -0.06116401 0.04894134 -0.08422119
+v 0.05055755 0.01126876 -0.08422119
+v 0.05055755 0.01126876 -0.08640583
+v -0.06165159 0.04894134 -0.08640583
+v -0.06138563 0.04894134 -0.08498525
+v -0.06178456 0.04593769 -0.08422119
+v 0.05052431 0.00180563 -0.08422119
+v 0.05052431 0.00180563 -0.08640583
+v -0.06195078 0.04593769 -0.08498525
+v -0.06219457 0.04600228 -0.08640583
+v -0.06198403 0.03962586 -0.08422119
+v -0.06219457 0.00180563 -0.08422119
+v -0.06263782 0.00180563 -0.08640583
+v -0.06228322 0.04414749 -0.08640583
+v -0.06244944 0.03886456 -0.08640583
+v -0.06217241 0.03886456 -0.08498525
+v -0.06200619 0.03886456 -0.08422119
+v -0.06219457 0.00348509 -0.08422119
+v -0.06237187 0.00326824 -0.08502866
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+v -0.06264890 0.00348509 -0.08640583
+v -0.06253809 0.03179143 -0.08640583
+v -0.06226106 0.03179143 -0.08498525
+v -0.06209484 0.03179143 -0.08422119
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+v -0.06221673 0.02117021 -0.08455649
+v -0.06257133 0.02474138 -0.08640583
+v -0.06262674 0.01126876 -0.08640583
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+f 25 30 31
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+f 25 32 30
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+f 27 31 30
+f 27 30 28
+f 28 30 33
+f 30 32 33
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_126.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_126.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f269f68e5106832a203c8af493986a3161038ff
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_126.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.06147996 -0.00872629 -0.08133488
+v 0.06119005 -0.00872629 -0.07985577
+v 0.06080350 -0.01068000 -0.07790755
+v 0.06079472 -0.01379593 -0.07790755
+v 0.06136575 -0.01379593 -0.08083428
+v 0.06146238 -0.01379593 -0.08133488
+v -0.02826834 -0.00872629 -0.08133488
+v 0.06080350 -0.00872629 -0.07790755
+v 0.06079472 -0.01071006 -0.07787469
+v 0.06078594 -0.01379593 -0.07787469
+v 0.06076836 -0.01779353 -0.07787469
+v 0.06077715 -0.01775345 -0.07790755
+v 0.06144482 -0.01852492 -0.08133488
+v -0.02826834 -0.05990357 -0.08133488
+v -0.02826834 -0.00872629 -0.07787469
+v 0.06079472 -0.00872629 -0.07787469
+v 0.06072444 -0.02487699 -0.07787469
+v 0.06140968 -0.02483691 -0.08133488
+v -0.02826834 -0.05990357 -0.07787469
+v 0.05085002 -0.05990357 -0.08133488
+v 0.06066295 -0.03194042 -0.07787469
+v 0.06134818 -0.03191036 -0.08133488
+v 0.04739748 -0.05990357 -0.07787469
+v 0.05333619 -0.05949279 -0.08133488
+v 0.06056631 -0.03900885 -0.07787469
+v 0.06126033 -0.03897378 -0.08133488
+v 0.05354704 -0.05846083 -0.07787469
+v 0.05600685 -0.05822037 -0.08133488
+v 0.05721041 -0.05723850 -0.07981377
+v 0.05395993 -0.05826545 -0.07787469
+v 0.06039939 -0.04605725 -0.07787469
+v 0.06107584 -0.04605725 -0.08133488
+v 0.05747396 -0.05749399 -0.08133488
+v 0.05821191 -0.05603121 -0.08133488
+v 0.05851938 -0.05359157 -0.07787469
+v 0.05830855 -0.05400736 -0.07787469
+v 0.05952967 -0.05337115 -0.08133488
+v 0.05952089 -0.05339620 -0.08133488
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+f 1 6 13
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+f 23 24 27
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+f 24 30 27
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+f 28 33 29
+f 29 33 34
+f 29 34 35
+f 29 35 36
+f 29 36 30
+f 31 35 37
+f 31 37 32
+f 34 38 35
+f 35 38 37
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_13.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d9d350f9ec12a7b35370c8e634c04bc171d129f
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.00358175 0.05404823 0.13443867
+v 0.00358175 0.05403414 0.13733155
+v 0.01064580 0.05365015 0.13443867
+v -0.00353716 0.05404823 0.13443867
+v 0.00775160 0.05379811 0.13733155
+v -0.00349601 0.05403414 0.13733155
+v 0.01065952 0.05362901 0.13733155
+v 0.01482936 0.05322740 0.13733155
+v 0.01769613 0.05296671 0.13443867
+v -0.01058749 0.05364310 0.13443867
+v -0.01057378 0.05362901 0.13733155
+v 0.01773042 0.05293853 0.13733155
+v 0.02190027 0.05240305 0.13733155
+v 0.02476704 0.05205781 0.13443867
+v -0.01732920 0.05296671 0.13443867
+v -0.01732920 0.05294557 0.13733155
+v 0.02480819 0.05202258 0.13733155
+v 0.03184480 0.05095867 0.13443867
+v -0.01732920 0.01806197 0.13443867
+v -0.01732920 0.01806197 0.13733155
+v 0.02897803 0.05137436 0.13733155
+v 0.03188595 0.05091991 0.13733155
+v 0.03188595 0.05095162 0.13443867
+v 0.05273518 0.01806197 0.13443867
+v 0.05270775 0.01806197 0.13733155
+v 0.03721485 0.04990180 0.13733155
+v 0.03721485 0.04992646 0.13443867
+v 0.05193962 0.02469556 0.13443867
+v 0.05226196 0.02180328 0.13733155
+v 0.03866881 0.04954951 0.13733155
+v 0.03724914 0.04991941 0.13443867
+v 0.05093145 0.03174838 0.13443867
+v 0.05190532 0.02471318 0.13733155
+v 0.04075373 0.04903165 0.13733155
+v 0.04078116 0.04903869 0.13443867
+v 0.05092459 0.03179065 0.13443867
+v 0.05089030 0.03179065 0.13733155
+v 0.05130865 0.02888075 0.13733155
+v 0.04558197 0.04549115 0.13733155
+v 0.04558197 0.04550876 0.13443867
+v 0.04998500 0.03701509 0.13443867
+v 0.04996443 0.03701509 0.13733155
+v 0.04912086 0.04055207 0.13733155
+v 0.04912771 0.04058377 0.13443867
+v 0.04561627 0.04547001 0.13443867
+v 0.04560255 0.04548763 0.13443867
+v 0.04962151 0.03847004 0.13733155
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+f 36 41 42
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+f 39 43 44
+f 39 44 45
+f 39 45 46
+f 39 46 40
+f 41 44 47
+f 41 47 42
+f 43 47 44
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_135.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_135.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f4505e8ea67e2c7f32ab85ae7646765d3548889
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_135.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.01355897 0.03157078 0.07890897
+v 0.01355897 -0.00601380 0.07890897
+v 0.01355897 0.03157078 0.07523697
+v -0.06254817 0.03157078 0.07890897
+v 0.01355897 -0.00601380 0.07523697
+v 0.01355151 -0.03316772 0.07890897
+v -0.06186924 0.03157078 0.07523697
+v -0.06257055 0.02620337 0.07890897
+v 0.01355151 -0.03316772 0.07523697
+v -0.06252579 -0.03316772 0.07890897
+v -0.06195877 0.00799725 0.07523697
+v -0.06265262 0.00503788 0.07890897
+v -0.06184686 -0.03316772 0.07523697
+v -0.06254817 -0.03190033 0.07890897
+v -0.06236911 -0.03316772 0.07804992
+v -0.06197369 0.00347899 0.07523697
+v -0.06266008 -0.00359307 0.07890897
+v -0.06186178 -0.03190033 0.07523697
+v -0.06189163 -0.02482827 0.07523697
+v -0.06197369 -0.00359307 0.07523697
+v -0.06227958 -0.00601380 0.07692236
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+f 1 4 8
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+f 2 6 9
+f 2 9 5
+f 3 5 9
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+f 3 11 7
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+f 11 16 12
+f 12 16 17
+f 13 15 14
+f 13 14 18
+f 14 17 19
+f 14 19 18
+f 16 20 17
+f 17 20 21
+f 17 21 19
+f 19 21 20
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_143.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_143.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2010740e3c20e12d8f7e47f6e7898d45a0721f87
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_143.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.05535609 -0.04783141 0.04852250
+v 0.05630909 -0.04865769 0.05070560
+v 0.05469885 -0.04783141 0.04564882
+v -0.05547673 -0.04783141 0.04852250
+v 0.05366917 -0.05236669 0.05070560
+v 0.05233278 -0.05234070 0.04564882
+v -0.05559723 -0.04865769 0.05070560
+v -0.05485235 -0.04783141 0.04564882
+v -0.05490712 -0.04783141 0.04586267
+v 0.05301193 -0.05305836 0.05070560
+v 0.05236564 -0.05363676 0.05070560
+v 0.04801689 -0.05646841 0.05070560
+v 0.04603422 -0.05556043 0.04564882
+v -0.05401985 -0.05213923 0.05070560
+v -0.05473186 -0.04808486 0.04564882
+v 0.04604517 -0.05665967 0.05070560
+v 0.04285755 -0.05590672 0.04564882
+v -0.05232197 -0.05239269 0.04564882
+v -0.05300112 -0.05316420 0.05070560
+v 0.04431444 -0.05679150 0.05070560
+v 0.03895791 -0.05618153 0.04564882
+v -0.05212480 -0.05391621 0.05070560
+v -0.04861951 -0.05426065 0.04564882
+v 0.04363528 -0.05682771 0.05070560
+v 0.03895791 -0.05707188 0.05070560
+v 0.03664661 -0.05622703 0.04564882
+v -0.04595769 -0.05667359 0.05070560
+v -0.04594673 -0.05557900 0.04564882
+v -0.04595769 -0.05621031 0.04852250
+v 0.03226501 -0.05719443 0.05070560
+v 0.03187066 -0.05631801 0.04564882
+v -0.03887043 -0.05618061 0.04564882
+v -0.03888138 -0.05707188 0.05070560
+v -0.04594673 -0.05615461 0.04826211
+v 0.03188161 -0.05720000 0.05070560
+v 0.03188161 -0.05714244 0.05037442
+v 0.02997562 -0.05633008 0.04564882
+v -0.03180508 -0.05631801 0.04564882
+v -0.03180508 -0.05714337 0.05037145
+v -0.03180508 -0.05720093 0.05070560
+v 0.02530920 -0.05723343 0.05070560
+v 0.02828870 -0.05683978 0.04852250
+v 0.02480531 -0.05635886 0.04564882
+v -0.02471783 -0.05635886 0.04564882
+v -0.02422490 -0.05723714 0.05070560
+v 0.02303076 -0.05636629 0.04564882
+v 0.00431034 -0.05731327 0.05070560
+v -0.01213166 -0.05640714 0.04564882
+v -0.00991894 -0.05729191 0.05070560
+v 0.00907534 -0.05641828 0.04564882
+v 0.00357642 -0.05731512 0.05070560
+v 0.00357642 -0.05719815 0.05002988
+v 0.00356546 -0.05643871 0.04564882
+v -0.00657797 -0.05692612 0.04852250
+v -0.00494582 -0.05643406 0.04564882
+v -0.00348893 -0.05731512 0.05070560
+v -0.00348893 -0.05719815 0.05002938
+v -0.00348893 -0.05693726 0.04852250
+v -0.00348893 -0.05643871 0.04564882
+f 1 2 3
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+f 1 8 9
+f 1 9 4
+f 1 4 7
+f 1 7 2
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+f 2 6 3
+f 2 7 14
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+f 2 19 22
+f 2 22 27
+f 2 27 33
+f 2 33 40
+f 2 40 45
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+f 9 15 14
+f 12 16 17
+f 12 17 13
+f 14 18 19
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+f 16 20 17
+f 17 20 21
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+f 20 24 21
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+f 22 29 27
+f 25 30 31
+f 25 31 26
+f 27 29 32
+f 27 32 33
+f 28 34 29
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+f 29 34 32
+f 30 35 36
+f 30 36 31
+f 31 36 37
+f 32 38 33
+f 33 38 39
+f 33 39 40
+f 35 41 42
+f 35 42 36
+f 36 42 43
+f 36 43 37
+f 38 44 39
+f 39 44 45
+f 39 45 40
+f 41 46 43
+f 41 43 42
+f 41 47 46
+f 44 48 45
+f 45 48 49
+f 46 47 50
+f 47 51 52
+f 47 52 53
+f 47 53 50
+f 48 54 49
+f 48 55 54
+f 49 54 57
+f 49 57 56
+f 51 56 57
+f 51 57 52
+f 52 57 58
+f 52 58 53
+f 53 58 59
+f 54 55 58
+f 54 58 57
+f 55 59 58
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_147.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_147.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c20b83c6ca0d2141f713e731b45217f3ebb4d1c3
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_147.obj
@@ -0,0 +1,207 @@
+# https://github.com/mikedh/trimesh
+v 0.05646513 -0.02387103 0.04564819
+v 0.05638764 -0.03191424 0.04564819
+v 0.05587839 -0.02387103 0.04212895
+v 0.04279288 -0.02387103 0.04564819
+v 0.05626586 -0.03898512 0.04564819
+v 0.05580089 -0.03191424 0.04212895
+v 0.04279288 -0.02387103 0.04212895
+v -0.05663263 -0.02387740 0.04564268
+v -0.05076518 -0.02387740 0.04564819
+v 0.05598910 -0.04312946 0.04564819
+v 0.05565698 -0.03898512 0.04212895
+v 0.05566805 -0.03870139 0.04212895
+v -0.05601267 -0.02387740 0.04212895
+v -0.05600160 -0.02566266 0.04212895
+v -0.05595732 -0.03201944 0.04212895
+v -0.05657728 -0.03191424 0.04564819
+v -0.05662156 -0.02484654 0.04564819
+v -0.05662156 -0.02435560 0.04564819
+v 0.05586732 -0.04424205 0.04564819
+v 0.05509237 -0.04424205 0.04212895
+v -0.05582447 -0.03856431 0.04212895
+v -0.05653300 -0.03605539 0.04564819
+v 0.05565698 -0.04606237 0.04564819
+v 0.05491524 -0.04577865 0.04212895
+v -0.05580233 -0.04606237 0.04564819
+v -0.05599053 -0.04424205 0.04564819
+v -0.05640014 -0.04014234 0.04564819
+v -0.05497203 -0.04606237 0.04212895
+v 0.05232471 -0.05233946 0.04564819
+v 0.05191510 -0.05188996 0.04241212
+v 0.05198152 -0.05165724 0.04212895
+v 0.05300002 -0.04969027 0.04212895
+v 0.05493738 -0.04606237 0.04241212
+v 0.05487096 -0.04606237 0.04212895
+v -0.05487240 -0.04626322 0.04212895
+v -0.05304574 -0.04969027 0.04212895
+v -0.05187225 -0.05188039 0.04212895
+v -0.05354392 -0.04969027 0.04429093
+v -0.05471741 -0.04808354 0.04564819
+v 0.04603658 -0.05555929 0.04564819
+v 0.05187081 -0.05185808 0.04212895
+v -0.05231507 -0.05239046 0.04564819
+v -0.05383176 -0.04969027 0.04564819
+v -0.04615980 -0.05471129 0.04212895
+v -0.04860641 -0.05425860 0.04564819
+v 0.04284823 -0.05590359 0.04564819
+v 0.03895136 -0.05556566 0.04212895
+v 0.04574875 -0.05482925 0.04212895
+v 0.04603658 -0.05478462 0.04212895
+v -0.04593838 -0.05480693 0.04212895
+v -0.04593838 -0.05557842 0.04564819
+v 0.03895136 -0.05618094 0.04564819
+v 0.03866353 -0.05557204 0.04212895
+v -0.03886423 -0.05556566 0.04212895
+v -0.03886423 -0.05618094 0.04564819
+v 0.03663760 -0.05622558 0.04564819
+v 0.03186615 -0.05570913 0.04212895
+v -0.03179009 -0.05570913 0.04212895
+v -0.03179009 -0.05631802 0.04564819
+v 0.03186615 -0.05631484 0.04564819
+v 0.02479200 -0.05575694 0.04212895
+v -0.02471594 -0.05575694 0.04212895
+v -0.02471594 -0.05635628 0.04564819
+v 0.02997307 -0.05632759 0.04564819
+v 0.00355850 -0.05583664 0.04212895
+v 0.02479200 -0.05635628 0.04564819
+v 0.00355850 -0.05643917 0.04564819
+v -0.00348244 -0.05583664 0.04212895
+v -0.00348244 -0.05643917 0.04564819
+v -0.01763073 -0.05638497 0.04564819
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 18
+f 1 18 17
+f 1 17 16
+f 1 16 22
+f 1 22 27
+f 1 27 26
+f 1 26 25
+f 1 25 39
+f 1 39 43
+f 1 43 42
+f 1 42 45
+f 1 45 51
+f 1 51 55
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+f 1 70 69
+f 1 69 67
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+f 1 66 64
+f 1 64 60
+f 1 60 56
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+f 1 52 46
+f 1 46 40
+f 1 40 29
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+f 1 23 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 6 12
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+f 3 24 34
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+f 3 32 31
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+f 23 29 30
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+f 23 33 24
+f 24 33 34
+f 25 28 35
+f 25 35 36
+f 25 36 37
+f 25 37 38
+f 25 38 39
+f 29 40 41
+f 29 41 30
+f 30 41 31
+f 32 34 33
+f 37 42 43
+f 37 43 38
+f 37 44 45
+f 37 45 42
+f 38 43 39
+f 40 46 47
+f 40 47 48
+f 40 48 49
+f 40 49 41
+f 44 50 51
+f 44 51 45
+f 46 52 47
+f 47 52 53
+f 50 54 51
+f 51 54 55
+f 52 56 57
+f 52 57 53
+f 54 58 55
+f 55 58 59
+f 56 60 57
+f 57 60 61
+f 58 62 59
+f 59 62 63
+f 60 64 61
+f 61 64 66
+f 61 66 67
+f 61 67 65
+f 62 68 69
+f 62 69 70
+f 62 70 63
+f 65 67 69
+f 65 69 68
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_149.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_149.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7df777b6648e34788a492676b490c9528f5dc1e
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_149.obj
@@ -0,0 +1,351 @@
+# https://github.com/mikedh/trimesh
+v -0.05318422 0.05826703 -0.12846599
+v -0.05827473 0.05826703 -0.12673813
+v -0.05298261 0.05847400 -0.12846599
+v 0.05320010 0.05826703 -0.12846599
+v -0.05954737 0.05826703 -0.12630457
+v -0.05984977 0.05984443 -0.12566274
+v -0.05303301 0.06010162 -0.12788791
+v -0.05158398 0.05899143 -0.12846599
+v 0.05304890 0.05842150 -0.12846599
+v 0.05495154 0.05826703 -0.12787304
+v -0.05991277 0.05826703 -0.12617706
+v -0.06247063 0.05826703 -0.12488276
+v -0.05731711 0.06403789 -0.12440882
+v -0.05303301 0.06433922 -0.12482537
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_154.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_154.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea9705e56365827f9e5c3bdb4758ebd9dbee69ed
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_154.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.05551971 -0.00359585 0.03857420
+v -0.05551903 0.00348143 0.03857420
+v -0.05499444 0.00348143 0.03533439
+v -0.05499307 -0.00360449 0.03532262
+v -0.05546719 -0.01775040 0.03857420
+v -0.05550607 0.00694661 0.03857420
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+v -0.05541670 0.02803153 0.03857420
+v -0.05538601 0.03179052 0.03857420
+v -0.05485254 0.03177324 0.03532262
+v -0.05491258 -0.02483631 0.03532262
+v -0.05538942 -0.03190495 0.03857420
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_156.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_156.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f6f63b58846c24e57b0f56c1fc0805f355c4b4c
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_156.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.05314623 0.04771890 -0.04600592
+v -0.05314623 0.04797839 -0.04663851
+v -0.05403734 0.04594096 -0.04600592
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+v -0.05567172 0.03886765 -0.04959673
+v -0.05527678 0.03178473 -0.04600592
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_16.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e0f966988013970f398cfd1fbad9f2544c4e104
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.00244177 -0.05140618 -0.01420942
+v 0.00358002 -0.05141623 -0.01421289
+v 0.00244177 -0.05101429 -0.00826994
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+v 0.02481546 -0.05133585 -0.01420872
+v 0.02481546 -0.05086356 -0.00712271
+v 0.01065850 -0.05091380 -0.00712271
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+v 0.00358002 0.05123936 -0.01421289
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+v 0.03188949 -0.05124541 -0.01420872
+v 0.03188949 -0.05077312 -0.00712271
+v 0.00244177 0.03450859 -0.00712271
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+v 0.03188949 0.05106853 -0.01420872
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+v 0.04389889 -0.05027070 -0.01421289
+v 0.04389889 -0.05027070 -0.01420872
+v 0.04333866 -0.05001948 -0.00712271
+v 0.03188060 0.05058620 -0.00712271
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+v 0.03896352 0.05088766 -0.01421289
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+v 0.04743813 -0.04761790 -0.01420872
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+v 0.03896352 0.05038523 -0.00713173
+v 0.04328086 0.04987276 -0.00713173
+v 0.04384554 0.05012398 -0.01420872
+v 0.04384554 0.05012398 -0.01421289
+v 0.04786498 -0.04667333 -0.01421289
+v 0.04786498 -0.04711547 -0.01421219
+v 0.04786498 -0.04702503 -0.01314131
+v 0.04786498 -0.04619101 -0.00713173
+v 0.04786498 -0.04525649 -0.00712271
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+v 0.04682010 0.04709937 -0.00712271
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+v 0.04738478 0.04748121 -0.01421289
+v 0.04786498 0.04643617 -0.01421289
+v 0.04786498 0.04504947 -0.00712271
+v 0.04786498 0.04601414 -0.00713173
+v 0.04786498 0.04692854 -0.01420942
+f 1 2 3
+f 1 3 10
+f 1 10 16
+f 1 16 18
+f 1 18 17
+f 1 17 11
+f 1 11 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
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+f 13 23 24
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+f 16 19 18
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+f 23 29 30
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+f 24 30 31
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+f 29 36 30
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+f 31 36 37
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+f 33 40 41
+f 33 41 42
+f 33 42 34
+f 35 43 44
+f 35 44 36
+f 36 44 45
+f 36 45 37
+f 37 45 46
+f 37 46 47
+f 38 48 40
+f 38 40 39
+f 40 48 49
+f 40 49 50
+f 40 50 41
+f 41 50 51
+f 41 51 42
+f 43 52 55
+f 43 55 54
+f 43 54 53
+f 43 53 47
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+f 43 46 45
+f 43 45 44
+f 49 53 54
+f 49 54 50
+f 50 54 55
+f 50 55 51
+f 51 55 52
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_161.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_161.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a30470a866aa06ce281a2edf22154f3fd40e1bc
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_161.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.05374388 0.01516844 -0.03542895
+v 0.05345283 0.01516844 -0.03308538
+v 0.05348708 0.00854451 -0.03308538
+v 0.05352988 0.00854451 -0.03343154
+v 0.05376956 0.00854451 -0.03542895
+v -0.03365607 0.01516844 -0.03542895
+v -0.03365607 0.01516844 -0.03308538
+v 0.05349563 0.00438435 -0.03308538
+v 0.05378668 0.00346212 -0.03542895
+v -0.03366463 0.00854451 -0.03542895
+v -0.03366463 0.00854451 -0.03308538
+v 0.05349563 0.00087044 -0.03308538
+v 0.05376100 -0.01069452 -0.03542895
+v -0.03366463 -0.05340676 -0.03542895
+v -0.03366463 -0.05307691 -0.03308538
+v 0.05346996 -0.00977901 -0.03308538
+v 0.05372676 -0.01776947 -0.03542895
+v 0.05346139 -0.01304386 -0.03308538
+v 0.05344427 -0.01776274 -0.03308538
+v -0.03179850 -0.05344715 -0.03542895
+v -0.03179850 -0.05311730 -0.03308538
+v 0.05368396 -0.02483096 -0.03542895
+v 0.05339291 -0.02482423 -0.03308538
+v -0.02472775 -0.05351447 -0.03542895
+v -0.02472775 -0.05319135 -0.03308538
+v -0.02944443 -0.05314423 -0.03308538
+v 0.05359836 -0.03191264 -0.03542895
+v 0.05333299 -0.03099041 -0.03308538
+v -0.00348982 -0.05359525 -0.03542895
+v -0.00711079 -0.05325866 -0.03308538
+v 0.05345283 -0.03897413 -0.03542895
+v 0.05331587 -0.03190591 -0.03308538
+v 0.00358949 -0.05360198 -0.03542895
+v -0.00348982 -0.05327213 -0.03308538
+v 0.05316179 -0.03897413 -0.03308538
+v 0.05293066 -0.04155235 -0.03542895
+v 0.02480174 -0.05352120 -0.03542895
+v 0.00358949 -0.05327213 -0.03308538
+v 0.05198904 -0.04606927 -0.03542895
+v 0.05155246 -0.04617025 -0.03308538
+v 0.03188105 -0.05345388 -0.03542895
+v 0.02480174 -0.05319135 -0.03308538
+v 0.05010579 -0.05012172 -0.03542895
+v 0.05104741 -0.04725404 -0.03308538
+v 0.03896036 -0.05329232 -0.03542895
+v 0.03188105 -0.05312403 -0.03308538
+v 0.04982330 -0.04984573 -0.03308538
+v 0.04823965 -0.05055255 -0.03308538
+v 0.04603967 -0.05191234 -0.03542895
+v 0.03896036 -0.05295574 -0.03308538
+v 0.04610815 -0.05147478 -0.03308538
+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 22
+f 1 22 27
+f 1 27 31
+f 1 31 36
+f 1 36 39
+f 1 39 43
+f 1 43 49
+f 1 49 45
+f 1 45 41
+f 1 41 37
+f 1 37 33
+f 1 33 29
+f 1 29 24
+f 1 24 20
+f 1 20 14
+f 1 14 10
+f 1 10 6
+f 1 6 7
+f 1 7 2
+f 2 7 11
+f 2 11 15
+f 2 15 21
+f 2 21 26
+f 2 26 25
+f 2 25 30
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+f 2 50 51
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+f 2 19 18
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+f 9 12 13
+f 10 14 15
+f 10 15 11
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+f 13 16 18
+f 13 18 19
+f 13 19 17
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+f 17 19 22
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+f 20 26 21
+f 22 23 28
+f 22 28 27
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+f 24 30 25
+f 27 28 32
+f 27 32 31
+f 29 33 34
+f 29 34 30
+f 31 32 35
+f 31 35 36
+f 33 37 42
+f 33 42 38
+f 33 38 34
+f 35 39 36
+f 35 40 39
+f 37 41 46
+f 37 46 42
+f 39 40 43
+f 40 44 43
+f 41 45 46
+f 43 44 47
+f 43 47 48
+f 43 48 49
+f 45 49 50
+f 45 50 46
+f 48 51 49
+f 49 51 50
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_162.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_162.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ca89870395e1815433171ab9dbc369116f92c39
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_162.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.02980467 -0.05133648 -0.07567317
+v 0.02980467 -0.06010716 -0.07567317
+v 0.02980467 -0.05133648 -0.07787469
+v -0.05231792 -0.05133648 -0.07567317
+v 0.02980467 -0.06053005 -0.07787469
+v 0.00580938 -0.06019628 -0.07567317
+v -0.05231792 -0.05133648 -0.07787469
+v -0.05231792 -0.05831192 -0.07567317
+v 0.01068882 -0.06060098 -0.07787469
+v 0.00357464 -0.06020447 -0.07567317
+v 0.00357464 -0.06062736 -0.07787469
+v -0.05231792 -0.05872844 -0.07787469
+v -0.04595936 -0.06021356 -0.07787469
+v -0.04595936 -0.05977885 -0.07567317
+v -0.00349935 -0.06020356 -0.07567317
+v -0.00349935 -0.06062645 -0.07787469
+v -0.03888537 -0.06041455 -0.07787469
+v -0.03888537 -0.05998893 -0.07567317
+v -0.04372462 -0.05985069 -0.07567317
+v -0.01058138 -0.06017628 -0.07567317
+v -0.01058138 -0.06059917 -0.07787469
+v -0.03885322 -0.06041546 -0.07787469
+v -0.03665064 -0.06002440 -0.07567317
+v -0.01764733 -0.06014899 -0.07567317
+v -0.03180335 -0.06051641 -0.07787469
+v -0.03180335 -0.06009352 -0.07567317
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 19
+f 1 19 18
+f 1 18 23
+f 1 23 26
+f 1 26 24
+f 1 24 20
+f 1 20 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 5
+f 3 5 9
+f 3 9 11
+f 3 11 16
+f 3 16 21
+f 3 21 25
+f 3 25 22
+f 3 22 17
+f 3 17 13
+f 3 13 12
+f 3 12 7
+f 4 7 12
+f 4 12 8
+f 5 6 9
+f 6 10 11
+f 6 11 9
+f 8 12 13
+f 8 13 14
+f 10 15 16
+f 10 16 11
+f 13 17 18
+f 13 18 19
+f 13 19 14
+f 15 20 21
+f 15 21 16
+f 17 22 18
+f 18 22 23
+f 20 24 21
+f 21 24 25
+f 22 25 23
+f 23 25 26
+f 24 26 25
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_163.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_163.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2f95898d52ac002771b23d027b527f2ea9e92d2
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_163.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.05829934 -0.04139770 0.12070485
+v 0.05531449 -0.04139770 0.12297943
+v 0.05811637 -0.04606389 0.12070485
+v -0.05853300 -0.04139770 0.12070485
+v 0.05506290 -0.04139770 0.12315395
+v 0.05434242 -0.04606389 0.12315395
+v 0.05649242 -0.05291921 0.12070485
+v -0.05849870 -0.04281317 0.12070485
+v -0.05742369 -0.04139770 0.12155254
+v -0.05509070 -0.04139770 0.12315395
+v 0.05147192 -0.05150721 0.12315395
+v 0.05262698 -0.05266248 0.12254383
+v 0.05289002 -0.05656196 0.12070485
+v -0.05765241 -0.05024786 0.12070485
+v -0.05470187 -0.04398405 0.12315395
+v 0.04602829 -0.05441448 0.12315395
+v 0.04601685 -0.05815264 0.12070485
+v -0.05442741 -0.04577941 0.12315395
+v -0.05649736 -0.05291227 0.12070485
+v -0.05220878 -0.05128517 0.12315395
+v 0.03896071 -0.05559230 0.12315395
+v 0.03894927 -0.05872680 0.12070485
+v -0.05509070 -0.05520721 0.12070485
+v -0.05113377 -0.05231208 0.12315395
+v -0.05252899 -0.05263993 0.12256421
+v 0.03188169 -0.05573280 0.12315395
+v 0.03188169 -0.05884476 0.12070485
+v -0.05279203 -0.05660707 0.12070485
+v -0.05013882 -0.05776060 0.12070485
+v -0.04566727 -0.05451508 0.12315395
+v 0.02480268 -0.05584035 0.12315395
+v 0.01772366 -0.05594096 0.12315395
+v 0.01772366 -0.05900782 0.12070485
+v -0.04275103 -0.05859497 0.12070485
+v -0.03862256 -0.05558016 0.12315395
+v -0.03887416 -0.05555067 0.12315395
+v 0.01065608 -0.05600861 0.12315395
+v 0.01065608 -0.05907373 0.12070485
+v -0.03887416 -0.05869037 0.12070485
+v -0.03652973 -0.05874241 0.12070485
+v -0.03160072 -0.05572240 0.12315395
+v 0.00356563 -0.05605545 0.12315395
+v 0.00356563 -0.05911883 0.12070485
+v -0.02958795 -0.05885343 0.12070485
+v -0.01756849 -0.05593055 0.12315395
+v 0.00354276 -0.05605545 0.12315395
+v -0.00349051 -0.05911536 0.12070485
+v -0.02261186 -0.05894016 0.12070485
+v -0.01562434 -0.05901822 0.12070485
+v -0.01054666 -0.05600341 0.12315395
+v -0.00349051 -0.05605198 0.12315395
+v -0.00863681 -0.05907893 0.12070485
+v -0.01056953 -0.05906332 0.12070485
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 17
+f 1 17 22
+f 1 22 27
+f 1 27 33
+f 1 33 38
+f 1 38 43
+f 1 43 47
+f 1 47 52
+f 1 52 53
+f 1 53 49
+f 1 49 48
+f 1 48 44
+f 1 44 40
+f 1 40 39
+f 1 39 34
+f 1 34 29
+f 1 29 28
+f 1 28 23
+f 1 23 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 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 9
+f 5 10 15
+f 5 15 18
+f 5 18 20
+f 5 20 24
+f 5 24 30
+f 5 30 36
+f 5 36 35
+f 5 35 41
+f 5 41 45
+f 5 45 50
+f 5 50 51
+f 5 51 46
+f 5 46 42
+f 5 42 37
+f 5 37 32
+f 5 32 31
+f 5 31 26
+f 5 26 21
+f 5 21 16
+f 5 16 11
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 8 14 10
+f 8 10 9
+f 10 14 15
+f 11 16 12
+f 12 16 13
+f 13 16 17
+f 14 18 15
+f 14 19 20
+f 14 20 18
+f 16 21 17
+f 17 21 22
+f 19 23 20
+f 20 23 25
+f 20 25 24
+f 21 26 22
+f 22 26 27
+f 23 28 24
+f 23 24 25
+f 24 28 29
+f 24 29 30
+f 26 31 27
+f 27 31 32
+f 27 32 33
+f 29 34 35
+f 29 35 36
+f 29 36 30
+f 32 37 33
+f 33 37 38
+f 34 39 35
+f 35 39 40
+f 35 40 41
+f 37 42 38
+f 38 42 43
+f 40 44 41
+f 41 44 45
+f 42 46 43
+f 43 46 47
+f 44 48 45
+f 45 49 50
+f 45 48 49
+f 46 51 47
+f 47 51 50
+f 47 50 52
+f 49 53 50
+f 50 53 52
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_164.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_164.obj
new file mode 100644
index 0000000000000000000000000000000000000000..090025cc501e60acba95f883b4abd5fb802877ac
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_164.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.03947655 0.04054665 0.06806363
+v 0.03947655 -0.05105134 0.06806363
+v 0.03947655 0.04054665 0.06534562
+v -0.06038926 0.04054665 0.06806363
+v 0.03947655 -0.05105134 0.06534562
+v -0.05896793 -0.05105134 0.06806363
+v -0.05988934 0.04054665 0.06534562
+v -0.06043827 0.03886102 0.06806363
+v -0.05852683 -0.05105134 0.06534562
+v -0.05967370 -0.04837943 0.06806363
+v -0.05993836 0.03886102 0.06534562
+v -0.06002658 0.03349031 0.06534562
+v -0.06054610 0.03178674 0.06806363
+v -0.05860525 -0.05073752 0.06534562
+v -0.05974231 -0.04604824 0.06534562
+v -0.06023242 -0.04604824 0.06806363
+v -0.06004618 0.03178674 0.06534562
+v -0.06007559 0.02640706 0.06534562
+v -0.06061472 0.01497525 0.06806363
+v -0.06044808 -0.03898293 0.06806363
+v -0.05994816 -0.03898293 0.06534562
+v -0.06016381 0.00347170 0.06534562
+v -0.06065392 0.00347170 0.06806363
+v -0.06054610 -0.03202521 0.06806363
+v -0.06005598 -0.03189072 0.06534562
+v -0.06016381 -0.00361154 0.06534562
+v -0.06066373 -0.00361154 0.06806363
+v -0.06056570 -0.02831323 0.06806363
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 19
+f 1 19 23
+f 1 23 27
+f 1 27 28
+f 1 28 24
+f 1 24 20
+f 1 20 16
+f 1 16 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 14
+f 3 14 15
+f 3 15 21
+f 3 21 25
+f 3 25 26
+f 3 26 22
+f 3 22 18
+f 3 18 17
+f 3 17 12
+f 3 12 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 6 10 9
+f 8 11 12
+f 8 12 13
+f 9 10 14
+f 10 15 14
+f 10 16 15
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 15 16 20
+f 15 20 21
+f 18 22 19
+f 19 22 23
+f 20 24 25
+f 20 25 21
+f 22 26 27
+f 22 27 23
+f 24 28 25
+f 25 28 27
+f 25 27 26
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_165.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_165.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c581f8b50fa1f369eeebc4a258815c723e7647ca
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_165.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.01266552 0.01978107 -0.05890695
+v -0.01266552 0.00275676 -0.05890695
+v -0.01266552 0.01978107 -0.06130290
+v -0.05744530 0.01978107 -0.05890695
+v -0.01266552 0.00275676 -0.06130290
+v -0.05750731 0.00275676 -0.05890695
+v -0.05576218 0.01978107 -0.06130290
+v -0.05784836 0.01978107 -0.06129047
+v -0.05786165 0.01763449 -0.06130290
+v -0.05746301 0.01560624 -0.05890695
+v -0.05791037 0.00275676 -0.06130290
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+v -0.05791480 0.00348173 -0.06130290
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+v -0.05748959 0.00847320 -0.05890695
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+f 10 13 15
+f 11 14 13
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_166.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_166.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a956f9c0328ae2b0683da6a7feae1e128764d156
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_166.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.05348037 0.00607178 -0.03308538
+v 0.05318175 0.00607178 -0.03062346
+v 0.05349743 0.00346347 -0.03308538
+v -0.03366463 0.00607178 -0.03308538
+v 0.05318175 -0.00361209 -0.03062346
+v 0.05321588 -0.00153241 -0.03080661
+v -0.03366463 0.00607178 -0.03062346
+v 0.05348037 -0.00615650 -0.03308538
+v -0.03366463 -0.00153241 -0.03308538
+v 0.05316469 -0.01069346 -0.03062346
+v 0.05347184 -0.01069346 -0.03308538
+v -0.03366463 -0.00153241 -0.03062346
+v -0.03365609 -0.05307709 -0.03308538
+v 0.05314762 -0.01588684 -0.03062346
+v 0.05340358 -0.02391510 -0.03308538
+v -0.03365609 -0.05272854 -0.03062346
+v -0.03179614 -0.05311775 -0.03308538
+v 0.05309643 -0.02482714 -0.03062346
+v 0.05330973 -0.03190851 -0.03308538
+v 0.05303671 -0.03002634 -0.03062346
+v -0.03179614 -0.05276920 -0.03062346
+v -0.02944986 -0.05314099 -0.03308538
+v -0.02472318 -0.05284472 -0.03062346
+v -0.02697560 -0.05282148 -0.03062346
+v 0.05325854 -0.03444130 -0.03308538
+v 0.05300258 -0.03190270 -0.03062346
+v 0.05290873 -0.03671849 -0.03062346
+v -0.02472318 -0.05318746 -0.03308538
+v -0.02126775 -0.05320489 -0.03308538
+v -0.00536426 -0.05292024 -0.03062346
+v 0.05316469 -0.03897245 -0.03308538
+v 0.05285754 -0.03897245 -0.03062346
+v -0.00347871 -0.05326879 -0.03308538
+v -0.00347871 -0.05292605 -0.03062346
+v 0.05155216 -0.04617000 -0.03308538
+v 0.05109996 -0.04627456 -0.03062346
+v 0.00359425 -0.05327460 -0.03308538
+v 0.00359425 -0.05292605 -0.03062346
+v 0.04982018 -0.04984720 -0.03308538
+v 0.05005054 -0.04849366 -0.03062346
+v 0.02479606 -0.05319327 -0.03308538
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+v 0.03187756 -0.05277501 -0.03062346
+v 0.03895904 -0.05260655 -0.03062346
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+f 1 11 15
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+f 49 53 50
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_17.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bb3cc72314725d8b8b0cd210191b703b4db98eb
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v -0.05394846 -0.00359659 0.13733487
+v -0.05364456 -0.01067131 0.13733487
+v -0.05392459 -0.00359659 0.14150010
+v -0.05388551 -0.00006234 0.14150010
+v -0.05384427 0.00347813 0.14150010
+v -0.05386597 0.00347813 0.13733487
+v -0.05327770 -0.01484134 0.13733487
+v -0.05362068 -0.01067131 0.14150010
+v -0.05335368 -0.00359659 0.14857370
+v -0.05331677 -0.00006234 0.14857536
+v -0.05327770 0.00347813 0.14857536
+v -0.05306280 -0.01067131 0.14857370
+v -0.05288480 0.01055285 0.14857536
+v -0.05343400 0.01055285 0.14150010
+v -0.05345788 0.01055285 0.13733487
+v -0.05301721 -0.01774603 0.13733487
+v -0.05298900 -0.01774603 0.14150010
+v -0.05245065 -0.01774603 0.14857370
+v -0.05102230 -0.01067131 0.15371393
+v -0.05116123 -0.00359659 0.15380014
+v -0.05224226 -0.00006234 0.15117034
+v -0.05112432 0.00347813 0.15378025
+v -0.05093981 0.01055285 0.15366086
+v -0.05029076 -0.02482698 0.15308383
+v -0.05072491 -0.01774603 0.15349340
+v -0.05062071 0.01762757 0.15340883
+v -0.05019307 0.02470852 0.15298601
+v -0.05223358 0.01762757 0.14857536
+v -0.05276758 0.01762757 0.14150010
+v -0.05279797 0.01762757 0.13733487
+v -0.05250709 -0.02191606 0.13733487
+v -0.05214458 -0.02482698 0.13733487
+v -0.05210550 -0.02482698 0.14150010
+v -0.05157150 -0.02482698 0.14857370
+v -0.04985878 -0.03053662 0.15258474
+v -0.04596012 -0.02482698 0.15418982
+v -0.04596012 -0.01774603 0.15424287
+v -0.04596012 -0.00359659 0.15427272
+v -0.04596230 -0.00006234 0.15427105
+v -0.04596230 0.00347813 0.15426940
+v -0.04596230 0.01762757 0.15423789
+v -0.04596230 0.02470852 0.15417654
+v -0.04764896 -0.03188300 0.15324467
+v -0.04657228 -0.03188300 0.15360118
+v -0.04655708 0.03179571 0.15358459
+v -0.04683493 0.03179571 0.15350666
+v -0.04980451 0.03026233 0.15252503
+v -0.05137613 0.02470852 0.14857536
+v -0.05190362 0.02470852 0.14150010
+v -0.05194487 0.02470852 0.13733487
+v -0.05150855 -0.02899078 0.13733487
+v -0.05106354 -0.03188300 0.13734813
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+v -0.05016486 -0.03188300 0.15023848
+v -0.03888784 -0.03188300 0.15361278
+v -0.03888784 0.03179571 0.15366418
+v -0.04738630 0.03179571 0.15329276
+v -0.04966775 0.03179571 0.15227300
+v -0.05029944 0.03179571 0.14903135
+v -0.05089639 0.03179571 0.14150010
+v -0.05094198 0.03179571 0.13733487
+v -0.05106354 -0.03188300 0.13733487
+v -0.03178733 -0.03188300 0.15222823
+v -0.03177214 -0.03186430 0.15222823
+v -0.03179602 0.03178324 0.15224980
+v -0.03181121 0.03179571 0.15225145
+v -0.03179602 0.03179571 0.13733487
+v -0.03177214 -0.03188300 0.13733487
+v -0.03177214 -0.03188300 0.15217518
+v -0.03177214 -0.00006234 0.15223321
+v -0.03179602 0.03179571 0.15218347
+v -0.03177214 -0.00006234 0.13733487
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_170.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_170.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45e79a62f527b0d1bb5410807350735b2271e2c2
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_170.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.05695686 -0.02346550 0.04852270
+v 0.05687868 -0.03190948 0.04852270
+v 0.05645431 -0.02483467 0.04564882
+v 0.05645431 -0.02350844 0.04564882
+v 0.05645431 -0.02346550 0.04565332
+v -0.05713325 -0.02346550 0.04852270
+v 0.05682285 -0.03543496 0.04852270
+v 0.05638730 -0.03190948 0.04564882
+v 0.05154048 -0.02346550 0.04564882
+v -0.05663070 -0.02346550 0.04564882
+v -0.05663070 -0.02435283 0.04564882
+v -0.05708858 -0.03190948 0.04852270
+v 0.05675584 -0.03898191 0.04852270
+v 0.05648781 -0.03898191 0.04692976
+v 0.05629796 -0.03697587 0.04564882
+v -0.05658603 -0.03190948 0.04564882
+v -0.05707741 -0.03296379 0.04852270
+v -0.05658603 -0.03583331 0.04588345
+v 0.05664416 -0.04146501 0.04852270
+v 0.05625329 -0.03898191 0.04564882
+v -0.05653019 -0.03605753 0.04564882
+v -0.05697690 -0.03810889 0.04852270
+v -0.05640734 -0.04014355 0.04564882
+v -0.05650785 -0.04055144 0.04629027
+v -0.05695457 -0.03885787 0.04852270
+v 0.05630913 -0.04605911 0.04852270
+v 0.05598526 -0.04312996 0.04564882
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+v 0.05470096 -0.04783140 0.04564882
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+f 30 33 34
+f 31 35 36
+f 31 36 37
+f 31 37 32
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+f 33 35 34
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_173.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_173.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e951b3b741835a1349f7597e3824b69085a195d
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_173.obj
@@ -0,0 +1,258 @@
+# https://github.com/mikedh/trimesh
+v -0.06169963 -0.06016770 -0.12293624
+v -0.05891459 -0.06327613 -0.12293624
+v -0.06252529 -0.06016770 -0.12185595
+v 0.06143366 -0.06016770 -0.12293624
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+v -0.06290731 -0.06016770 -0.12037174
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+v -0.05805197 -0.06455059 -0.11329600
+v -0.05575986 -0.06467258 -0.12293624
+v -0.05303643 -0.06555995 -0.12037174
+v -0.05303643 -0.06554118 -0.11329600
+v -0.06158872 -0.06169904 -0.11329600
+v -0.06282104 -0.06016770 -0.11329600
+v 0.06296174 -0.06016770 -0.11725601
+v 0.06168013 -0.06170139 -0.11329600
+v 0.05814337 -0.06455587 -0.11329600
+v 0.05818034 -0.06456994 -0.12037174
+v 0.05768742 -0.06430954 -0.12293624
+v -0.05723864 -0.06411893 -0.10675407
+v -0.05303643 -0.06493064 -0.12293624
+v -0.05001725 -0.06505380 -0.12293624
+v -0.04596292 -0.06584792 -0.12037174
+v -0.04596292 -0.06584792 -0.11329600
+v -0.05303643 -0.06476290 -0.10675407
+v -0.04596292 -0.06515526 -0.10675407
+v -0.04649282 -0.06513180 -0.10675407
+v -0.06077539 -0.06088205 -0.10675407
+v -0.06140387 -0.06016770 -0.10675407
+v 0.06291245 -0.06016770 -0.11329600
+v 0.06250579 -0.06016770 -0.11084238
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+v 0.05758883 -0.06390720 -0.10675407
+v 0.05731772 -0.06412362 -0.10675407
+v 0.05694802 -0.06419928 -0.10675407
+v 0.05311551 -0.06555232 -0.11329600
+v 0.05311551 -0.06556464 -0.12037174
+v 0.05311551 -0.06493181 -0.12293624
+v -0.04596292 -0.06517696 -0.12293624
+v -0.03887709 -0.06599102 -0.12037174
+v -0.03887709 -0.06599689 -0.11329600
+v -0.03941931 -0.06529896 -0.10675407
+v 0.06151993 -0.06016770 -0.10675407
+v 0.05311551 -0.06477404 -0.10675407
+v 0.04604201 -0.06516465 -0.10675407
+v 0.04604201 -0.06585672 -0.11329600
+v 0.04604201 -0.06585027 -0.12037174
+v 0.04604201 -0.06517638 -0.12293624
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+v -0.03887709 -0.06529251 -0.12293624
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+v -0.03180358 -0.06604909 -0.11329600
+v -0.03887709 -0.06531010 -0.10675407
+v -0.03180358 -0.06536875 -0.10675407
+v -0.03233347 -0.06536464 -0.10675407
+v 0.03895617 -0.06531597 -0.10675407
+v 0.03895617 -0.06600217 -0.11329600
+v 0.03895617 -0.06599044 -0.12037174
+v 0.03895617 -0.06529016 -0.12293624
+v -0.03180358 -0.06533298 -0.12293624
+v -0.02473007 -0.06606551 -0.12037174
+v -0.00349721 -0.06615876 -0.11329600
+v -0.01764423 -0.06610421 -0.11329600
+v -0.02473007 -0.06607665 -0.11329600
+v -0.02473007 -0.06539632 -0.10675407
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+v 0.03188266 -0.06603911 -0.12037174
+v 0.03188266 -0.06533063 -0.12293624
+v -0.02850096 -0.06534470 -0.12293624
+v -0.00349721 -0.06614292 -0.12037174
+v -0.00349721 -0.06547842 -0.10675407
+v 0.00357630 -0.06615935 -0.11329600
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+v 0.01772332 -0.06609131 -0.12037174
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+v -0.00723114 -0.06540687 -0.12293624
+v -0.00349721 -0.06541508 -0.12293624
+v 0.00357630 -0.06547842 -0.10675407
+v 0.01011991 -0.06545438 -0.10675407
+v 0.00357630 -0.06541508 -0.12293624
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+f 75 87 80
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+f 77 80 79
+f 77 78 86
+f 77 86 85
+f 80 87 81
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_174.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_174.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a77d3b3490fb42fa1906363f6fa409a19fd62ed0
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_174.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.03696357 -0.03551204 -0.12492626
+v -0.03696357 -0.03551204 -0.12173705
+v -0.03696357 -0.02657938 -0.12492626
+v 0.01601345 -0.03552122 -0.12492658
+v 0.01601345 -0.03552122 -0.12173705
+v -0.03696357 0.05826703 -0.12173705
+v -0.03696357 0.05826703 -0.12492564
+v 0.01601345 0.05826703 -0.12492658
+v 0.03081888 -0.03552122 -0.12492658
+v 0.03081888 -0.03552122 -0.12173705
+v 0.03081888 0.05826703 -0.12173705
+v 0.03081888 0.05826703 -0.12492658
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 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 10
+f 4 10 5
+f 4 8 12
+f 4 12 9
+f 6 11 12
+f 6 12 8
+f 6 8 7
+f 9 12 11
+f 9 11 10
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_177.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_177.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e238f3cb7799790441bed84e02fdbb303d35085
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_177.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.05619771 0.06440637 0.10880678
+v -0.05619771 0.06447264 0.10610964
+v -0.05757232 0.06416966 0.10880678
+v -0.05619771 -0.03225388 0.10880678
+v -0.05619771 0.06420754 0.10345759
+v -0.05737915 0.06406552 0.10338864
+v -0.05765380 0.06421700 0.10610964
+v -0.05923622 0.06275892 0.10880678
+v -0.06087403 -0.03225388 0.10880678
+v -0.05619771 -0.03225388 0.10338864
+v -0.05619771 0.06419807 0.10338864
+v -0.06087403 0.06095050 0.10338864
+v -0.06087403 0.06148071 0.10610964
+v -0.06087403 0.06146177 0.10654882
+v -0.06087403 0.06094103 0.10880678
+v -0.06087403 -0.03225388 0.10338864
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 9
+f 1 9 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 2 7 3
+f 3 7 8
+f 4 9 16
+f 4 16 10
+f 5 11 6
+f 6 11 10
+f 6 10 16
+f 6 16 12
+f 6 12 13
+f 6 13 7
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 9 15 14
+f 9 14 13
+f 9 13 12
+f 9 12 16
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_178.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_178.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7125575db884505c69e3b566c2b3efda5b1760c4
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_178.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v -0.02329050 -0.04987229 0.06010736
+v 0.05779497 -0.04987229 0.06010736
+v -0.02329050 -0.04987229 0.06363266
+v -0.02329050 0.05865470 0.06010736
+v 0.05859884 -0.04605514 0.06010736
+v 0.05926467 -0.04605514 0.06363266
+v 0.05841208 -0.04987229 0.06363266
+v -0.02329050 0.05927486 0.06363266
+v -0.02118745 0.05866540 0.06010736
+v 0.05871252 -0.04251598 0.06010736
+v 0.05880184 -0.03897682 0.06010736
+v 0.05942707 -0.03897682 0.06363266
+v -0.00347791 0.05936040 0.06363266
+v -0.00703443 0.05871886 0.06010736
+v 0.05885056 -0.03544836 0.06010736
+v 0.05952451 -0.03189851 0.06363266
+v 0.00359454 0.05934970 0.06363266
+v 0.00359454 0.05872955 0.06010736
+v -0.00347791 0.05872955 0.06010736
+v 0.05889928 -0.03190920 0.06010736
+v 0.05958947 -0.02482020 0.06363266
+v 0.03187620 0.05924278 0.06363266
+v 0.00714294 0.05871886 0.06010736
+v 0.05896424 -0.02483089 0.06010736
+v 0.05900484 -0.01776327 0.06010736
+v 0.05963007 -0.01774189 0.06363266
+v 0.03894865 0.05913585 0.06363266
+v 0.03187620 0.05862262 0.06010736
+v 0.05903732 -0.00360665 0.06010736
+v 0.05966255 -0.00358526 0.06363266
+v 0.04257013 0.05902893 0.06363266
+v 0.03894865 0.05850501 0.06010736
+v 0.05903732 0.00348236 0.06010736
+v 0.05965443 0.00348236 0.06363266
+v 0.04603733 0.05892201 0.06363266
+v 0.04603733 0.05824839 0.06010736
+v 0.05902108 0.01053929 0.06010736
+v 0.05964631 0.01053929 0.06363266
+v 0.05195675 0.05767101 0.06363266
+v 0.05117724 0.05732886 0.06010736
+v 0.04822159 0.05793832 0.06010736
+v 0.05899672 0.01762829 0.06010736
+v 0.05962195 0.01762829 0.06363266
+v 0.05423033 0.05627032 0.06363266
+v 0.05295550 0.05621685 0.06010736
+v 0.05895612 0.02470660 0.06010736
+v 0.05958135 0.02470660 0.06363266
+v 0.05549703 0.05546839 0.06363266
+v 0.05423033 0.05584262 0.06187243
+v 0.05423033 0.05514762 0.06010736
+v 0.05889928 0.03176353 0.06010736
+v 0.05952451 0.03178491 0.06363266
+v 0.05790053 0.05192924 0.06363266
+v 0.05634150 0.05296639 0.06010736
+v 0.05471752 0.05473062 0.06010736
+v 0.05879372 0.03885253 0.06010736
+v 0.05941895 0.03885253 0.06363266
+v 0.05924844 0.04593085 0.06363266
+v 0.05822533 0.04818693 0.06010736
+v 0.05754325 0.05119146 0.06010736
+v 0.05858260 0.04593085 0.06010736
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 19
+f 1 19 18
+f 1 18 23
+f 1 23 28
+f 1 28 32
+f 1 32 36
+f 1 36 41
+f 1 41 40
+f 1 40 45
+f 1 45 50
+f 1 50 55
+f 1 55 54
+f 1 54 60
+f 1 60 59
+f 1 59 61
+f 1 61 56
+f 1 56 51
+f 1 51 46
+f 1 46 42
+f 1 42 37
+f 1 37 33
+f 1 33 29
+f 1 29 25
+f 1 25 24
+f 1 24 20
+f 1 20 15
+f 1 15 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 6
+f 3 6 12
+f 3 12 16
+f 3 16 21
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+f 3 22 17
+f 3 17 13
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+f 4 8 9
+f 5 10 6
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+f 8 13 9
+f 9 13 14
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+f 13 17 18
+f 13 18 19
+f 13 19 14
+f 16 20 24
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+f 21 25 26
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+f 25 29 30
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+f 32 35 36
+f 33 37 38
+f 33 38 34
+f 35 39 40
+f 35 40 41
+f 35 41 36
+f 37 42 43
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+f 40 44 45
+f 42 46 47
+f 42 47 43
+f 44 48 49
+f 44 49 45
+f 45 49 50
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+f 48 50 49
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+f 48 54 55
+f 48 55 50
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+f 53 59 60
+f 53 60 54
+f 56 61 58
+f 56 58 57
+f 58 61 59
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_184.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_184.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80fbcaee04129c9bba15ce9718027b0a3d59f0d7
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_184.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.03966695 0.02868734 0.04212861
+v 0.03966695 0.02675912 0.04212861
+v 0.03966695 0.02868734 0.03857490
+v -0.05598384 0.02868734 0.04212861
+v -0.05600259 0.02675912 0.04212861
+v 0.03965758 -0.03567491 0.04212826
+v 0.03966695 0.02675912 0.03857490
+v -0.05540266 0.02868734 0.03857490
+v -0.05551515 0.02868734 0.03922128
+v -0.05601196 0.02471117 0.04212826
+v -0.05609633 0.00346923 0.04212826
+v -0.05609633 -0.00359461 0.04212826
+v -0.05601196 -0.02482394 0.04212826
+v -0.05596510 -0.03200121 0.04212826
+v -0.05589010 -0.03567491 0.04212826
+v -0.05567450 0.02675912 0.04011780
+v 0.03965758 -0.03567491 0.03857525
+v -0.05542141 0.02675912 0.03857490
+v -0.05541204 0.02802570 0.03857490
+v -0.05543078 0.02471117 0.03857525
+v -0.05551515 0.00346923 0.03857525
+v -0.05551515 -0.00359461 0.03857525
+v -0.05543078 -0.02482394 0.03857525
+v -0.05538392 -0.03189409 0.03857525
+v -0.05528081 -0.03567491 0.03857525
+f 1 2 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 15
+f 2 15 6
+f 2 6 17
+f 2 17 7
+f 3 7 18
+f 3 18 19
+f 3 19 8
+f 4 9 5
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 9 16
+f 5 16 10
+f 6 15 25
+f 6 25 17
+f 7 17 25
+f 7 25 18
+f 8 19 9
+f 9 19 18
+f 9 18 16
+f 10 16 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 14
+f 14 23 24
+f 14 24 15
+f 15 24 25
+f 16 18 20
+f 18 25 24
+f 18 24 23
+f 18 23 22
+f 18 22 21
+f 18 21 20
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_185.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_185.obj
new file mode 100644
index 0000000000000000000000000000000000000000..294f4a2dbaf4b0efa171b72d5d8c9a091894d7e3
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_185.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.04855057 -0.02346065 0.03532262
+v -0.01266394 -0.02346065 0.03532262
+v -0.04855057 -0.02346065 0.03857420
+v -0.04855057 0.05069315 0.03532262
+v -0.01266394 -0.02346065 0.03857420
+v -0.01266394 0.05242927 0.03532262
+v -0.04855057 0.05259828 0.03857420
+v -0.04855057 0.05199909 0.03532867
+v -0.04596164 0.05319747 0.03532262
+v -0.01266394 0.05501809 0.03857420
+v -0.01765561 0.05447267 0.03532262
+v -0.01266394 0.05449571 0.03532612
+v -0.04596164 0.05386580 0.03857420
+v -0.04596164 0.05320515 0.03533439
+v -0.03888338 0.05423453 0.03532262
+v -0.02473387 0.05444962 0.03532262
+v -0.02473387 0.05497200 0.03857420
+v -0.04212568 0.05442658 0.03857420
+v -0.03888338 0.05424221 0.03533439
+v -0.03180511 0.05438817 0.03532262
+v -0.02810615 0.05494895 0.03857420
+v -0.03180511 0.05439585 0.03533439
+v -0.03888338 0.05476459 0.03857420
+v -0.03518090 0.05484909 0.03857420
+v -0.03180511 0.05491822 0.03857420
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 20
+f 1 20 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 10
+f 2 10 5
+f 3 5 10
+f 3 10 17
+f 3 17 21
+f 3 21 25
+f 3 25 24
+f 3 24 23
+f 3 23 18
+f 3 18 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 8
+f 8 13 14
+f 8 14 9
+f 9 14 19
+f 9 19 15
+f 10 12 16
+f 10 16 17
+f 11 16 12
+f 13 18 19
+f 13 19 14
+f 15 19 22
+f 15 22 20
+f 16 21 17
+f 16 20 22
+f 16 22 21
+f 18 23 19
+f 19 23 24
+f 19 24 22
+f 21 22 25
+f 22 24 25
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_187.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_187.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c11023162165275d8eb4546b84aaf98b2b34ea8
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_187.obj
@@ -0,0 +1,255 @@
+# https://github.com/mikedh/trimesh
+v 0.05074276 -0.06000095 0.07314907
+v 0.05074276 -0.05971996 0.07204297
+v 0.05349976 -0.05935701 0.07314907
+v 0.05074276 0.05958496 0.07314907
+v 0.05074276 -0.05953263 0.07132098
+v 0.05371641 -0.05861940 0.07048175
+v 0.05728375 -0.05729640 0.07218319
+v 0.05742541 -0.05744860 0.07314907
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+v 0.06135000 -0.01774664 0.07314907
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+v 0.06136042 -0.01446839 0.07314907
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+v 0.06066466 0.03886173 0.07048175
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+v 0.06136458 -0.01309855 0.07314907
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+v 0.06085943 0.01763506 0.07048175
+v 0.06136042 0.01382994 0.07314907
+v 0.06134792 0.01763506 0.07314907
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+f 83 86 84
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_188.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_188.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97a7142f48ab7a0701972fda094bd8f0b8b83ea9
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_188.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.06465128 -0.03786762 -0.10105599
+v 0.06460547 -0.03786762 -0.10066313
+v 0.06447949 -0.03850452 -0.09962159
+v 0.06463982 -0.03898647 -0.10105599
+v -0.05234547 -0.03786762 -0.10105599
+v 0.06447949 -0.03786762 -0.09962159
+v 0.06446804 -0.03898647 -0.09962159
+v 0.06427335 -0.04610795 -0.09962159
+v 0.06444514 -0.04609744 -0.10105599
+v -0.05234547 -0.05122286 -0.10105599
+v -0.05234547 -0.03786762 -0.09962159
+v 0.06409011 -0.04903901 -0.09962159
+v 0.06430771 -0.04839160 -0.10105599
+v -0.05234547 -0.05128196 -0.09977281
+v -0.05233402 -0.05128196 -0.10105599
+v -0.05234547 -0.05128196 -0.09962159
+v 0.06404431 -0.05128196 -0.10043062
+v 0.06412447 -0.05128196 -0.10105599
+v 0.06390688 -0.05128196 -0.09962159
+v 0.06403285 -0.05128196 -0.10035648
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 13
+f 1 13 18
+f 1 18 15
+f 1 15 10
+f 1 10 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 11
+f 3 11 16
+f 3 16 19
+f 3 19 12
+f 3 12 8
+f 3 8 7
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 5 10 14
+f 5 14 16
+f 5 16 11
+f 8 12 13
+f 8 13 9
+f 10 15 14
+f 12 17 18
+f 12 18 13
+f 12 19 20
+f 12 20 17
+f 14 15 18
+f 14 18 17
+f 14 17 20
+f 14 20 19
+f 14 19 16
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_189.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_189.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc10bb092105e32668f5bb044e8335c13d2d9a63
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_189.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01850941 -0.02210102 -0.00470521
+v 0.03812259 -0.02386522 -0.00470521
+v 0.01850941 -0.02210102 -0.00251501
+v 0.01850941 0.03621164 -0.00470521
+v 0.03812259 -0.02386522 -0.00251501
+v 0.04752726 -0.02386522 -0.00470521
+v 0.01850941 0.03621164 -0.00251501
+v 0.04752726 0.03621164 -0.00470521
+v 0.04752726 -0.02386522 -0.00251501
+v 0.04752726 0.03621164 -0.00251501
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 10
+f 3 10 7
+f 4 7 10
+f 4 10 8
+f 6 8 10
+f 6 10 9
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_19.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b522c649bb0d412bd328fd122d3ed2b891a89183
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.05663933 -0.05339966 -0.07082571
+v 0.05594091 -0.05339966 -0.06806928
+v 0.05522030 -0.05533936 -0.07082571
+v -0.05661722 -0.05339966 -0.07082571
+v 0.05544203 -0.05339966 -0.06686384
+v 0.05407843 -0.05482410 -0.06686384
+v 0.05402299 -0.05487585 -0.06686384
+v 0.05190553 -0.05658783 -0.06686384
+v 0.05083017 -0.05730494 -0.06686384
+v 0.05168381 -0.05769253 -0.07082571
+v -0.05514275 -0.05538076 -0.07082571
+v -0.05509840 -0.05339966 -0.06686384
+v 0.04911181 -0.05765285 -0.06686384
+v 0.04604094 -0.05883347 -0.07082571
+v -0.05159517 -0.05768621 -0.07082571
+v -0.05075262 -0.05730091 -0.06686384
+v -0.05395653 -0.05492704 -0.06686384
+v 0.04624048 -0.05807610 -0.06686384
+v 0.03895686 -0.05836651 -0.06686384
+v 0.03895686 -0.05905832 -0.07082571
+v -0.04596338 -0.05882196 -0.07082571
+v -0.04615184 -0.05806690 -0.06686384
+v 0.03188387 -0.05848268 -0.06686384
+v 0.03188387 -0.05916873 -0.07082571
+v -0.03887930 -0.05904969 -0.07082571
+v -0.04199452 -0.05825783 -0.06686384
+v -0.04608533 -0.05807035 -0.06686384
+v 0.02481087 -0.05851085 -0.06686384
+v 0.02481087 -0.05919518 -0.07082571
+v -0.03180631 -0.05916298 -0.07082571
+v -0.03491045 -0.05842804 -0.06686384
+v -0.03887930 -0.05835789 -0.06686384
+v 0.01772680 -0.05853731 -0.06686384
+v 0.00753859 -0.05857526 -0.06686384
+v 0.00356973 -0.05927397 -0.07082571
+v -0.01764924 -0.05921819 -0.07082571
+v -0.02076446 -0.05852236 -0.06686384
+v -0.02783746 -0.05849475 -0.06686384
+v -0.03180631 -0.05847750 -0.06686384
+v 0.00356973 -0.05858964 -0.06686384
+v 0.00046560 -0.05858964 -0.06686384
+v -0.00349218 -0.05858906 -0.06686384
+v -0.00349218 -0.05927282 -0.07082571
+v -0.01056517 -0.05924579 -0.07082571
+v -0.01764924 -0.05853443 -0.06686384
+f 1 2 3
+f 1 3 10
+f 1 10 14
+f 1 14 20
+f 1 20 24
+f 1 24 29
+f 1 29 35
+f 1 35 43
+f 1 43 44
+f 1 44 36
+f 1 36 30
+f 1 30 25
+f 1 25 21
+f 1 21 15
+f 1 15 11
+f 1 11 4
+f 1 4 12
+f 1 12 5
+f 1 5 2
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+f 5 13 9
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+f 11 17 12
+f 13 18 14
+f 14 18 19
+f 14 19 20
+f 15 21 16
+f 16 21 22
+f 19 23 20
+f 20 23 24
+f 21 25 26
+f 21 26 27
+f 21 27 22
+f 23 28 24
+f 24 28 29
+f 25 30 31
+f 25 31 32
+f 25 32 26
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+f 29 33 34
+f 29 34 35
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 30 39 31
+f 34 40 35
+f 35 40 41
+f 35 41 42
+f 35 42 43
+f 36 44 37
+f 37 44 45
+f 42 45 44
+f 42 44 43
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_191.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_191.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93da7cb23b170d79e81548e290fc87cbe2564500
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_191.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.03323921 -0.04721832 0.08826907
+v -0.03323921 -0.04721832 0.09133095
+v -0.03323921 0.06375093 0.08826907
+v -0.03046605 -0.04721832 0.08826907
+v -0.01851210 -0.04721832 0.09133095
+v -0.03323921 0.06410003 0.09133095
+v -0.03323921 0.06379457 0.08858410
+v -0.03258670 0.06376184 0.08826907
+v -0.03046605 0.06377275 0.08826907
+v 0.03342101 -0.04721832 0.08826937
+v 0.03342101 -0.04721832 0.09133035
+v -0.01851210 0.06416549 0.09133095
+v -0.03046605 0.06412185 0.09133095
+v -0.01763121 0.06417640 0.09133035
+v -0.01851210 0.06387094 0.08871059
+v -0.01851210 0.06381639 0.08826937
+v -0.01171949 0.06383821 0.08826937
+v -0.00475723 0.06386003 0.08826937
+v 0.00401900 0.06386003 0.08826937
+v 0.02032517 0.06381639 0.08826937
+v 0.02955163 0.06378366 0.08826937
+v 0.03342101 0.06375093 0.08826937
+v 0.03342101 0.06410003 0.09133035
+v 0.03188109 0.06411094 0.09133035
+v 0.02589107 0.06414367 0.09133035
+v 0.01826325 0.06417640 0.09133035
+v 0.00401900 0.06422003 0.09133035
+v -0.00348484 0.06423094 0.09133035
+v 0.00401900 0.06419822 0.09110195
+v 0.02032517 0.06402367 0.09006513
+v 0.02955163 0.06389276 0.08922225
+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 10
+f 1 10 11
+f 1 11 5
+f 1 5 2
+f 2 5 12
+f 2 12 13
+f 2 13 6
+f 3 7 8
+f 4 9 22
+f 4 22 10
+f 5 11 23
+f 5 23 12
+f 6 13 7
+f 7 9 8
+f 7 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 10 22 23
+f 10 23 11
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 13
+f 13 28 14
+f 14 28 15
+f 15 28 18
+f 15 18 17
+f 15 17 16
+f 18 28 19
+f 19 28 29
+f 19 29 20
+f 20 29 30
+f 20 30 21
+f 21 30 26
+f 21 26 31
+f 21 31 22
+f 22 31 23
+f 23 31 24
+f 24 31 25
+f 25 31 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_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_195.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_195.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4091cd63879e694e8167b057918d340da77b5fad
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_195.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v -0.00349514 0.06061079 0.07048175
+v -0.00349514 0.05967251 0.06534562
+v -0.00519190 0.05966632 0.06534562
+v -0.01056497 0.05964607 0.06534562
+v -0.01935420 0.05961289 0.06534562
+v -0.01032743 0.06058491 0.07048175
+v 0.00357470 0.06061022 0.07048175
+v 0.00357470 0.05967251 0.06534562
+v -0.02642404 0.05958588 0.06534562
+v -0.02448973 0.06053091 0.07048175
+v 0.00381225 0.06060966 0.07048175
+v 0.00894778 0.05965226 0.06534562
+v -0.03155957 0.06050391 0.07048175
+v -0.03179711 0.05956507 0.06534562
+v 0.01772569 0.05961907 0.06534562
+v 0.01804242 0.06055566 0.07048175
+v -0.03179711 0.06050278 0.07048175
+v -0.03350518 0.05954145 0.06534562
+v 0.03188799 0.05956507 0.06534562
+v 0.02512357 0.06052866 0.07048175
+v -0.03856153 0.06040884 0.07048175
+v -0.03887826 0.05945819 0.06534562
+v -0.03887826 0.06040434 0.07048175
+v 0.03188799 0.06050278 0.07048175
+v 0.03895783 0.06040434 0.07048175
+v 0.03895783 0.05945819 0.06534562
+v -0.04058634 0.05941094 0.06534562
+v -0.04564268 0.06021815 0.07048175
+v 0.04603898 0.06021084 0.07048175
+v 0.04603898 0.05925063 0.06534562
+v -0.04572186 0.06021590 0.07048175
+v -0.04595941 0.05925063 0.06534562
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+v -0.04595941 0.06020859 0.07048175
+v -0.05238448 0.05786459 0.06534562
+v 0.05367441 0.05841361 0.07048175
+v 0.05240749 0.05785953 0.06534562
+v -0.05361746 0.05844173 0.07048175
+v -0.05589112 0.05595598 0.06534562
+v -0.05641146 0.05641724 0.06748634
+v -0.05690917 0.05689988 0.07048175
+v -0.05414912 0.05819478 0.07048175
+v 0.05409294 0.05821560 0.07048175
+v 0.05390064 0.05711589 0.06534562
+v -0.05642277 0.05486414 0.06534562
+v -0.05761050 0.05486414 0.06900315
+v -0.05798380 0.05486414 0.07048175
+v 0.05750909 0.05486414 0.07048175
+v 0.05644578 0.05636268 0.06757885
+v 0.05591413 0.05586373 0.06534562
+v 0.05658152 0.05486414 0.06534562
+v 0.05757695 0.05486414 0.06903432
+v 0.05693219 0.05486414 0.06624454
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 13
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+f 1 17 21
+f 1 21 23
+f 1 23 28
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+f 1 35 39
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+f 11 16 15
+f 13 14 17
+f 14 18 17
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+f 18 22 23
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+f 22 27 28
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+f 26 29 30
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+f 29 33 30
+f 30 33 34
+f 31 32 35
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+f 35 36 39
+f 36 40 41
+f 36 41 42
+f 36 42 43
+f 36 43 39
+f 37 44 38
+f 38 44 45
+f 40 46 41
+f 41 46 47
+f 41 47 48
+f 41 48 42
+f 44 49 50
+f 44 50 45
+f 45 50 51
+f 46 52 54
+f 46 54 53
+f 46 53 49
+f 46 49 48
+f 46 48 47
+f 49 53 50
+f 50 53 54
+f 50 54 51
+f 51 54 52
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_20.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92a887b72a7358ff0f648145454b1122dd340d89
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.05197738 -0.03215662 0.01408956
+v 0.05182474 -0.03898640 0.01408956
+v 0.05157033 -0.03898640 0.01071097
+v 0.05164156 -0.03568640 0.01071097
+v 0.05171280 -0.03215662 0.01071097
+v -0.05198619 -0.03215662 0.01408956
+v 0.05065443 -0.04461127 0.01408956
+v 0.05052214 -0.04434286 0.01071097
+v -0.05174196 -0.03215662 0.01071097
+v -0.05166054 -0.03541993 0.01071097
+v -0.05181319 -0.03899412 0.01408956
+v 0.04799835 -0.04814877 0.01408956
+v 0.04771341 -0.04788230 0.01071097
+v -0.05156895 -0.03899026 0.01071097
+v -0.05060218 -0.04466533 0.01408956
+v -0.05111101 -0.04144450 0.01071097
+v -0.05049024 -0.04437569 0.01071097
+v 0.04445692 -0.05051612 0.01408956
+v 0.04417197 -0.05039640 0.01071097
+v -0.05048006 -0.04440272 0.01071097
+v -0.04910623 -0.04623520 0.01071097
+v -0.04793593 -0.04820863 0.01408956
+v 0.03896158 -0.05154145 0.01408956
+v 0.03896158 -0.05130394 0.01071097
+v -0.04765098 -0.04794409 0.01071097
+v -0.04439449 -0.05051225 0.01408956
+v -0.04595150 -0.04919148 0.01071097
+v -0.04412990 -0.05038288 0.01071097
+v 0.03188889 -0.05171910 0.01408956
+v 0.03558297 -0.05139084 0.01071097
+v -0.04410954 -0.05039447 0.01071097
+v -0.04126012 -0.05092355 0.01071097
+v -0.03887880 -0.05153566 0.01408956
+v 0.02480601 -0.05180020 0.01408956
+v 0.02480601 -0.05156655 0.01071097
+v 0.02850010 -0.05152407 0.01071097
+v 0.03188889 -0.05148352 0.01071097
+v -0.03887880 -0.05129815 0.01071097
+v -0.03180610 -0.05171717 0.01408956
+v -0.03180610 -0.05148159 0.01071097
+v 0.01773331 -0.05182723 0.01408956
+v 0.02142740 -0.05158007 0.01071097
+v -0.02472323 -0.05156655 0.01071097
+v -0.02472323 -0.05180020 0.01408956
+v 0.00357774 -0.05188130 0.01408956
+v 0.00727183 -0.05163413 0.01071097
+v -0.01765053 -0.05159359 0.01071097
+v -0.01765053 -0.05182723 0.01408956
+v 0.00357774 -0.05164765 0.01071097
+v -0.00349496 -0.05187937 0.01408956
+v -0.00349496 -0.05164765 0.01071097
+v -0.01056766 -0.05185426 0.01408956
+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 15
+f 1 15 22
+f 1 22 26
+f 1 26 33
+f 1 33 39
+f 1 39 44
+f 1 44 48
+f 1 48 52
+f 1 52 50
+f 1 50 45
+f 1 45 41
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+f 1 34 29
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+f 1 23 18
+f 1 18 12
+f 1 12 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 13
+f 3 13 19
+f 3 19 24
+f 3 24 30
+f 3 30 37
+f 3 37 36
+f 3 36 35
+f 3 35 42
+f 3 42 46
+f 3 46 49
+f 3 49 51
+f 3 51 47
+f 3 47 43
+f 3 43 40
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+f 3 38 32
+f 3 32 31
+f 3 31 28
+f 3 28 27
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+f 3 20 17
+f 3 17 16
+f 3 16 14
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+f 8 12 13
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+f 11 16 17
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+f 12 18 19
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+f 29 34 35
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+f 29 36 37
+f 29 37 30
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+f 33 40 39
+f 34 41 42
+f 34 42 35
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+f 39 43 44
+f 41 45 46
+f 41 46 42
+f 43 47 48
+f 43 48 44
+f 45 49 46
+f 45 50 51
+f 45 51 49
+f 47 51 48
+f 48 51 52
+f 50 52 51
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_202.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_202.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8d571319068dee2e3dd10b55dd63d78476daa36
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_202.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00016505 0.00420337 0.02336998
+v -0.00016505 -0.01673384 0.02336998
+v -0.00016505 0.00420337 0.02113553
+v -0.04992804 0.00420337 0.02336998
+v -0.00016505 -0.01673384 0.02113553
+v -0.04992804 -0.01673384 0.02336998
+v -0.04992804 0.00420337 0.02113553
+v -0.04992804 -0.01673384 0.02113553
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_203.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_203.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1604bf2e61c71c91cfea9e4281f11c4d3e5a2071
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_203.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.05274525 -0.02351929 0.13190605
+v 0.05229053 -0.02351929 0.13443839
+v 0.05264190 -0.02483322 0.13190605
+v -0.05283217 -0.02351929 0.13190605
+v 0.05213551 -0.02483113 0.13443839
+v -0.04831598 -0.02351929 0.13443839
+v 0.05173246 -0.03190918 0.13190605
+v -0.05244979 -0.02734810 0.13190605
+v -0.05232578 -0.02351929 0.13443492
+v 0.05105039 -0.03190918 0.13442029
+v 0.05104005 -0.03194266 0.13443839
+v -0.05217076 -0.02481230 0.13443839
+v 0.05069901 -0.03797668 0.13190605
+v -0.05134400 -0.03467094 0.13190605
+v -0.05217076 -0.02483113 0.13443839
+v 0.05001693 -0.03733018 0.13443839
+v 0.04916950 -0.04086188 0.13443839
+v 0.04916950 -0.04087025 0.13442029
+v 0.04925218 -0.04121756 0.13190605
+v -0.05067225 -0.03818172 0.13190605
+v -0.05109597 -0.03189035 0.13443839
+v 0.04915917 -0.04088280 0.13443839
+v 0.04914884 -0.04089954 0.13443839
+v 0.04683390 -0.04489363 0.13190605
+v -0.05030021 -0.03970487 0.13190605
+v -0.04914275 -0.04113178 0.13443839
+v -0.05000051 -0.03759380 0.13443839
+v 0.04623450 -0.04489363 0.13443839
+v -0.04697250 -0.04489363 0.13190605
+v -0.05013486 -0.04036602 0.13190605
+v -0.04913241 -0.04114852 0.13443839
+v -0.04600105 -0.04489363 0.13443839
+v -0.04616641 -0.04489363 0.13443541
+v -0.04756156 -0.04414043 0.13190605
+v -0.04790261 -0.04370315 0.13190605
+f 1 2 3
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+f 1 7 13
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+f 1 19 24
+f 1 24 29
+f 1 29 34
+f 1 34 35
+f 1 35 30
+f 1 30 25
+f 1 25 20
+f 1 20 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
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+f 11 16 13
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+f 14 20 21
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+f 17 22 18
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+f 24 32 33
+f 24 33 29
+f 25 30 26
+f 26 30 31
+f 29 33 31
+f 29 31 34
+f 30 35 31
+f 31 35 34
+f 31 33 32
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_206.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_206.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6660b980e1fbbb8adb317e032cd44d98232ce50a
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_206.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.03229147 0.04549028 -0.02129741
+v -0.03229147 0.04549028 -0.01780237
+v -0.03229147 0.04847240 -0.02129741
+v 0.04906141 0.04549028 -0.02129741
+v -0.03229147 0.04847240 -0.01780237
+v 0.04946382 0.04549028 -0.01780237
+v 0.04683201 0.04847240 -0.02129741
+v 0.04797488 0.04805001 -0.02129741
+v 0.04993063 0.04549028 -0.02129433
+v 0.04662275 0.04847240 -0.01780237
+v 0.04768514 0.04777270 -0.01780237
+v 0.04733906 0.04847240 -0.02129569
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 11
+f 2 11 10
+f 2 10 5
+f 3 5 10
+f 3 10 12
+f 3 12 7
+f 4 8 9
+f 6 9 8
+f 6 8 11
+f 7 12 8
+f 8 12 11
+f 10 11 12
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_207.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_207.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecde96b04a4fe806f2881393976438a4f86c47ab
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_207.obj
@@ -0,0 +1,240 @@
+# https://github.com/mikedh/trimesh
+v 0.00461172 -0.05642158 0.05070609
+v 0.04807878 -0.05642158 0.05070609
+v 0.04932701 -0.05643279 0.05192027
+v 0.00461172 -0.05642158 0.05660378
+v 0.00461172 0.05707897 0.05070609
+v 0.05161808 -0.05411211 0.05070609
+v 0.05161808 -0.05450449 0.05128114
+v 0.04996429 -0.05643279 0.05254266
+v 0.04932701 -0.05643279 0.05660378
+v 0.00461172 0.05709018 0.05660378
+v 0.00461172 0.05809918 0.05656626
+v 0.02482050 0.05700049 0.05070609
+v 0.05237123 -0.05361882 0.05070609
+v 0.05301378 -0.05303585 0.05070609
+v 0.05404081 -0.05414574 0.05660378
+v 0.05135473 -0.05643279 0.05660378
+v 0.01062643 0.05807675 0.05660378
+v 0.00461172 0.05809918 0.05659859
+v 0.01066330 0.05807675 0.05660378
+v 0.02482050 0.05802070 0.05660378
+v 0.03188858 0.05798707 0.05656626
+v 0.03188858 0.05696686 0.05070609
+v 0.05367740 -0.05235197 0.05070609
+v 0.05677429 -0.04979586 0.05252015
+v 0.05721144 -0.05061426 0.05660378
+v 0.03188858 0.05798707 0.05660378
+v 0.03892504 0.05787495 0.05660378
+v 0.03255219 0.05695565 0.05070609
+v 0.05654255 -0.04830479 0.05070609
+v 0.05678482 -0.04604016 0.05070609
+v 0.05694810 -0.04604016 0.05147340
+v 0.05793299 -0.04604016 0.05660378
+v 0.04600365 0.05758347 0.05660378
+v 0.03896718 0.05683233 0.05070609
+v 0.05686909 -0.04485179 0.05070609
+v 0.05713243 -0.03923506 0.05070609
+v 0.05817000 -0.03901084 0.05660378
+v 0.04932701 0.05713502 0.05660378
+v 0.04932701 0.05666416 0.05321470
+v 0.04604051 0.05670900 0.05209464
+v 0.04604051 0.05641752 0.05070609
+v 0.05713770 -0.03897720 0.05070609
+v 0.05725357 -0.03189183 0.05070609
+v 0.05828060 -0.03189183 0.05660378
+v 0.05042778 0.05696686 0.05660378
+v 0.04932701 0.05658568 0.05282961
+v 0.04963248 0.05656326 0.05289947
+v 0.05161808 0.05429863 0.05137237
+v 0.05248183 0.05328964 0.05070609
+v 0.05732204 -0.02481766 0.05070609
+v 0.05834380 -0.02485130 0.05660378
+v 0.05394601 0.05398472 0.05660378
+v 0.05393548 0.05398472 0.05656626
+v 0.05294531 0.05287483 0.05070609
+v 0.05735890 -0.01773229 0.05070609
+v 0.05838067 -0.01773229 0.05660378
+v 0.05717983 0.05046446 0.05660378
+v 0.05675849 0.04963484 0.05259636
+v 0.05345093 0.05234791 0.05070609
+v 0.05738524 -0.01065812 0.05070609
+v 0.05840174 -0.01065812 0.05660378
+v 0.05719037 0.05044204 0.05660378
+v 0.05720090 0.05040840 0.05660378
+v 0.05791193 0.04592399 0.05660378
+v 0.05693230 0.04592399 0.05154095
+v 0.05675322 0.04592399 0.05070609
+v 0.05739577 -0.00357275 0.05070609
+v 0.05841754 -0.00357275 0.05660378
+v 0.05816473 0.03883861 0.05660378
+v 0.05713243 0.03883861 0.05070609
+v 0.05706397 0.04032968 0.05070609
+v 0.05739577 0.00346779 0.05070609
+v 0.05841227 0.00346779 0.05660378
+v 0.05827533 0.03173081 0.05660378
+v 0.05724830 0.03177566 0.05070609
+v 0.05737997 0.01054195 0.05070609
+v 0.05840174 0.01054195 0.05660378
+v 0.05833853 0.02469028 0.05660378
+v 0.05731677 0.02469028 0.05070609
+v 0.05735890 0.01762733 0.05070609
+v 0.05838067 0.01762733 0.05660378
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+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 18
+f 1 18 11
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+f 1 13 6
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+f 4 26 20
+f 4 20 19
+f 4 19 17
+f 4 17 10
+f 5 11 12
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
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+f 10 17 18
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+f 15 24 25
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+f 30 35 31
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+f 33 38 39
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+f 47 53 48
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+f 72 76 77
+f 72 77 73
+f 74 78 79
+f 74 79 75
+f 76 80 81
+f 76 81 77
+f 78 81 80
+f 78 80 79
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_210.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_210.obj
new file mode 100644
index 0000000000000000000000000000000000000000..017effb1bd11500894493b4820d155af4718f284
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_210.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.05633434 0.03441716 0.04564819
+v 0.05638340 0.03178920 0.04564819
+v 0.05580019 0.03178920 0.04212895
+v 0.05574568 0.03441716 0.04212895
+v 0.00085312 0.03441716 0.04564819
+v 0.05645426 0.02470999 0.04564819
+v 0.05587104 0.02470999 0.04212895
+v 0.00085312 0.03441716 0.04212895
+v 0.00085312 0.01156165 0.04564819
+v 0.05649786 0.01763077 0.04564819
+v 0.05590920 0.01763077 0.04212895
+v 0.00085312 0.01156165 0.04212895
+v 0.00126736 -0.00930791 0.04564819
+v 0.05651966 0.01160445 0.04564819
+v 0.05593645 0.01056011 0.04212895
+v 0.00126736 -0.00930791 0.04212895
+v 0.04991358 -0.00930791 0.04564819
+v 0.05653056 0.00348090 0.04564819
+v 0.05594735 0.00348090 0.04212895
+v 0.04991358 -0.00930791 0.04212895
+v 0.05652511 -0.00930363 0.04564819
+v 0.05653601 -0.00359404 0.04564819
+v 0.05595280 -0.00331155 0.04212895
+v 0.05594190 -0.00930363 0.04212895
+v 0.05595280 -0.00359404 0.04212895
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 13
+f 1 13 17
+f 1 17 21
+f 1 21 22
+f 1 22 18
+f 1 18 14
+f 1 14 10
+f 1 10 6
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+f 3 7 11
+f 3 11 15
+f 3 15 19
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+f 3 23 25
+f 3 25 24
+f 3 24 20
+f 3 20 16
+f 3 16 12
+f 3 12 8
+f 3 8 4
+f 5 8 12
+f 5 12 9
+f 6 10 7
+f 7 10 11
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+f 9 16 13
+f 10 14 15
+f 10 15 11
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+f 13 20 17
+f 14 18 19
+f 14 19 15
+f 17 20 21
+f 18 22 23
+f 18 23 19
+f 20 24 21
+f 21 24 25
+f 21 25 22
+f 22 25 23
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_212.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_212.obj
new file mode 100644
index 0000000000000000000000000000000000000000..728e2e7b3277a3f7c0978b464af499fab5266157
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_212.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.04808408 -0.03128722 0.09133126
+v 0.06426418 -0.03128722 0.09133126
+v 0.04808408 -0.03128722 0.09453345
+v 0.04808408 0.05698850 0.09133126
+v 0.06426744 -0.03091566 0.09133126
+v 0.06429025 -0.03128722 0.09156386
+v 0.06459332 -0.03128722 0.09453345
+v 0.04808408 0.05698850 0.09453345
+v 0.06132960 0.05698850 0.09133126
+v 0.06430981 -0.02482381 0.09133126
+v 0.06437824 -0.02482381 0.09195508
+v 0.06433261 -0.03128722 0.09195508
+v 0.06461939 -0.02769260 0.09453345
+v 0.06255981 0.05698850 0.09453345
+v 0.06359775 0.05525167 0.09453345
+v 0.06330934 0.05357533 0.09133126
+v 0.06435217 -0.01774689 0.09133126
+v 0.06442061 -0.01774689 0.09195508
+v 0.06462102 -0.02740745 0.09453345
+v 0.06382913 0.05330746 0.09453345
+v 0.06393830 0.05134597 0.09356292
+v 0.06342340 0.05342843 0.09150430
+v 0.06339081 0.05341979 0.09133126
+v 0.06438639 -0.01066997 0.09133126
+v 0.06445808 -0.01066997 0.09195508
+v 0.06471064 -0.01066997 0.09453345
+v 0.06400673 0.05175210 0.09453345
+v 0.06343970 0.05308280 0.09133126
+v 0.06409635 0.05038683 0.09453345
+v 0.06401488 0.04592811 0.09133126
+v 0.06440268 -0.00359305 0.09133126
+v 0.06447438 -0.00359305 0.09195508
+v 0.06473019 -0.00359305 0.09453345
+v 0.06435543 0.04584170 0.09453345
+v 0.06403769 0.04578121 0.09150430
+v 0.06402303 0.04564296 0.09133126
+v 0.06440268 0.00348387 0.09133126
+v 0.06447438 0.00348387 0.09195508
+v 0.06472857 0.00348387 0.09453345
+v 0.06451023 0.03885983 0.09453345
+v 0.06416153 0.03961159 0.09133126
+v 0.06440105 0.00443437 0.09133126
+v 0.06445808 0.01056079 0.09195508
+v 0.06471879 0.00798580 0.09453345
+v 0.06458680 0.03178291 0.09453345
+v 0.06432447 0.03178291 0.09195508
+v 0.06424137 0.03885983 0.09195508
+v 0.06417293 0.03885983 0.09133126
+v 0.06438639 0.01056079 0.09133126
+v 0.06438313 0.01152858 0.09133126
+v 0.06434565 0.01862278 0.09133126
+v 0.06441898 0.01762907 0.09195508
+v 0.06468783 0.01476892 0.09453345
+v 0.06470901 0.01056079 0.09453345
+v 0.06467153 0.01762907 0.09453345
+v 0.06437498 0.02470599 0.09195508
+v 0.06425604 0.03178291 0.09133126
+v 0.06424300 0.03290623 0.09133126
+v 0.06430818 0.02470599 0.09133126
+f 1 2 6
+f 1 6 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 23
+f 1 23 28
+f 1 28 30
+f 1 30 36
+f 1 36 41
+f 1 41 48
+f 1 48 58
+f 1 58 57
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+f 24 32 25
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+f 30 35 36
+f 31 37 38
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+f 32 38 33
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+f 34 40 41
+f 34 41 36
+f 34 36 35
+f 37 42 38
+f 38 42 43
+f 38 43 44
+f 38 44 39
+f 40 45 46
+f 40 46 47
+f 40 47 41
+f 41 47 48
+f 42 49 43
+f 43 49 50
+f 43 50 51
+f 43 51 52
+f 43 52 53
+f 43 53 54
+f 43 54 44
+f 45 55 52
+f 45 52 56
+f 45 56 46
+f 46 57 58
+f 46 58 47
+f 46 56 59
+f 46 59 57
+f 47 58 48
+f 51 59 52
+f 52 59 56
+f 52 55 53
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_216.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_216.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27c54eaf913cf06ebc1f9cde5058e364072e2f9a
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_216.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.00980498 -0.00019506 -0.10406809
+v 0.00980498 -0.06512750 -0.10406809
+v 0.00980498 -0.00019506 -0.10675407
+v -0.06158034 -0.00019506 -0.10406809
+v 0.00588493 -0.06514667 -0.10406809
+v 0.00980498 -0.06539590 -0.10621719
+v 0.00980498 -0.06545341 -0.10675407
+v -0.06158034 -0.00019506 -0.10675407
+v -0.06158034 -0.05932505 -0.10406809
+v 0.00357903 -0.06515306 -0.10406809
+v 0.00357903 -0.06542146 -0.10621719
+v 0.00357903 -0.06547897 -0.10675407
+v -0.06158034 -0.05997687 -0.10675407
+v -0.06158034 -0.05987462 -0.10621719
+v -0.06044136 -0.06054561 -0.10406809
+v -0.00349941 -0.06515306 -0.10406809
+v -0.00349941 -0.06542146 -0.10621719
+v -0.00349941 -0.06547258 -0.10675407
+v -0.06076978 -0.06087791 -0.10675407
+v -0.05689166 -0.06392611 -0.10406809
+v -0.03179919 -0.06504442 -0.10406809
+v -0.02473473 -0.06533838 -0.10621719
+v -0.02473473 -0.06539590 -0.10675407
+v -0.05722706 -0.06411782 -0.10675407
+v -0.05716418 -0.06407948 -0.10621719
+v -0.05302752 -0.06475686 -0.10675407
+v -0.05302752 -0.06469296 -0.10621719
+v -0.05302752 -0.06441178 -0.10406809
+v -0.03887763 -0.06498052 -0.10406809
+v -0.03887763 -0.06524892 -0.10621719
+v -0.03179919 -0.06530643 -0.10621719
+v -0.03233724 -0.06536394 -0.10675407
+v -0.04648712 -0.06512750 -0.10675407
+v -0.04595607 -0.06509555 -0.10621719
+v -0.05091027 -0.06453958 -0.10406809
+v -0.04364317 -0.06487828 -0.10406809
+v -0.03887763 -0.06530643 -0.10675407
+v -0.04595607 -0.06515306 -0.10675407
+v -0.04584426 -0.06482715 -0.10406809
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
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+f 1 15 20
+f 1 20 28
+f 1 28 35
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+f 1 39 36
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+f 1 29 21
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+f 10 17 11
+f 11 17 12
+f 12 17 18
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+f 14 19 15
+f 15 19 20
+f 16 21 17
+f 17 22 23
+f 17 23 18
+f 17 21 22
+f 19 24 25
+f 19 25 20
+f 20 25 26
+f 20 26 27
+f 20 27 28
+f 21 29 30
+f 21 30 31
+f 21 31 22
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+f 22 32 23
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+f 26 34 27
+f 27 35 28
+f 27 34 35
+f 29 36 30
+f 30 36 34
+f 30 34 38
+f 30 38 37
+f 30 37 32
+f 30 32 31
+f 33 38 34
+f 34 36 39
+f 34 39 35
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_217.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_217.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fa9c924ff57c06d18359fe9a28b2091e21088aa
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_217.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01807973 -0.01783110 0.03180274
+v 0.00098779 -0.01783110 0.03180274
+v -0.01807973 -0.01783110 0.03532227
+v -0.01807973 0.05113697 0.03180274
+v 0.00098779 -0.01783110 0.03532227
+v 0.00098779 0.05113697 0.03180274
+v -0.01807973 0.05113697 0.03532227
+v 0.00098779 0.05113697 0.03532227
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_218.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_218.obj
new file mode 100644
index 0000000000000000000000000000000000000000..597e4b08a465ab668b351f8eee9ee3780132b337
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_218.obj
@@ -0,0 +1,234 @@
+# https://github.com/mikedh/trimesh
+v 0.00356852 0.06417359 -0.09744922
+v -0.00349102 0.06417282 -0.09744922
+v -0.00349102 0.06377908 -0.09476464
+v 0.00356852 0.06377908 -0.09476300
+v 0.01772373 0.06375283 -0.09492001
+v 0.02480737 0.06373970 -0.09499879
+v 0.03187895 0.06372657 -0.09507758
+v 0.03187895 0.06407091 -0.09744922
+v -0.00627388 0.06416278 -0.09744922
+v -0.00349102 0.06329037 -0.09186067
+v 0.00356852 0.06329114 -0.09186067
+v -0.02472987 0.06373815 -0.09501083
+v -0.01764624 0.06323555 -0.09186067
+v 0.00482140 0.06328651 -0.09186067
+v 0.01065215 0.06326489 -0.09186067
+v 0.01772373 0.06323864 -0.09186067
+v 0.02559042 0.06320931 -0.09186067
+v 0.03187895 0.06318537 -0.09186067
+v 0.03249335 0.06317997 -0.09186067
+v 0.03896258 0.06369184 -0.09528547
+v 0.03896258 0.06400606 -0.09744922
+v -0.02054956 0.06410874 -0.09744922
+v -0.03180146 0.06372426 -0.09509344
+v -0.03180146 0.06317997 -0.09186067
+v -0.02472987 0.06320776 -0.09186067
+v 0.03896258 0.06311125 -0.09186067
+v 0.04304651 0.06365555 -0.09550266
+v 0.04466081 0.06388948 -0.09744922
+v -0.02768138 0.06408172 -0.09744922
+v -0.03180146 0.06406550 -0.09744922
+v -0.03888509 0.06399911 -0.09744922
+v -0.03888509 0.06368875 -0.09530680
+v -0.03868028 0.06310585 -0.09186067
+v 0.03908305 0.06310894 -0.09186067
+v 0.03974564 0.06309273 -0.09186067
+v 0.04566071 0.06309813 -0.09271140
+v 0.04776893 0.06358297 -0.09598027
+v 0.04661243 0.06383003 -0.09744922
+v -0.04074032 0.06396823 -0.09744922
+v -0.04286059 0.06365323 -0.09551962
+v -0.03888509 0.06310353 -0.09186067
+v 0.04569685 0.06293446 -0.09186067
+v 0.04934709 0.06367485 -0.09744922
+v 0.05286481 0.06216087 -0.09186067
+v 0.05291300 0.06215547 -0.09186067
+v 0.05311780 0.06327956 -0.09742077
+v 0.04992534 0.06361540 -0.09744922
+v -0.04448694 0.06388253 -0.09744922
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+v -0.04551093 0.06309041 -0.09272180
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+v -0.05903970 0.05894299 -0.09186067
+v -0.05901562 0.05898622 -0.09186067
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_22.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52b37f8c0136013aee9cab46d6f6efd92d16a68d
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.04289859 -0.05141106 0.02113501
+v 0.04289859 -0.05107008 0.01804271
+v 0.04297593 -0.05106086 0.01804271
+v 0.04539120 -0.05060928 0.01804271
+v 0.04612155 -0.05068301 0.02113501
+v 0.04289859 0.04273800 0.02113501
+v 0.04289859 0.04273800 0.01804271
+v 0.04852409 -0.04864631 0.01804271
+v 0.04904102 -0.04911631 0.02113501
+v 0.05161587 0.04273800 0.02113501
+v 0.05138579 0.04273800 0.01804271
+v 0.05073963 -0.04549449 0.01804271
+v 0.05080131 -0.04619490 0.02113501
+v 0.05258706 0.03886735 0.02113501
+v 0.05173531 0.04133719 0.01804271
+v 0.05225811 -0.03897889 0.01804271
+v 0.05259196 -0.03897889 0.02113501
+v 0.05273196 0.03178958 0.02113501
+v 0.05240105 0.03178958 0.01804271
+v 0.05225419 0.03886735 0.01804271
+v 0.05173922 0.04131877 0.01804271
+v 0.05232468 -0.03584550 0.01804271
+v 0.05259294 -0.03893281 0.02113501
+v 0.05281322 0.02474867 0.02113501
+v 0.05248426 0.02471181 0.01804271
+v 0.05240398 -0.03190112 0.01804271
+v 0.05273587 -0.03185504 0.02113501
+v 0.05286021 0.01763404 0.02113501
+v 0.05251070 0.02076743 0.01804271
+v 0.05244217 -0.02876773 0.01804271
+v 0.05281615 -0.02482335 0.02113501
+v 0.05288665 0.01059314 0.02113501
+v 0.05255867 0.01055627 0.01804271
+v 0.05254692 0.01366201 0.01804271
+v 0.05253126 0.01763404 0.01804271
+v 0.05248622 -0.02482335 0.01804271
+v 0.05250776 -0.02171761 0.01804271
+v 0.05253321 -0.01774558 0.01804271
+v 0.05286119 -0.01774558 0.02113501
+v 0.05289937 0.00351537 0.02113501
+v 0.05257140 0.00347851 0.01804271
+v 0.05254496 -0.01463984 0.01804271
+v 0.05288762 -0.01066781 0.02113501
+v 0.05289937 -0.00359926 0.02113501
+v 0.05257140 -0.00359926 0.01804271
+v 0.05255965 -0.01066781 0.01804271
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_220.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_220.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da5b6420d41283147ac31264d4991bae2ceed910
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_220.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00286526 0.03589251 0.02336976
+v 0.00286526 0.03166228 0.02336976
+v 0.00286526 0.03589251 0.02113925
+v -0.05296364 0.03589251 0.02336976
+v 0.00286526 0.03166228 0.02113903
+v 0.00285429 0.02636913 0.02336976
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+v -0.05307327 0.03166228 0.02336976
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+v -0.05276082 0.03018911 0.02113575
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+f 16 19 17
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+f 18 19 21
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_221.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_221.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66c8b71267e6cfb117cf37a36cd6773b4ca21eaf
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_221.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.06605909 0.00350520 -0.11329198
+v -0.06594818 0.03177203 -0.11329198
+v -0.06594202 0.03177203 -0.11600346
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+v -0.06603445 0.00580033 -0.11806393
+v -0.06604061 0.00348683 -0.11806393
+v -0.06604061 -0.00358217 -0.11806393
+v -0.06604061 -0.00629961 -0.11600346
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+v -0.06536899 0.00350520 -0.10675518
+v -0.06535051 0.01002337 -0.10675518
+v -0.06527041 0.03177203 -0.10675518
+v -0.06589273 0.03884104 -0.11329198
+v -0.06589273 0.03884104 -0.11600346
+v -0.06588657 0.03884104 -0.11806393
+v -0.06593586 0.03176285 -0.11806393
+v -0.04239854 0.05826703 -0.11806504
+v -0.04239854 -0.03552122 -0.11806504
+v -0.06594202 -0.03188573 -0.11806393
+v -0.06597283 -0.02482591 -0.11600346
+v -0.06602828 -0.01066036 -0.11329198
+v -0.06535051 -0.01066036 -0.10675518
+v -0.04239854 -0.03552122 -0.10675407
+v -0.04239854 0.05826703 -0.10675407
+v -0.06520879 0.03884104 -0.10675518
+v -0.06575101 0.04592841 -0.11329198
+v -0.06574485 0.04593759 -0.11806393
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+v -0.06426607 0.05825785 -0.11329198
+v -0.06337879 0.05825785 -0.10799190
+v -0.06493768 0.05444793 -0.11084178
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_226.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_226.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a2e9b4822e1dc5b5fd669895eac3602bf7cfb8d
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_226.obj
@@ -0,0 +1,204 @@
+# https://github.com/mikedh/trimesh
+v 0.05734682 0.04744993 -0.06317358
+v 0.05698238 0.04744993 -0.06130290
+v 0.05756321 0.04593825 -0.06317358
+v -0.05744316 0.04744993 -0.06317358
+v 0.05719877 0.04593825 -0.06130290
+v -0.05713565 0.04744993 -0.06130290
+v 0.05736960 0.04285189 -0.06130290
+v 0.05759738 0.04520940 -0.06317358
+v 0.05723293 0.04555133 -0.06130290
+v -0.05759121 0.04648713 -0.06317358
+v -0.05730649 0.04744993 -0.06217012
+v -0.05730649 0.04588426 -0.06130290
+v 0.05751766 0.03928863 -0.06130290
+v 0.05784794 0.03885672 -0.06317358
+v -0.05765955 0.04593825 -0.06317358
+v -0.05767093 0.03886572 -0.06130290
+v 0.05754044 0.03847880 -0.06130290
+v 0.05790488 0.03568938 -0.06317358
+v -0.05798983 0.03886572 -0.06317358
+v -0.05810372 0.03245006 -0.06317358
+v -0.05779621 0.03178419 -0.06130290
+v 0.05758599 0.03568938 -0.06130290
+v 0.05797322 0.03111833 -0.06317358
+v 0.05765433 0.03141527 -0.06130290
+v -0.05811511 0.03178419 -0.06317358
+v -0.05783038 0.02471167 -0.06130290
+v 0.05799600 0.02914774 -0.06317358
+v 0.05771127 0.02471167 -0.06130290
+v -0.05814927 0.02471167 -0.06317358
+v -0.05791011 0.00347609 -0.06130290
+v 0.05803017 0.02471167 -0.06317358
+v 0.05775683 0.01758515 -0.06130290
+v -0.05817205 0.01824201 -0.06317358
+v -0.05791011 -0.00374041 -0.06130290
+v -0.05821761 0.00406996 -0.06317358
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+v 0.05776822 0.01491271 -0.06130290
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+v 0.05754044 -0.03897708 -0.06130290
+v 0.05785933 -0.03897708 -0.06317358
+v 0.05727849 -0.04447493 -0.06130290
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+f 40 43 46
+f 43 47 48
+f 43 48 46
+f 44 49 50
+f 44 50 45
+f 47 51 52
+f 47 52 53
+f 47 53 48
+f 49 54 55
+f 49 55 50
+f 51 56 52
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+f 54 58 55
+f 54 59 58
+f 56 60 61
+f 56 61 57
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+f 58 62 63
+f 60 64 61
+f 60 65 69
+f 60 69 66
+f 60 66 64
+f 61 64 66
+f 62 67 68
+f 62 68 63
+f 65 68 67
+f 65 67 69
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_228.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_228.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4395c2d652d04f34fc78c3ea8e65b60dafd8a8df
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_228.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v -0.05860890 -0.00358452 0.05660479
+v -0.05860890 0.00346546 0.05660479
+v -0.05835804 -0.00358452 0.05516895
+v -0.05828064 -0.02482134 0.05516895
+v -0.05850215 -0.03189304 0.05660479
+v -0.05852617 0.02473487 0.05660479
+v -0.05827797 0.02469142 0.05516895
+v -0.05835804 0.00346546 0.05516895
+v -0.05825129 -0.03189304 0.05516895
+v -0.05813386 -0.03888870 0.05516895
+v -0.05837672 -0.03896474 0.05656656
+v -0.05838206 -0.03896474 0.05660479
+v -0.05849682 0.03180657 0.05660479
+v -0.05825396 0.03037267 0.05516895
+v -0.05781628 -0.04604730 0.05516895
+v -0.05809650 -0.04604730 0.05660479
+v -0.05837672 0.03889999 0.05660479
+v -0.05815521 0.03716194 0.05516895
+v -0.05824595 0.03176311 0.05516895
+v -0.05766416 -0.04727480 0.05516895
+v -0.05709038 -0.05049019 0.05516895
+v -0.05725317 -0.05072918 0.05660479
+v -0.05807248 0.04592824 0.05660479
+v -0.05787766 0.04452694 0.05516895
+v -0.05812586 0.03874791 0.05516895
+v -0.05487798 -0.05290174 0.05516895
+v -0.05483795 -0.05296692 0.05522939
+v -0.05723182 -0.05079435 0.05660479
+v -0.05724517 -0.05077263 0.05660479
+v -0.05722649 0.05059925 0.05660479
+v -0.05706903 0.05031682 0.05516895
+v -0.05779226 0.04592824 0.05516895
+v -0.05481660 -0.05296692 0.05516895
+v -0.05523827 -0.05296692 0.05660479
+v -0.05389855 0.05414054 0.05660479
+v -0.05366370 0.05385810 0.05516895
+v -0.05192367 -0.05296692 0.05516895
+v -0.05192367 -0.05296692 0.05660479
+v -0.05192367 0.05572651 0.05660479
+v -0.05192367 0.05572651 0.05658385
+v -0.05005287 0.05683452 0.05516895
+v -0.03134756 -0.05295606 0.05516895
+v -0.03134756 -0.05295606 0.05660479
+v -0.05035444 0.05698659 0.05660479
+v -0.05034643 0.05698659 0.05656656
+v -0.04595900 0.05759491 0.05660479
+v -0.04595900 0.05732334 0.05516895
+v -0.03134756 0.05774699 0.05516895
+v -0.03134756 0.05153346 0.05660479
+v -0.03892950 0.05787735 0.05660479
+v -0.03888947 0.05762750 0.05516895
+v -0.04416559 0.05741024 0.05516895
+v -0.03181192 0.05774699 0.05516895
+v -0.03134756 0.05800770 0.05660241
+v -0.03181192 0.05799683 0.05660479
+v -0.03184929 0.05799683 0.05660479
+v -0.03737094 0.05766009 0.05516895
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 16
+f 1 16 22
+f 1 22 29
+f 1 29 28
+f 1 28 34
+f 1 34 38
+f 1 38 43
+f 1 43 49
+f 1 49 55
+f 1 55 56
+f 1 56 50
+f 1 50 46
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+f 1 39 35
+f 1 35 30
+f 1 30 23
+f 1 23 17
+f 1 17 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
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+f 3 8 7
+f 3 7 14
+f 3 14 19
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+f 3 31 36
+f 3 36 41
+f 3 41 47
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+f 13 17 18
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+f 16 20 21
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+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 21 26 27
+f 21 27 28
+f 21 28 29
+f 21 29 22
+f 23 30 31
+f 23 31 32
+f 23 32 24
+f 26 33 27
+f 27 33 37
+f 27 37 38
+f 27 38 34
+f 27 34 28
+f 30 35 31
+f 31 35 36
+f 35 39 40
+f 35 40 41
+f 35 41 36
+f 37 42 43
+f 37 43 38
+f 39 44 40
+f 40 44 45
+f 40 45 41
+f 41 45 46
+f 41 46 47
+f 42 48 54
+f 42 54 49
+f 42 49 43
+f 44 46 45
+f 46 50 51
+f 46 51 52
+f 46 52 47
+f 48 53 54
+f 49 54 55
+f 50 56 54
+f 50 54 57
+f 50 57 51
+f 53 57 54
+f 54 56 55
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_23.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d85bd1611e9946a70d3ce82698789450b1f92920
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.05590497 -0.01601784 0.12315435
+v 0.05417672 -0.01601784 0.12734272
+v 0.05588310 -0.01775367 0.12315435
+v -0.05584064 -0.01601784 0.12315435
+v 0.05407828 -0.01776055 0.12734764
+v 0.05408922 -0.01775367 0.12734272
+v 0.05552213 -0.03898246 0.12315435
+v 0.05567527 -0.03191193 0.12315435
+v 0.05578465 -0.02464547 0.12315435
+v 0.05168279 -0.01601784 0.12734764
+v -0.05581876 -0.01775367 0.12315435
+v -0.05547967 -0.01601784 0.12418338
+v 0.05357512 -0.02484139 0.12734764
+v 0.05359699 -0.02464547 0.12734272
+v 0.05432986 -0.04605987 0.12315435
+v 0.05296257 -0.03191537 0.12734764
+v 0.05217502 -0.03901683 0.12734764
+v -0.05166220 -0.01601784 0.12734764
+v -0.05573125 -0.02464547 0.12315435
+v -0.05415614 -0.01601784 0.12734272
+v -0.05562187 -0.03171944 0.12315435
+v 0.05166092 -0.04038832 0.12734764
+v 0.04872945 -0.04635891 0.12734764
+v 0.05164998 -0.05112989 0.12315435
+v -0.05406863 -0.01775367 0.12734764
+v -0.05549061 -0.03872466 0.12315435
+v 0.04631209 -0.04880627 0.12734764
+v 0.04602769 -0.04895408 0.12734764
+v 0.04171801 -0.05112989 0.12734764
+v -0.05226381 -0.05112989 0.12315435
+v -0.05356547 -0.02483108 0.12734764
+v -0.05545780 -0.03898590 0.12315435
+v -0.05213255 -0.03911308 0.12734764
+v -0.05294199 -0.03198067 0.12734764
+v -0.05295293 -0.03191193 0.12734231
+v -0.04183962 -0.05112989 0.12734764
+v -0.05215443 -0.05112989 0.12322208
+v -0.05033867 -0.04437903 0.12734764
+v -0.05441866 -0.04577801 0.12315435
+v -0.05487806 -0.04279443 0.12315435
+v -0.05202317 -0.03983835 0.12734764
+v -0.04409291 -0.05038744 0.12734764
+v -0.04763691 -0.04772009 0.12734764
+f 1 2 3
+f 1 3 9
+f 1 9 8
+f 1 8 7
+f 1 7 15
+f 1 15 24
+f 1 24 30
+f 1 30 39
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+f 1 40 32
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+f 1 26 21
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+f 1 11 4
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+f 5 13 6
+f 5 10 18
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+f 5 31 34
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+f 5 29 28
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+f 6 13 14
+f 6 14 7
+f 7 14 16
+f 7 16 17
+f 7 17 15
+f 11 19 12
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+f 13 16 14
+f 15 17 22
+f 15 22 23
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+f 18 20 25
+f 20 21 26
+f 20 26 25
+f 23 27 24
+f 24 27 28
+f 24 28 29
+f 24 29 36
+f 24 36 37
+f 24 37 30
+f 25 26 31
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 31
+f 30 37 38
+f 30 38 39
+f 31 35 34
+f 32 40 41
+f 32 41 33
+f 36 42 37
+f 37 42 43
+f 37 43 38
+f 38 41 39
+f 39 41 40
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_230.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_230.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8e66e3f51e481f2d114eda0054971245613e9ef
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_230.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.04561898 -0.02616827 -0.09532560
+v 0.06402195 -0.02616827 -0.09532560
+v 0.04561898 -0.02616827 -0.09186047
+v 0.04561898 0.05627831 -0.09532560
+v 0.06392251 -0.02616827 -0.09456737
+v 0.06403099 -0.02482833 -0.09532560
+v 0.06343437 -0.02616827 -0.09186047
+v 0.04561898 0.05627831 -0.09186047
+v 0.06114372 0.05627831 -0.09532560
+v 0.06382669 -0.02616827 -0.09403203
+v 0.06392794 -0.02482833 -0.09454226
+v 0.06405811 -0.01774925 -0.09532560
+v 0.06344341 -0.02482833 -0.09186047
+v 0.06051818 0.05627831 -0.09186047
+v 0.06295527 0.05301725 -0.09532560
+v 0.06056518 0.05627831 -0.09206266
+v 0.06394240 -0.01774925 -0.09445576
+v 0.06347595 -0.01774925 -0.09186047
+v 0.06406173 -0.01643353 -0.09532560
+v 0.06224656 0.05301725 -0.09186047
+v 0.06229537 0.05301725 -0.09206266
+v 0.06228814 0.05276702 -0.09186047
+v 0.06359709 0.04795616 -0.09532560
+v 0.06395325 -0.01067018 -0.09440114
+v 0.06348138 -0.01583621 -0.09186047
+v 0.06407800 -0.00928988 -0.09532560
+v 0.06228091 0.05281545 -0.09186047
+v 0.06310533 0.04600276 -0.09186047
+v 0.06381404 0.04375877 -0.09532560
+v 0.06323369 0.04601083 -0.09254745
+v 0.06380500 0.04369419 -0.09522960
+v 0.06349584 -0.01067018 -0.09186047
+v 0.06408523 -0.00437408 -0.09532560
+v 0.06395687 -0.00359111 -0.09437298
+v 0.06350488 -0.00359111 -0.09186047
+v 0.06323007 0.04188608 -0.09186047
+v 0.06381585 0.04369419 -0.09532560
+v 0.06330239 0.03949679 -0.09186047
+v 0.06386466 0.03886718 -0.09489441
+v 0.06392071 0.03886718 -0.09532560
+v 0.06408703 0.00348796 -0.09532560
+v 0.06395687 0.00348796 -0.09437196
+v 0.06350669 0.00348796 -0.09186047
+v 0.06331686 0.03886718 -0.09186047
+v 0.06338375 0.03316034 -0.09186047
+v 0.06390624 0.03178811 -0.09466575
+v 0.06392613 0.03841515 -0.09532560
+v 0.06407619 0.01055896 -0.09532560
+v 0.06395325 0.01055896 -0.09439808
+v 0.06349584 0.01055896 -0.09186047
+v 0.06339821 0.03178811 -0.09186047
+v 0.06344703 0.02470904 -0.09186047
+v 0.06392975 0.02470904 -0.09453548
+v 0.06399664 0.03116657 -0.09532560
+v 0.06399302 0.03178811 -0.09532560
+v 0.06405811 0.01762996 -0.09532560
+v 0.06394421 0.01762996 -0.09445101
+v 0.06347776 0.01762996 -0.09186047
+v 0.06403280 0.02470904 -0.09532560
+f 1 2 5
+f 1 5 10
+f 1 10 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 23
+f 1 23 29
+f 1 29 37
+f 1 37 40
+f 1 40 47
+f 1 47 55
+f 1 55 54
+f 1 54 59
+f 1 59 56
+f 1 56 48
+f 1 48 41
+f 1 41 33
+f 1 33 26
+f 1 26 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 13
+f 3 13 18
+f 3 18 25
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+f 3 20 14
+f 3 14 8
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+f 6 12 11
+f 7 10 11
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+f 11 12 17
+f 11 17 18
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+f 14 20 21
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+f 15 16 21
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+f 21 27 22
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+f 23 28 30
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+f 24 26 33
+f 24 33 34
+f 24 34 35
+f 24 35 32
+f 28 36 30
+f 29 31 37
+f 30 36 38
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+f 31 40 37
+f 33 41 34
+f 34 41 42
+f 34 42 43
+f 34 43 35
+f 38 44 39
+f 39 44 45
+f 39 45 46
+f 39 46 47
+f 39 47 40
+f 41 48 49
+f 41 49 42
+f 42 49 43
+f 43 49 50
+f 45 51 46
+f 46 51 52
+f 46 52 53
+f 46 53 54
+f 46 54 55
+f 46 55 47
+f 48 56 57
+f 48 57 49
+f 49 57 58
+f 49 58 50
+f 52 58 53
+f 53 58 57
+f 53 57 59
+f 53 59 54
+f 56 59 57
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_232.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_232.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d97076d021bce7f69b9a1b09a218c99df7db0c5b
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_232.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v -0.03214995 -0.05147569 -0.01780202
+v -0.03180432 -0.05148473 -0.01780202
+v -0.03214995 -0.05124984 -0.01438679
+v -0.03214995 0.04062886 -0.01780202
+v -0.02831502 -0.05152990 -0.01780202
+v -0.03180432 -0.05124080 -0.01421289
+v -0.03214995 -0.05123177 -0.01421289
+v -0.02472697 -0.05157507 -0.01780202
+v -0.02472697 -0.05133115 -0.01421289
+v -0.03214995 0.04062886 -0.01421289
+v 0.05122283 0.04062886 -0.01780202
+v -0.01057228 -0.05162927 -0.01780202
+v -0.00349493 -0.05141245 -0.01421289
+v 0.05100063 0.04062886 -0.01421289
+v 0.05159315 0.03885814 -0.01780202
+v -0.00708298 -0.05163831 -0.01780202
+v 0.00358241 -0.05141245 -0.01421289
+v -0.00349493 -0.05164735 -0.01780202
+v 0.05131335 0.03885814 -0.01421289
+v 0.05166722 0.03537091 -0.01780202
+v 0.05146971 0.03178430 -0.01421289
+v 0.02480622 -0.05133115 -0.01421289
+v 0.00358241 -0.05164735 -0.01780202
+v 0.01772888 -0.05160217 -0.01780202
+v 0.02480622 -0.05157507 -0.01780202
+v 0.05174128 0.03178430 -0.01780202
+v 0.05156023 0.02470141 -0.01421289
+v 0.03188357 -0.05124984 -0.01421289
+v 0.03188357 -0.05149376 -0.01780202
+v 0.05183181 0.02470141 -0.01780202
+v 0.05160138 0.01762757 -0.01421289
+v 0.05185650 0.02122321 -0.01780202
+v 0.03896091 -0.05131308 -0.01780202
+v 0.03896091 -0.05106011 -0.01421289
+v 0.05163430 0.01054469 -0.01421289
+v 0.05190587 0.01054469 -0.01780202
+v 0.04138861 -0.05092460 -0.01780202
+v 0.04389037 -0.05027413 -0.01421289
+v 0.05191410 0.00707552 -0.01780202
+v 0.05164253 0.00347987 -0.01421289
+v 0.05192233 0.00347987 -0.01780202
+v 0.04419486 -0.05040062 -0.01780202
+v 0.04598888 -0.04920809 -0.01780202
+v 0.04773353 -0.04790715 -0.01780202
+v 0.04743727 -0.04761806 -0.01421289
+v 0.05164253 -0.00360301 -0.01421289
+v 0.05191410 -0.00707217 -0.01780202
+v 0.04919838 -0.04616353 -0.01780202
+v 0.05039165 -0.04407661 -0.01421289
+v 0.05163430 -0.01066782 -0.01421289
+v 0.05190587 -0.01066782 -0.01780202
+v 0.05053155 -0.04436571 -0.01780202
+v 0.05113230 -0.04149281 -0.01780202
+v 0.05131335 -0.03898127 -0.01421289
+v 0.05160138 -0.01774167 -0.01421289
+v 0.05187295 -0.01774167 -0.01780202
+v 0.05158492 -0.03898127 -0.01780202
+v 0.05174128 -0.03190743 -0.01780202
+v 0.05146148 -0.03190743 -0.01421289
+v 0.05156023 -0.02482455 -0.01421289
+v 0.05183181 -0.02482455 -0.01780202
+f 1 2 3
+f 1 3 7
+f 1 7 10
+f 1 10 4
+f 1 4 11
+f 1 11 15
+f 1 15 20
+f 1 20 26
+f 1 26 30
+f 1 30 32
+f 1 32 36
+f 1 36 39
+f 1 39 41
+f 1 41 47
+f 1 47 51
+f 1 51 56
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+f 1 57 53
+f 1 53 52
+f 1 52 48
+f 1 48 44
+f 1 44 43
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+f 1 18 16
+f 1 16 12
+f 1 12 8
+f 1 8 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 5 8
+f 3 8 9
+f 3 9 6
+f 4 10 14
+f 4 14 11
+f 6 9 13
+f 6 13 17
+f 6 17 22
+f 6 22 28
+f 6 28 34
+f 6 34 38
+f 6 38 45
+f 6 45 49
+f 6 49 54
+f 6 54 59
+f 6 59 60
+f 6 60 55
+f 6 55 50
+f 6 50 46
+f 6 46 40
+f 6 40 35
+f 6 35 31
+f 6 31 27
+f 6 27 21
+f 6 21 19
+f 6 19 14
+f 6 14 10
+f 6 10 7
+f 8 12 13
+f 8 13 9
+f 11 14 15
+f 12 16 13
+f 13 16 18
+f 13 18 23
+f 13 23 17
+f 14 19 15
+f 15 19 21
+f 15 21 20
+f 17 23 24
+f 17 24 25
+f 17 25 22
+f 20 21 26
+f 21 27 30
+f 21 30 26
+f 22 25 29
+f 22 29 28
+f 27 31 32
+f 27 32 30
+f 28 33 34
+f 28 29 33
+f 31 35 32
+f 32 35 36
+f 33 37 38
+f 33 38 34
+f 35 39 36
+f 35 40 41
+f 35 41 39
+f 37 42 38
+f 38 42 43
+f 38 43 44
+f 38 44 45
+f 40 46 41
+f 41 46 47
+f 44 48 45
+f 45 48 49
+f 46 50 47
+f 47 50 51
+f 48 52 49
+f 49 52 53
+f 49 53 54
+f 50 55 56
+f 50 56 51
+f 53 57 54
+f 54 57 58
+f 54 58 59
+f 55 60 61
+f 55 61 56
+f 58 61 60
+f 58 60 59
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_234.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_234.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d193dec70ccd293fa21236e3ea7e478c5378aed1
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_234.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.05652717 -0.00930934 0.04564819
+v 0.05649535 -0.01775154 0.04564819
+v 0.05598634 -0.01067622 0.04241183
+v 0.05598634 -0.00930934 0.04241183
+v -0.05180856 -0.00930934 0.04564819
+v 0.05646354 -0.02386903 0.04564819
+v 0.05591210 -0.01775154 0.04212895
+v 0.05593331 -0.01067622 0.04212895
+v 0.05594392 -0.00930934 0.04217409
+v -0.05180856 -0.00930934 0.04212895
+v -0.05180856 -0.02280431 0.04564819
+v 0.05588029 -0.02386903 0.04212895
+v -0.05076931 -0.02386903 0.04564819
+v 0.05593331 -0.00930934 0.04212895
+v -0.05180856 -0.02386903 0.04212895
+v -0.05180856 -0.02386903 0.04564750
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 10
+f 1 10 5
+f 1 5 11
+f 1 11 13
+f 1 13 6
+f 1 6 2
+f 2 6 12
+f 2 12 7
+f 2 7 3
+f 3 8 9
+f 3 9 4
+f 3 7 8
+f 5 10 15
+f 5 15 16
+f 5 16 11
+f 6 13 16
+f 6 16 15
+f 6 15 12
+f 7 12 15
+f 7 15 10
+f 7 10 14
+f 7 14 8
+f 8 14 9
+f 11 16 13
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_237.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_237.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bd5a191a5680bddb3e7274ef28574bf2754ae4a
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_237.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.03680614 0.03681123 -0.06686384
+v 0.03680614 -0.00233692 -0.06686384
+v 0.03680614 0.03681123 -0.07082571
+v -0.00448290 0.03681123 -0.06686384
+v 0.03680614 -0.00233692 -0.07082571
+v -0.00448290 -0.00233692 -0.06686384
+v -0.00448290 0.03681123 -0.07082571
+v -0.00448290 -0.00233692 -0.07082571
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_240.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_240.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57b8251e3fff4ce0047b3f57f716429948170d07
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_240.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.03725400 -0.03552122 -0.11243979
+v 0.06591319 -0.03552122 -0.11243979
+v 0.03725400 -0.03552122 -0.10896576
+v 0.03725400 0.00172455 -0.11243979
+v 0.06594138 -0.03190456 -0.11243979
+v 0.06554956 -0.03552122 -0.10896576
+v 0.03725400 0.00172455 -0.10896576
+v 0.05261107 0.00172455 -0.11243979
+v 0.06558902 -0.02918478 -0.10896576
+v 0.06557775 -0.03190456 -0.10896576
+v 0.06596675 -0.02575041 -0.11243979
+v 0.05261107 0.00172455 -0.10896576
+v 0.06605132 0.00104643 -0.11243979
+v 0.06568769 -0.00360200 -0.10896576
+v 0.06602031 -0.01153168 -0.11243979
+v 0.06568769 0.00104643 -0.10896576
+v 0.06604850 -0.00360200 -0.11243979
+v 0.06604568 -0.00452440 -0.11243979
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 17
+f 1 17 18
+f 1 18 15
+f 1 15 11
+f 1 11 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 6 10
+f 3 10 9
+f 3 9 14
+f 3 14 16
+f 3 16 12
+f 3 12 7
+f 4 7 12
+f 4 12 8
+f 5 9 10
+f 5 11 9
+f 8 12 13
+f 9 11 14
+f 11 15 14
+f 12 16 13
+f 13 16 14
+f 13 14 17
+f 14 15 18
+f 14 18 17
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_241.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_241.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79dfb27f4097fbf47ecab0d4ef34676688a1bfb1
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_241.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.05703536 0.04093406 -0.05890679
+v 0.05709159 0.03983892 -0.05890679
+v -0.05712956 0.04093406 -0.05890679
+v 0.05681043 0.04093406 -0.05763917
+v 0.05685541 0.03886356 -0.05726900
+v 0.05713658 0.03876089 -0.05890679
+v -0.05725327 0.03886356 -0.05890679
+v -0.05697211 0.04093406 -0.05796109
+v 0.05674295 0.04093406 -0.05726900
+v 0.05688915 0.03674857 -0.05726900
+v 0.05705785 0.03178963 -0.05778297
+v 0.05724904 0.03178963 -0.05890679
+v -0.05728701 0.03716609 -0.05890679
+v -0.05697211 0.03886356 -0.05726900
+v -0.05688214 0.04093406 -0.05756126
+v -0.05681466 0.04093406 -0.05726900
+v 0.05696788 0.03178963 -0.05726900
+v 0.05697912 0.03081769 -0.05726900
+v 0.05731652 0.02481153 -0.05890679
+v -0.05735449 0.03317567 -0.05890679
+v -0.05710707 0.03178963 -0.05726900
+v 0.05703536 0.02481153 -0.05726900
+v 0.05736151 0.01628311 -0.05890679
+v 0.05709159 0.01628311 -0.05728247
+v 0.05718156 0.01628311 -0.05782081
+v -0.05737699 0.03178963 -0.05890679
+v -0.05714081 0.02481153 -0.05726900
+v -0.05742197 0.02481153 -0.05890679
+v 0.05708034 0.01727216 -0.05726900
+v 0.05738401 0.01056100 -0.05890679
+v 0.05710284 0.01056100 -0.05726900
+v 0.05712533 0.00597510 -0.05731950
+v 0.05712533 0.01056100 -0.05738379
+v -0.05733200 0.01628311 -0.05814930
+v -0.05720829 0.01016401 -0.05726900
+v -0.05750070 0.00597510 -0.05890679
+v 0.05739525 0.00597510 -0.05890679
+v 0.05711408 0.00597510 -0.05726900
+v -0.05736574 0.00597510 -0.05811884
+v -0.05721953 0.00597510 -0.05726900
+f 1 2 6
+f 1 6 12
+f 1 12 19
+f 1 19 23
+f 1 23 30
+f 1 30 37
+f 1 37 36
+f 1 36 28
+f 1 28 26
+f 1 26 20
+f 1 20 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 16
+f 1 16 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 5
+f 5 9 16
+f 5 16 14
+f 5 14 21
+f 5 21 27
+f 5 27 35
+f 5 35 40
+f 5 40 38
+f 5 38 31
+f 5 31 29
+f 5 29 22
+f 5 22 18
+f 5 18 17
+f 5 17 10
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 10 17 11
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 13 20 21
+f 13 21 14
+f 14 16 15
+f 18 22 19
+f 19 22 24
+f 19 24 25
+f 19 25 23
+f 20 26 21
+f 21 26 28
+f 21 28 27
+f 22 29 24
+f 23 25 30
+f 24 29 31
+f 24 31 32
+f 24 32 33
+f 24 33 30
+f 24 30 25
+f 27 28 34
+f 27 34 35
+f 28 36 34
+f 30 33 37
+f 31 38 32
+f 32 37 33
+f 32 38 40
+f 32 40 39
+f 32 39 36
+f 32 36 37
+f 34 36 35
+f 35 36 39
+f 35 39 40
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_243.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_243.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ffb5046fa36d14abf64b8d32754e5e8c04c9136
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_243.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.04817972 -0.00201255 0.06010702
+v 0.04817972 -0.01828318 0.06010702
+v 0.04817972 -0.00201255 0.05660493
+v 0.00271618 -0.00201255 0.06010702
+v 0.04817972 -0.01828318 0.05660493
+v 0.00271618 -0.01828318 0.06010702
+v 0.00271618 -0.00201255 0.05660493
+v 0.00271618 -0.01828318 0.05660493
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_247.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_247.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c95a464a4abd1186c09e3053b20cda3d4e4528ce
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_247.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.05985849 -0.00360335 0.06363266
+v -0.05985737 0.00346671 0.06363266
+v -0.05923152 -0.00006259 0.06010736
+v -0.05923152 -0.00359189 0.06010736
+v -0.05920573 -0.01067342 0.06010736
+v -0.05916647 -0.02130716 0.06010736
+v -0.05975306 -0.03191798 0.06363266
+v -0.05977662 0.02469982 0.06363266
+v -0.05921694 0.00701893 0.06010736
+v -0.05923040 0.00346671 0.06010736
+v -0.05912609 -0.03190652 0.06010736
+v -0.05964539 -0.03898805 0.06363266
+v -0.05974970 0.03176988 0.06363266
+v -0.05913619 0.02825204 0.06010736
+v -0.05901281 -0.03898805 0.06010736
+v -0.05943565 -0.04606957 0.06363266
+v -0.05906777 0.03531064 0.06010736
+v -0.05912160 0.03178134 0.06010736
+v -0.05963978 0.03885140 0.06363266
+v -0.05876382 -0.04605811 0.06010736
+v -0.05833761 -0.04843008 0.06010736
+v -0.05759735 -0.05150103 0.06010736
+v -0.05795066 -0.05222293 0.06363266
+v -0.05900720 0.03885140 0.06010736
+v -0.05942556 0.04593292 0.06363266
+v -0.05640285 -0.05327713 0.06010736
+v -0.05556839 -0.05576369 0.06363266
+v -0.05889953 0.04240362 0.06010736
+v -0.05874699 0.04593292 0.06010736
+v -0.05794393 0.05202899 0.06363266
+v -0.05758390 0.05131855 0.06010736
+v -0.05477878 -0.05504179 0.06010736
+v -0.05300441 -0.05646267 0.06010736
+v -0.05203648 -0.05786064 0.06363266
+v -0.05547753 0.05558121 0.06363266
+v -0.05468569 0.05485931 0.06010736
+v -0.05124351 -0.05750542 0.06010736
+v -0.04840026 -0.05839921 0.06200528
+v -0.04840026 -0.05863984 0.06363266
+v -0.05194563 0.05767817 0.06363266
+v -0.05115042 0.05733440 0.06010736
+v -0.04840026 -0.05811274 0.06010736
+v -0.04840026 0.05842299 0.06363266
+v -0.04840026 0.05774692 0.06010736
+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 23
+f 1 23 27
+f 1 27 34
+f 1 34 39
+f 1 39 43
+f 1 43 40
+f 1 40 35
+f 1 35 30
+f 1 30 25
+f 1 25 19
+f 1 19 13
+f 1 13 8
+f 1 8 2
+f 2 8 14
+f 2 14 9
+f 2 9 10
+f 2 10 3
+f 3 10 9
+f 3 9 14
+f 3 14 18
+f 3 18 17
+f 3 17 24
+f 3 24 28
+f 3 28 29
+f 3 29 31
+f 3 31 36
+f 3 36 41
+f 3 41 44
+f 3 44 42
+f 3 42 37
+f 3 37 33
+f 3 33 32
+f 3 32 26
+f 3 26 22
+f 3 22 21
+f 3 21 20
+f 3 20 15
+f 3 15 11
+f 3 11 6
+f 3 6 5
+f 3 5 4
+f 6 11 7
+f 7 11 12
+f 8 13 14
+f 11 15 12
+f 12 15 16
+f 13 17 18
+f 13 18 14
+f 13 19 17
+f 15 20 16
+f 16 20 21
+f 16 21 22
+f 16 22 23
+f 17 19 24
+f 19 25 24
+f 22 26 23
+f 23 26 27
+f 24 25 28
+f 25 29 28
+f 25 30 31
+f 25 31 29
+f 26 32 27
+f 27 32 33
+f 27 33 34
+f 30 35 31
+f 31 35 36
+f 33 37 34
+f 34 37 38
+f 34 38 39
+f 35 40 41
+f 35 41 36
+f 37 42 38
+f 38 42 44
+f 38 44 43
+f 38 43 39
+f 40 43 41
+f 41 43 44
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_251.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_251.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad5087a2a8423d528b77c9071d9bf86ebbea0722
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_251.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.04390735 0.01130607 -0.07787505
+v 0.04390735 -0.00872580 -0.07787505
+v 0.04390735 0.01130607 -0.08136983
+v -0.06023788 0.01130607 -0.07787505
+v 0.04390735 -0.00872580 -0.08136983
+v -0.05635387 -0.00872580 -0.07787505
+v -0.06159109 0.01130607 -0.08136983
+v -0.06085767 0.01130607 -0.07787813
+v -0.06085767 0.01058840 -0.07787505
+v -0.06159109 -0.00872580 -0.08136983
+v -0.06088866 -0.00359626 -0.07787505
+v -0.06086800 -0.00872580 -0.07788359
+v -0.06162208 0.00347843 -0.08136983
+v -0.06088866 0.00350980 -0.07787505
+v -0.06160141 -0.00747871 -0.08136983
+v -0.06161175 -0.00359626 -0.08136983
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 10
+f 2 10 5
+f 3 5 10
+f 3 10 15
+f 3 15 16
+f 3 16 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 14
+f 7 14 8
+f 8 14 9
+f 10 12 15
+f 11 14 13
+f 11 13 16
+f 11 16 15
+f 11 15 12
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_255.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_255.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e117f51c3524a203841b9844d5c6675605f7f79
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_255.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00635719 -0.01112075 -0.00003561
+v 0.00899422 -0.01371603 -0.00003561
+v 0.00635719 -0.01112075 -0.00251477
+v -0.04632377 -0.01112075 -0.00003561
+v 0.00899422 -0.01371603 -0.00251477
+v 0.00899422 -0.01693890 -0.00003561
+v -0.04632377 -0.01112075 -0.00251477
+v -0.04632377 -0.01649240 -0.00003561
+v 0.00899422 -0.01693890 -0.00251477
+v -0.04595015 -0.01693890 -0.00003561
+v -0.04632377 -0.01693890 -0.00251477
+v -0.04632377 -0.01693890 -0.00003585
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 11
+f 3 11 7
+f 4 7 11
+f 4 11 12
+f 4 12 8
+f 6 10 12
+f 6 12 11
+f 6 11 9
+f 8 12 10
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_258.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_258.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4f733bf28b4187407e729693ff37506a7d2759a
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_258.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.03109067 -0.04332862 -0.03819997
+v -0.01441799 -0.04332862 -0.03819997
+v -0.03109067 -0.04332862 -0.03542896
+v -0.03109067 0.03903365 -0.03819997
+v -0.01441799 -0.04332862 -0.03542896
+v -0.01441799 0.03903365 -0.03819997
+v -0.03109067 0.03903365 -0.03542896
+v -0.01441799 0.03903365 -0.03542896
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_259.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_259.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a585176e033db5dbae6246e175a4825019c9d76
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_259.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.05314159 -0.04915626 -0.04959779
+v -0.05131920 -0.05134459 -0.04600592
+v -0.05314159 -0.04776269 -0.04600592
+v -0.05314159 -0.04765382 -0.04959955
+v -0.05176550 -0.05175831 -0.04959955
+v -0.05176550 -0.05175831 -0.04959673
+v -0.04596360 -0.05461077 -0.04959673
+v -0.04596360 -0.05392487 -0.04600592
+v -0.05314159 0.04770758 -0.04600592
+v -0.05314159 0.04751161 -0.04959955
+v -0.04596360 -0.05461077 -0.04959955
+v -0.04240714 -0.05446923 -0.04604673
+v -0.04240714 -0.05502448 -0.04959779
+v -0.04240714 -0.05445834 -0.04600592
+v -0.05279291 0.04840436 -0.04600592
+v -0.05314159 0.04796887 -0.04663881
+v -0.05314159 0.04900316 -0.04959849
+v -0.05175155 0.05162699 -0.04959955
+v -0.04240714 -0.05234622 -0.04959955
+v -0.00565712 -0.05357648 -0.04959920
+v -0.01058036 -0.05564505 -0.04959920
+v -0.01766073 -0.05562328 -0.04959920
+v -0.02473180 -0.05559062 -0.04959920
+v -0.03180286 -0.05554707 -0.04959920
+v -0.03888323 -0.05540553 -0.04959920
+v -0.03888323 -0.05485028 -0.04600592
+v -0.03888323 -0.05540553 -0.04959673
+v -0.05130990 0.05121327 -0.04600592
+v -0.04596360 0.05446856 -0.04959955
+v -0.04240714 0.05221490 -0.04959955
+v -0.00565712 -0.05568860 -0.04959744
+v -0.00758643 -0.05567771 -0.04959849
+v -0.00565712 0.05342338 -0.04959920
+v -0.02473180 -0.05559062 -0.04959673
+v -0.03180286 -0.05554707 -0.04959673
+v -0.03528493 -0.05492650 -0.04600592
+v -0.04846009 0.05260684 -0.04600592
+v -0.03888323 0.05469719 -0.04600592
+v -0.04240714 0.05487139 -0.04959779
+v -0.03888323 0.05525244 -0.04959920
+v -0.03180286 0.05540486 -0.04959920
+v -0.02473180 0.05544841 -0.04959920
+v -0.01058036 0.05550285 -0.04959920
+v -0.04596360 0.05377177 -0.04600592
+v -0.00565712 -0.05530755 -0.04709755
+v -0.00758643 -0.05513335 -0.04600592
+v -0.00758643 -0.05544908 -0.04807837
+v -0.00565712 0.05553551 -0.04959849
+v -0.02473180 -0.05504625 -0.04600592
+v -0.02820922 -0.05502448 -0.04600592
+v -0.03180286 -0.05499182 -0.04600592
+v -0.03180286 0.05484961 -0.04600592
+v -0.03888323 0.05525244 -0.04959673
+v -0.02473180 0.05544841 -0.04959673
+v -0.02473180 0.05490405 -0.04600592
+v -0.00565712 -0.05513335 -0.04600592
+v -0.00758643 0.05498026 -0.04600592
+v -0.00565712 0.05498026 -0.04600592
+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 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 14
+f 2 14 26
+f 2 26 36
+f 2 36 51
+f 2 51 50
+f 2 50 49
+f 2 49 46
+f 2 46 56
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+f 2 57 55
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+f 16 28 17
+f 17 28 18
+f 18 28 29
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+f 20 31 32
+f 20 32 21
+f 20 33 48
+f 20 48 58
+f 20 58 56
+f 20 56 45
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+f 21 32 22
+f 22 32 23
+f 23 34 35
+f 23 35 24
+f 23 32 31
+f 23 31 34
+f 24 35 27
+f 24 27 25
+f 26 27 36
+f 27 35 36
+f 28 37 29
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+f 29 39 40
+f 29 40 41
+f 29 41 42
+f 29 42 43
+f 29 43 33
+f 29 33 30
+f 29 37 44
+f 29 44 38
+f 31 45 46
+f 31 46 47
+f 31 47 34
+f 33 43 48
+f 34 47 49
+f 34 49 35
+f 35 49 50
+f 35 50 51
+f 35 51 36
+f 38 52 53
+f 38 53 39
+f 39 53 40
+f 40 53 41
+f 41 54 42
+f 41 53 52
+f 41 52 55
+f 41 55 54
+f 42 54 48
+f 42 48 43
+f 45 56 46
+f 46 49 47
+f 48 54 55
+f 48 55 57
+f 48 57 58
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_265.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_265.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1d087f6d51b2bf808705bd2fdc3d3a855252182
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_265.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.06174982 -0.05427400 0.08533867
+v 0.05915010 -0.05920381 0.08533867
+v 0.05910173 -0.05915356 0.08487705
+v 0.06165308 -0.05427400 0.08487705
+v -0.06177929 -0.05427400 0.08533867
+v 0.05315260 -0.06242852 0.08533867
+v 0.05848505 -0.05948708 0.08487705
+v 0.05883571 -0.05889587 0.08307162
+v 0.06124197 -0.05427400 0.08307162
+v -0.06128353 -0.05427400 0.08307162
+v -0.05878054 -0.05888217 0.08307162
+v -0.05933676 -0.05874327 0.08533867
+v 0.05310423 -0.06191315 0.08307162
+v 0.04661097 -0.06323813 0.08533867
+v 0.05310423 -0.06234354 0.08487705
+v -0.05902238 -0.05912340 0.08487705
+v -0.05764392 -0.05948708 0.08307162
+v -0.05855080 -0.05948708 0.08533867
+v -0.05907074 -0.05917366 0.08533867
+v 0.05130256 -0.06221013 0.08307162
+v 0.04062557 -0.06338981 0.08533867
+v 0.04428936 -0.06286714 0.08307162
+v 0.04644169 -0.06281231 0.08307162
+v -0.05863544 -0.05943774 0.08533867
+v -0.05431869 -0.06125615 0.08307162
+v -0.05307324 -0.06239563 0.08533867
+v 0.03895691 -0.06342545 0.08533867
+v 0.03895691 -0.06299689 0.08307162
+v -0.05302488 -0.06189671 0.08307162
+v -0.05302488 -0.06231065 0.08487705
+v -0.05254121 -0.06249432 0.08533867
+v 0.03439832 -0.06347480 0.08533867
+v 0.03769937 -0.06301242 0.08307162
+v -0.04633815 -0.06280957 0.08307162
+v -0.04650744 -0.06323539 0.08533867
+v 0.03187115 -0.06350038 0.08533867
+v 0.03187115 -0.06307456 0.08307162
+v -0.03887756 -0.06299689 0.08307162
+v -0.04625351 -0.06324270 0.08533867
+v 0.01679277 -0.06313213 0.08307162
+v 0.00673245 -0.06359633 0.08533867
+v -0.03179180 -0.06307456 0.08307162
+v -0.03887756 -0.06342545 0.08533867
+v 0.00356442 -0.06360821 0.08533867
+v 0.00356442 -0.06318148 0.08307162
+v -0.01142933 -0.06315223 0.08307162
+v -0.00742697 -0.06359359 0.08533867
+v -0.03179180 -0.06350038 0.08533867
+v -0.00348506 -0.06360821 0.08533867
+v -0.00348506 -0.06318148 0.08307162
+v -0.00427103 -0.06317873 0.08307162
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 12
+f 1 12 19
+f 1 19 24
+f 1 24 18
+f 1 18 26
+f 1 26 31
+f 1 31 35
+f 1 35 39
+f 1 39 43
+f 1 43 48
+f 1 48 47
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+f 1 41 36
+f 1 36 32
+f 1 32 27
+f 1 27 21
+f 1 21 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
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+f 3 8 4
+f 3 7 8
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 6 13 8
+f 6 8 7
+f 6 14 15
+f 6 15 13
+f 8 13 20
+f 8 20 23
+f 8 23 22
+f 8 22 28
+f 8 28 33
+f 8 33 37
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+f 8 45 50
+f 8 50 51
+f 8 51 46
+f 8 46 42
+f 8 42 38
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+f 8 34 29
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+f 8 25 17
+f 8 17 11
+f 8 11 10
+f 8 10 9
+f 11 16 12
+f 11 17 18
+f 11 18 16
+f 12 16 19
+f 13 15 20
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 15 23 20
+f 16 18 24
+f 16 24 19
+f 17 25 18
+f 18 25 26
+f 21 27 28
+f 21 28 22
+f 25 29 26
+f 26 30 31
+f 26 29 30
+f 27 32 33
+f 27 33 28
+f 29 31 30
+f 29 34 31
+f 31 34 35
+f 32 36 37
+f 32 37 33
+f 34 38 39
+f 34 39 35
+f 36 40 37
+f 36 41 40
+f 38 42 43
+f 38 43 39
+f 40 41 44
+f 40 44 45
+f 42 46 47
+f 42 47 48
+f 42 48 43
+f 44 49 50
+f 44 50 45
+f 46 51 49
+f 46 49 47
+f 49 51 50
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_267.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_267.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc675b5706fa0d18b2e3a33a7aec3b79dd3d3e00
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_267.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.01101381 -0.00381658 -0.08422119
+v 0.01101381 -0.06192166 -0.08422119
+v 0.01101381 -0.00381658 -0.08640583
+v -0.06221146 -0.00381658 -0.08422119
+v 0.01065323 -0.06192739 -0.08422119
+v 0.01101381 -0.06208218 -0.08498504
+v 0.01101381 -0.06235737 -0.08640583
+v -0.06265857 -0.00381658 -0.08640583
+v -0.06236290 -0.00381658 -0.08495852
+v -0.06218982 -0.00992235 -0.08422119
+v 0.00433599 -0.06195032 -0.08422119
+v 0.00357157 -0.06211085 -0.08498504
+v 0.00357157 -0.06238604 -0.08640583
+v -0.06253597 -0.03190882 -0.08640583
+v -0.06226194 -0.03190882 -0.08498525
+v -0.06237732 -0.00381658 -0.08502909
+v -0.06209607 -0.03190882 -0.08422119
+v -0.00350288 -0.06195032 -0.08422119
+v -0.00350288 -0.06211085 -0.08498504
+v 0.00195620 -0.06238604 -0.08640583
+v -0.06252155 -0.03368609 -0.08640583
+v -0.06217540 -0.03897775 -0.08498525
+v -0.06200954 -0.03897775 -0.08422119
+v -0.03180069 -0.06184140 -0.08422119
+v -0.03180069 -0.06200192 -0.08498504
+v -0.01766621 -0.06232871 -0.08640583
+v -0.00350288 -0.06238031 -0.08640583
+v -0.06245665 -0.03897775 -0.08640583
+v -0.06195185 -0.04605241 -0.08498525
+v -0.06179319 -0.04605241 -0.08422119
+v -0.03811794 -0.06176113 -0.08422119
+v -0.03887514 -0.06191019 -0.08498504
+v -0.03887514 -0.06218538 -0.08640583
+v -0.03329347 -0.06225417 -0.08640583
+v -0.03180069 -0.06227138 -0.08640583
+v -0.06220425 -0.04610974 -0.08640583
+v -0.06201675 -0.04747422 -0.08640583
+v -0.06061772 -0.05237603 -0.08422119
+v -0.03887514 -0.06174966 -0.08422119
+v -0.04595680 -0.06172673 -0.08498504
+v -0.04588469 -0.06200192 -0.08640583
+v -0.06096387 -0.05313280 -0.08640583
+v -0.06063936 -0.05313280 -0.08498525
+v -0.06040138 -0.05317866 -0.08422119
+v -0.04595680 -0.06156620 -0.08422119
+v -0.04737747 -0.06184140 -0.08640583
+v -0.05822352 -0.05830407 -0.08640583
+v -0.05802159 -0.05810340 -0.08498525
+v -0.05789179 -0.05797154 -0.08422119
+v -0.06039417 -0.05320159 -0.08422119
+v -0.05227405 -0.06053425 -0.08422119
+v -0.05303847 -0.06091836 -0.08640583
+v -0.05812977 -0.05836140 -0.08640583
+v -0.05812255 -0.05836140 -0.08637547
+v -0.05750237 -0.05836140 -0.08498504
+v -0.05303847 -0.06057437 -0.08498504
+v -0.05308174 -0.06034505 -0.08422119
+f 1 2 6
+f 1 6 7
+f 1 7 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 23
+f 1 23 30
+f 1 30 38
+f 1 38 44
+f 1 44 50
+f 1 50 49
+f 1 49 57
+f 1 57 51
+f 1 51 45
+f 1 45 39
+f 1 39 31
+f 1 31 24
+f 1 24 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
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+f 15 22 23
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+f 18 25 19
+f 19 25 26
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+f 19 27 20
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+f 22 29 30
+f 22 30 23
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+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 26
+f 28 36 29
+f 29 36 37
+f 29 37 30
+f 30 37 38
+f 31 39 32
+f 32 39 45
+f 32 45 40
+f 32 40 33
+f 33 40 41
+f 37 42 38
+f 38 43 44
+f 38 42 43
+f 40 45 46
+f 40 46 41
+f 42 47 48
+f 42 48 43
+f 43 48 49
+f 43 49 50
+f 43 50 44
+f 45 51 52
+f 45 52 46
+f 47 53 54
+f 47 54 48
+f 48 54 52
+f 48 52 55
+f 48 55 49
+f 49 55 56
+f 49 56 57
+f 51 57 56
+f 51 56 52
+f 52 56 55
+f 52 54 53
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_273.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_273.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd92e3715009563eb35bdbb12a8e2363456bd8b9
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_273.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.05912580 -0.04660895 0.09453414
+v -0.05912580 -0.04660895 0.09832323
+v -0.05912580 0.02928213 0.09453414
+v -0.01891961 -0.04660895 0.09453414
+v -0.01891961 -0.04660895 0.09832323
+v -0.05912580 0.02928213 0.09832323
+v -0.01891961 0.02928213 0.09453414
+v -0.01891961 0.02928213 0.09832323
+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_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_28.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed7c9627f96e8e8fbdee3f0494c136a049fae929
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.00048236 -0.04956996 0.06010702
+v -0.00048236 -0.05896293 0.06010702
+v -0.00048236 -0.04956996 0.05660493
+v -0.05805827 -0.04956996 0.06010702
+v -0.00048236 -0.05887005 0.05958282
+v -0.00349813 -0.05896293 0.06010702
+v -0.00048236 -0.05834040 0.05660493
+v -0.05746639 -0.04956996 0.05660493
+v -0.05780460 -0.04956996 0.05841272
+v -0.05759603 -0.05150465 0.06010702
+v -0.00349813 -0.05834040 0.05660493
+v -0.00704942 -0.05895005 0.06010702
+v -0.05725218 -0.05074879 0.05660493
+v -0.05779896 -0.04956996 0.05837569
+v -0.05640100 -0.05328025 0.06010702
+v -0.05724091 -0.05078281 0.05660493
+v -0.05722963 -0.05080121 0.05660493
+v -0.01765818 -0.05828707 0.05660493
+v -0.01412944 -0.05892339 0.06010702
+v -0.05399402 -0.05432023 0.05660493
+v -0.05477756 -0.05504482 0.06010702
+v -0.02473256 -0.05826041 0.05660493
+v -0.02118691 -0.05889672 0.06010702
+v -0.05047092 -0.05715237 0.05660493
+v -0.05300191 -0.05647101 0.06010702
+v -0.02473256 -0.05888292 0.06010702
+v -0.03180695 -0.05885534 0.06010702
+v -0.03180695 -0.05823190 0.05660493
+v -0.05045401 -0.05716341 0.05660493
+v -0.05124318 -0.05751191 0.06010702
+v -0.03888133 -0.05873948 0.06010702
+v -0.03884751 -0.05811144 0.05660493
+v -0.05042019 -0.05717077 0.05660493
+v -0.04819923 -0.05816202 0.06010702
+v -0.04596135 -0.05849121 0.06010702
+v -0.03888133 -0.05811052 0.05660493
+v -0.04596135 -0.05782639 0.05660493
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 9
+f 1 9 4
+f 1 4 10
+f 1 10 15
+f 1 15 21
+f 1 21 25
+f 1 25 30
+f 1 30 34
+f 1 34 35
+f 1 35 31
+f 1 31 27
+f 1 27 26
+f 1 26 23
+f 1 23 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 11
+f 3 11 18
+f 3 18 22
+f 3 22 28
+f 3 28 32
+f 3 32 36
+f 3 36 37
+f 3 37 33
+f 3 33 29
+f 3 29 24
+f 3 24 20
+f 3 20 17
+f 3 17 16
+f 3 16 13
+f 3 13 8
+f 4 9 10
+f 5 6 11
+f 5 11 7
+f 6 12 11
+f 8 13 14
+f 9 14 13
+f 9 13 10
+f 10 13 16
+f 10 16 17
+f 10 17 15
+f 11 12 19
+f 11 19 18
+f 15 17 20
+f 15 20 21
+f 18 19 22
+f 19 23 22
+f 20 24 21
+f 21 24 25
+f 22 23 26
+f 22 26 27
+f 22 27 28
+f 24 29 25
+f 25 29 30
+f 27 31 28
+f 28 31 32
+f 29 33 30
+f 30 33 34
+f 31 35 36
+f 31 36 32
+f 33 37 35
+f 33 35 34
+f 35 37 36
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_283.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_283.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ed8ee48b17596868f88a3711b11d769ce14dd06
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_283.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00271618 -0.00201096 0.06010702
+v 0.00271618 -0.00201096 0.05660493
+v -0.00047672 -0.00201096 0.06010702
+v 0.00271618 -0.05895821 0.06010702
+v -0.00047672 -0.00201096 0.05660493
+v 0.00271618 -0.05833939 0.05660493
+v -0.00047672 -0.05896378 0.06010702
+v 0.00271618 -0.05888573 0.05967745
+v -0.00047672 -0.05833939 0.05660493
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 7 8
+f 6 8 7
+f 6 7 9
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_294.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_294.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79917c644a1a26b0c1dc03ccfd68ba6145cbcb98
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_294.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.05113268 -0.02386522 -0.00470521
+v -0.05112394 -0.02386522 -0.00251501
+v -0.05113268 -0.02210200 -0.00251501
+v -0.05113268 -0.02210200 -0.00470521
+v 0.03811487 -0.02386522 -0.00470521
+v 0.03811487 -0.02386522 -0.00251501
+v 0.03811487 -0.02210200 -0.00251501
+v 0.03811487 -0.02210200 -0.00470521
+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 8
+f 3 8 4
+f 5 8 7
+f 5 7 6
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_295.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_295.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e46d0fa21bfa6c1f352fb57be9a996db19b12063
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_295.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.01822974 -0.06025400 -0.12847419
+v -0.01822974 -0.06020684 -0.12850663
+v -0.00882322 -0.06024221 -0.12850877
+v -0.00882322 -0.06030115 -0.12846599
+v -0.01765242 -0.06026578 -0.12846599
+v -0.01822974 -0.05968812 -0.12846599
+v -0.01765242 -0.06020684 -0.12850806
+v -0.01822974 -0.05982959 -0.12869057
+v -0.01057636 -0.06020684 -0.12852303
+v -0.00882322 -0.06020684 -0.12852659
+v -0.00882322 0.05544412 -0.12846599
+v -0.01822974 0.05955851 -0.12846599
+v -0.01822974 -0.05558552 -0.13074854
+v -0.00882322 -0.05672906 -0.13020277
+v -0.00882322 0.06012438 -0.12847633
+v -0.01057636 0.06013617 -0.12846599
+v -0.01767544 0.06011260 -0.12846599
+v -0.01822974 0.06010081 -0.12847562
+v -0.01057636 -0.05558552 -0.13075032
+v -0.01822974 -0.05013895 -0.13210780
+v -0.01057636 -0.05016254 -0.13210780
+v -0.00882322 -0.05558552 -0.13075068
+v -0.00882322 0.06010081 -0.12849558
+v -0.01765242 0.06010081 -0.12847704
+v -0.01822974 0.05539696 -0.13073249
+v -0.01822974 0.04991504 -0.13210780
+v -0.00882322 -0.05016254 -0.13210780
+v -0.00882322 0.05540875 -0.13073464
+v -0.01765242 0.05539696 -0.13073285
+v -0.01057636 0.04993861 -0.13210780
+v -0.01533947 0.04992683 -0.13210780
+v -0.00882322 0.04993861 -0.13210780
+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 25
+f 1 25 26
+f 1 26 20
+f 1 20 13
+f 1 13 8
+f 1 8 2
+f 2 7 3
+f 2 8 7
+f 3 7 9
+f 3 9 10
+f 3 10 14
+f 3 14 22
+f 3 22 27
+f 3 27 32
+f 3 32 28
+f 3 28 23
+f 3 23 15
+f 3 15 11
+f 3 11 4
+f 4 11 16
+f 4 16 17
+f 4 17 12
+f 4 12 6
+f 4 6 5
+f 7 8 9
+f 8 13 10
+f 8 10 9
+f 10 13 14
+f 11 15 16
+f 12 17 18
+f 13 19 14
+f 13 20 21
+f 13 21 19
+f 14 19 22
+f 15 23 16
+f 16 23 24
+f 16 24 18
+f 16 18 17
+f 18 24 25
+f 19 21 22
+f 20 26 31
+f 20 31 30
+f 20 30 32
+f 20 32 27
+f 20 27 21
+f 21 27 22
+f 23 28 25
+f 23 25 24
+f 25 28 29
+f 25 29 30
+f 25 30 31
+f 25 31 26
+f 28 32 30
+f 28 30 29
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_297.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_297.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3966046bb458c1347cafdd0481255a4cad3aee29
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_297.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01964980 -0.03155655 0.01408995
+v 0.03118625 -0.03155655 0.01408995
+v 0.01964980 -0.03155655 0.01804271
+v 0.01964980 0.05049699 0.01408995
+v 0.03118625 -0.03155655 0.01804271
+v 0.03118625 0.04530881 0.01408995
+v 0.01964980 0.05204363 0.01804271
+v 0.01964980 0.05161810 0.01409846
+v 0.02481263 0.05160173 0.01408995
+v 0.03118625 0.05194543 0.01804271
+v 0.03118625 0.05152808 0.01409111
+v 0.02481263 0.05201908 0.01804271
+v 0.01964980 0.05192906 0.01697664
+v 0.02794805 0.05198634 0.01804271
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 11
+f 2 11 10
+f 2 10 5
+f 3 5 10
+f 3 10 14
+f 3 14 12
+f 3 12 7
+f 4 8 9
+f 6 9 11
+f 7 12 9
+f 7 9 13
+f 8 13 9
+f 9 12 14
+f 9 14 11
+f 10 11 14
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_298.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_298.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09a919ed19b887d96d1dc15709d25a28b91c820b
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_298.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.04561717 -0.00838650 -0.09186047
+v 0.04561717 -0.01551173 -0.09186047
+v 0.04561717 -0.00838650 -0.09532560
+v -0.06366822 -0.00838650 -0.09186047
+v 0.04561717 -0.01551173 -0.09532560
+v -0.06364672 -0.01551173 -0.09186047
+v -0.06417332 -0.00838650 -0.09532560
+v -0.06378643 -0.00838650 -0.09252405
+v -0.06414108 -0.01551173 -0.09532560
+v -0.06397988 -0.00838650 -0.09366801
+v -0.06377569 -0.01551173 -0.09262922
+v -0.06415183 -0.01375048 -0.09532560
+v -0.06406586 -0.01551173 -0.09464302
+v -0.06395838 -0.01551173 -0.09374909
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 10
+f 1 10 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 11
+f 2 11 14
+f 2 14 13
+f 2 13 9
+f 2 9 5
+f 3 5 9
+f 3 9 12
+f 3 12 7
+f 4 8 6
+f 6 8 10
+f 6 10 11
+f 7 12 13
+f 7 13 10
+f 9 13 12
+f 10 14 11
+f 10 13 14
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_3.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30952262b53a2cfd3f2bf7d40f7e7a58c9d9d20b
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.05236529 -0.03335831 0.01804271
+v 0.05232427 -0.03587505 0.01804271
+v 0.05194485 -0.03335831 0.01409924
+v -0.05237376 -0.03335831 0.01804271
+v 0.05225249 -0.03898713 0.01804271
+v 0.05183205 -0.03898713 0.01408995
+v 0.05101169 -0.03335831 0.01408995
+v -0.05195332 -0.03335831 0.01408995
+v -0.05224045 -0.03900568 0.01804271
+v 0.05073483 -0.04550246 0.01804271
+v 0.05065279 -0.04461038 0.01408995
+v -0.05180976 -0.03899455 0.01408995
+v -0.05170722 -0.04150387 0.01804271
+v -0.05059974 -0.04466417 0.01408995
+v 0.04851986 -0.04864793 0.01804271
+v 0.04799688 -0.04814903 0.01408995
+v -0.05068177 -0.04553770 0.01804271
+v -0.04793358 -0.04820838 0.01408995
+v -0.04919488 -0.04771875 0.01804271
+v 0.04538200 -0.05061384 0.01804271
+v 0.04445910 -0.05051554 0.01408995
+v -0.04846681 -0.04868131 0.01804271
+v -0.04439579 -0.05051369 0.01408995
+v 0.03896271 -0.05197143 0.01804271
+v 0.04445910 -0.05051740 0.01410156
+v 0.03896271 -0.05154116 0.01408995
+v -0.04750289 -0.04930817 0.01804271
+v -0.03887889 -0.05153745 0.01408995
+v -0.04132971 -0.05151519 0.01804271
+v -0.04532895 -0.05061755 0.01804271
+v 0.03582484 -0.05205118 0.01804271
+v 0.03188713 -0.05171920 0.01408995
+v -0.03887889 -0.05196772 0.01804271
+v -0.03180331 -0.05171735 0.01408995
+v 0.03188713 -0.05214577 0.01804271
+v 0.02876978 -0.05218286 0.01804271
+v 0.02481155 -0.05180081 0.01408995
+v -0.03180331 -0.05214577 0.01804271
+v -0.02472774 -0.05179895 0.01408995
+v -0.02472774 -0.05180081 0.01410156
+v 0.02481155 -0.05222366 0.01804271
+v 0.02169420 -0.05223665 0.01804271
+v 0.01065015 -0.05185459 0.01408995
+v -0.02472774 -0.05222366 0.01804271
+v -0.01765216 -0.05182677 0.01408995
+v -0.01370419 -0.05226632 0.01804271
+v 0.01772572 -0.05225148 0.01804271
+v 0.00357457 -0.05188056 0.01408995
+v -0.00349075 -0.05188056 0.01408995
+v -0.00662862 -0.05229229 0.01804271
+v 0.00357457 -0.05230341 0.01804271
+v -0.00349075 -0.05230341 0.01804271
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 17
+f 1 17 19
+f 1 19 22
+f 1 22 27
+f 1 27 30
+f 1 30 29
+f 1 29 33
+f 1 33 38
+f 1 38 44
+f 1 44 46
+f 1 46 50
+f 1 50 52
+f 1 52 51
+f 1 51 47
+f 1 47 42
+f 1 42 41
+f 1 41 36
+f 1 36 35
+f 1 35 31
+f 1 31 24
+f 1 24 20
+f 1 20 15
+f 1 15 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 16
+f 6 16 21
+f 6 21 26
+f 6 26 32
+f 6 32 37
+f 6 37 43
+f 6 43 48
+f 6 48 49
+f 6 49 45
+f 6 45 39
+f 6 39 34
+f 6 34 28
+f 6 28 23
+f 6 23 18
+f 6 18 14
+f 6 14 12
+f 6 12 8
+f 6 8 7
+f 8 12 9
+f 9 12 14
+f 9 14 13
+f 10 15 11
+f 11 15 16
+f 13 14 17
+f 14 18 19
+f 14 19 17
+f 15 20 21
+f 15 21 16
+f 18 22 19
+f 18 23 22
+f 20 24 25
+f 20 25 21
+f 21 25 26
+f 22 23 27
+f 23 28 29
+f 23 29 30
+f 23 30 27
+f 24 26 25
+f 24 31 26
+f 26 31 32
+f 28 33 29
+f 28 34 33
+f 31 35 32
+f 32 35 36
+f 32 36 37
+f 33 34 38
+f 34 39 40
+f 34 40 38
+f 36 41 37
+f 37 41 42
+f 37 42 43
+f 38 40 44
+f 39 45 40
+f 40 45 46
+f 40 46 44
+f 42 47 43
+f 43 47 51
+f 43 51 48
+f 45 49 46
+f 46 49 50
+f 48 51 52
+f 48 52 49
+f 49 52 50
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_301.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_301.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aecc56a230d440473b3bfd31338dcf57666b2768
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_301.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01683756 -0.00632012 -0.03820024
+v -0.01683756 -0.00632012 -0.04252470
+v -0.02025389 -0.00632012 -0.03820024
+v -0.01683756 -0.04283551 -0.03820024
+v -0.02025389 -0.00632012 -0.04252470
+v -0.01683756 -0.04283551 -0.04252470
+v -0.02025389 -0.04283551 -0.03820024
+v -0.02025389 -0.04283551 -0.04252470
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_303.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_303.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bf4fed0091a0bc21c8f91fa7b1055382fbca29d
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_303.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.00026399 -0.05694159 -0.05726880
+v 0.00358586 -0.05695750 -0.05726880
+v 0.00026399 -0.05682227 -0.05649570
+v 0.00026399 0.02430442 -0.05726880
+v 0.01214590 -0.05692568 -0.05726880
+v 0.00358586 -0.05661546 -0.05524211
+v 0.00185699 -0.05661546 -0.05524211
+v 0.00026399 -0.05671091 -0.05584401
+v 0.00026399 0.02430442 -0.05524211
+v 0.02396691 0.02430442 -0.05726880
+v 0.02396691 -0.05687795 -0.05726880
+v 0.02396691 -0.05659160 -0.05555913
+v 0.01628771 -0.05656773 -0.05524211
+v 0.00026399 -0.05660750 -0.05524211
+v 0.02396691 0.02430442 -0.05524211
+v 0.04812899 0.02429646 -0.05726880
+v 0.03188975 -0.05683818 -0.05726880
+v 0.02396691 -0.05653591 -0.05524211
+v 0.04812899 0.02429646 -0.05524211
+v 0.04812899 -0.05529503 -0.05726880
+v 0.03896455 -0.05669500 -0.05726880
+v 0.03407310 -0.05644842 -0.05524211
+v 0.03188975 -0.05648023 -0.05524211
+v 0.03081682 -0.05648819 -0.05524211
+v 0.04812899 -0.05484163 -0.05524211
+v 0.04672340 -0.05615410 -0.05726880
+v 0.04610963 -0.05620979 -0.05726880
+v 0.03896455 -0.05634501 -0.05524211
+v 0.03866938 -0.05635296 -0.05524211
+v 0.04764641 -0.05512004 -0.05524211
+v 0.04634858 -0.05575639 -0.05524211
+v 0.04643760 -0.05609842 -0.05688195
+v 0.04438076 -0.05591547 -0.05524211
+v 0.04438076 -0.05617001 -0.05643063
+v 0.03951741 -0.05630524 -0.05524211
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 9
+f 1 9 4
+f 1 4 10
+f 1 10 16
+f 1 16 20
+f 1 20 26
+f 1 26 27
+f 1 27 21
+f 1 21 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 15
+f 4 15 10
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 18
+f 6 18 24
+f 6 24 23
+f 6 23 22
+f 6 22 29
+f 6 29 28
+f 6 28 35
+f 6 35 33
+f 6 33 31
+f 6 31 30
+f 6 30 25
+f 6 25 19
+f 6 19 15
+f 6 15 9
+f 6 9 14
+f 6 14 7
+f 7 14 8
+f 10 15 19
+f 10 19 16
+f 11 17 12
+f 12 18 13
+f 12 17 18
+f 16 19 25
+f 16 25 20
+f 17 21 22
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 20 25 26
+f 21 27 28
+f 21 28 29
+f 21 29 22
+f 25 30 26
+f 26 31 32
+f 26 32 27
+f 26 30 31
+f 27 32 31
+f 27 31 33
+f 27 33 34
+f 27 34 35
+f 27 35 28
+f 33 35 34
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_307.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_307.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92ccb6d1910c4a1b401cf739757d60e42de6e173
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_307.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.03466713 -0.02262908 -0.05890695
+v 0.03466713 -0.02661343 -0.05890695
+v 0.03466713 -0.02262908 -0.06130290
+v -0.05743453 -0.02262908 -0.05890695
+v 0.03466713 -0.02661343 -0.06130290
+v -0.05741641 -0.02661343 -0.05890695
+v -0.05784201 -0.02262908 -0.06130290
+v -0.05742547 -0.02499996 -0.05890695
+v -0.05782390 -0.02661343 -0.06130290
+v -0.05783296 -0.02490440 -0.06130290
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 10
+f 3 10 7
+f 4 7 8
+f 6 8 9
+f 7 10 8
+f 8 10 9
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_316.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_316.obj
new file mode 100644
index 0000000000000000000000000000000000000000..860c411770ed5af0d599b5e9c888eeb9db1e011a
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_316.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.05425554 -0.00359060 -0.03819997
+v -0.05424647 -0.00635589 -0.03819997
+v -0.05386322 -0.00359060 -0.03544197
+v -0.05425554 0.00347985 -0.03819997
+v -0.05419204 -0.02050486 -0.03819997
+v -0.05378158 -0.02482613 -0.03544197
+v -0.05386095 -0.00359060 -0.03542896
+v -0.05386322 0.00347985 -0.03544197
+v -0.05423059 0.01055030 -0.03819997
+v -0.05417390 -0.02482613 -0.03819997
+v -0.05415122 -0.02758337 -0.03819997
+v -0.05411041 -0.03190465 -0.03819997
+v -0.05371355 -0.03190465 -0.03544197
+v -0.05377932 -0.02482613 -0.03542896
+v -0.05386095 0.00347985 -0.03542896
+v -0.05421472 0.01487158 -0.03819997
+v -0.05378158 0.02470732 -0.03542896
+v -0.05391765 -0.03898316 -0.03819997
+v -0.05352306 -0.03898316 -0.03544197
+v -0.05371128 -0.03190465 -0.03542896
+v -0.05418751 0.02195009 -0.03819997
+v -0.05371355 0.03178583 -0.03542896
+v -0.05371582 0.03178583 -0.03544197
+v -0.05411267 0.03178583 -0.03819997
+v -0.05417617 0.02470732 -0.03819997
+v -0.05344822 -0.04174039 -0.03819997
+v -0.05352079 -0.03898316 -0.03542896
+v -0.05352306 0.03886435 -0.03542896
+v -0.05352533 0.03886435 -0.03544197
+v -0.05399702 0.03610711 -0.03819997
+v -0.05310580 -0.04332862 -0.03819997
+v -0.05290624 -0.04332862 -0.03713442
+v -0.05258422 -0.04332862 -0.03544197
+v -0.05098094 -0.04332862 -0.03542896
+v -0.05352079 0.03888047 -0.03542896
+v -0.05391992 0.03886435 -0.03819997
+v -0.03109293 -0.04332862 -0.03819997
+v -0.03109293 -0.04332862 -0.03542896
+v -0.05387456 0.03903365 -0.03813568
+v -0.05344596 0.03903365 -0.03542896
+v -0.05348904 0.03903365 -0.03544197
+v -0.05388363 0.03903365 -0.03819997
+v -0.03109293 0.03903365 -0.03819997
+v -0.03109293 0.03903365 -0.03542896
+f 1 2 3
+f 1 3 8
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+f 1 4 9
+f 1 9 16
+f 1 16 21
+f 1 21 25
+f 1 25 24
+f 1 24 30
+f 1 30 36
+f 1 36 42
+f 1 42 43
+f 1 43 37
+f 1 37 31
+f 1 31 26
+f 1 26 18
+f 1 18 12
+f 1 12 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 7 15
+f 3 15 8
+f 3 6 14
+f 3 14 7
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 20
+f 6 20 14
+f 7 14 20
+f 7 20 27
+f 7 27 34
+f 7 34 38
+f 7 38 44
+f 7 44 40
+f 7 40 35
+f 7 35 28
+f 7 28 22
+f 7 22 17
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+f 8 16 9
+f 8 15 17
+f 8 17 16
+f 12 18 19
+f 12 19 13
+f 13 19 27
+f 13 27 20
+f 16 17 21
+f 17 22 23
+f 17 23 24
+f 17 24 25
+f 17 25 21
+f 18 26 19
+f 19 26 27
+f 22 28 29
+f 22 29 23
+f 23 29 30
+f 23 30 24
+f 26 31 32
+f 26 32 27
+f 27 32 33
+f 27 33 34
+f 28 35 29
+f 29 35 36
+f 29 36 30
+f 31 37 38
+f 31 38 34
+f 31 34 33
+f 31 33 32
+f 35 39 36
+f 35 40 41
+f 35 41 39
+f 36 39 42
+f 37 43 44
+f 37 44 38
+f 39 41 40
+f 39 40 44
+f 39 44 43
+f 39 43 42
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_321.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_321.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b68bfe6c77686537e9f3ffc5f0f7a3d7659c7ca
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_321.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.04922029 0.00305550 -0.10105599
+v 0.06481616 0.00305550 -0.10105599
+v 0.04922029 0.00305550 -0.09962159
+v 0.04922029 0.04853438 -0.10105599
+v 0.06481768 0.00348291 -0.10105599
+v 0.06466805 0.00305550 -0.09974093
+v 0.06465431 0.00305550 -0.09962159
+v 0.04922029 0.04853438 -0.09962159
+v 0.06431075 0.04853438 -0.10105599
+v 0.06463598 0.01056185 -0.09962159
+v 0.06465431 0.00348291 -0.09962159
+v 0.06479173 0.01209785 -0.10105599
+v 0.06412141 0.04853438 -0.09962159
+v 0.06433060 0.04823608 -0.10105599
+v 0.06463445 0.01104269 -0.09962159
+v 0.06477340 0.01763635 -0.10105599
+v 0.06461155 0.01811718 -0.09962159
+v 0.06422983 0.04690489 -0.09962159
+v 0.06437030 0.04752819 -0.10105599
+v 0.06474592 0.02471529 -0.10105599
+v 0.06458407 0.02519612 -0.09962159
+v 0.06428021 0.04600110 -0.09962159
+v 0.06445581 0.04598774 -0.10105599
+v 0.06473981 0.02625129 -0.10105599
+v 0.06473829 0.02662527 -0.10105599
+v 0.06471233 0.03178978 -0.10105599
+v 0.06455047 0.03178978 -0.09962159
+v 0.06446802 0.03934956 -0.09962159
+v 0.06460239 0.04078316 -0.10105599
+v 0.06470011 0.03332578 -0.10105599
+v 0.06469706 0.03370421 -0.10105599
+v 0.06454589 0.03227062 -0.09962159
+v 0.06447871 0.03886427 -0.09962159
+v 0.06461155 0.04040472 -0.10105599
+v 0.06464362 0.03886427 -0.10105599
+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 14
+f 1 14 19
+f 1 19 23
+f 1 23 29
+f 1 29 34
+f 1 34 35
+f 1 35 31
+f 1 31 30
+f 1 30 26
+f 1 26 25
+f 1 25 24
+f 1 24 20
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+f 1 16 12
+f 1 12 5
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+f 2 5 6
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+f 3 10 15
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+f 3 17 21
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+f 3 32 33
+f 3 33 28
+f 3 28 22
+f 3 22 18
+f 3 18 13
+f 3 13 8
+f 4 8 13
+f 4 13 9
+f 5 10 11
+f 5 11 6
+f 5 12 10
+f 6 11 7
+f 9 13 14
+f 10 12 15
+f 12 16 17
+f 12 17 15
+f 13 18 14
+f 14 18 19
+f 16 20 21
+f 16 21 17
+f 18 22 19
+f 19 22 23
+f 20 24 21
+f 21 24 25
+f 21 25 26
+f 21 26 27
+f 22 28 23
+f 23 28 29
+f 26 30 27
+f 27 30 31
+f 27 31 32
+f 28 33 34
+f 28 34 29
+f 31 35 33
+f 31 33 32
+f 33 35 34
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_325.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_325.obj
new file mode 100644
index 0000000000000000000000000000000000000000..998d6a905a32d64a8437312ea930db90fe4c7a25
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_325.obj
@@ -0,0 +1,228 @@
+# https://github.com/mikedh/trimesh
+v 0.03342404 -0.04368753 0.08826937
+v 0.03342707 -0.04721832 0.08826937
+v 0.03342404 -0.04368753 0.09133095
+v 0.03342404 0.02699370 0.08826907
+v 0.03342707 -0.04721832 0.09133095
+v 0.06360579 -0.04721832 0.08826937
+v 0.03342404 0.06411060 0.09133095
+v 0.06395755 0.02699370 0.08826907
+v 0.03342404 0.06376188 0.08826907
+v 0.06396059 -0.04721832 0.09133095
+v 0.06383626 -0.04721832 0.08992515
+v 0.06376955 -0.04350227 0.08826937
+v 0.03897035 0.06405612 0.09133095
+v 0.03342404 0.06408881 0.09111483
+v 0.06398484 0.02328854 0.08826937
+v 0.06401820 0.01624876 0.08826937
+v 0.06403337 0.01053846 0.08826937
+v 0.06403640 0.00909999 0.08826937
+v 0.06404246 0.00348778 0.08826937
+v 0.06404246 -0.00359560 0.08826937
+v 0.06403337 -0.01065719 0.08826937
+v 0.06401517 -0.01774057 0.08826937
+v 0.06396968 -0.02604447 0.08826937
+v 0.06391813 -0.03189643 0.08826937
+v 0.06390904 -0.03284451 0.08826937
+v 0.06383626 -0.03896891 0.08826937
+v 0.06392723 0.03085142 0.08826907
+v 0.06425473 0.03178860 0.09133095
+v 0.03897035 0.06371829 0.08826907
+v 0.06384535 -0.04721832 0.08999529
+v 0.06401820 -0.04607408 0.09133095
+v 0.06416982 -0.03896891 0.09133095
+v 0.06407278 -0.04368753 0.09133095
+v 0.06402427 -0.04581255 0.09133095
+v 0.03970723 0.06404522 0.09133095
+v 0.04288521 0.06366381 0.08826907
+v 0.06430325 0.02470522 0.09133095
+v 0.06434267 0.01861352 0.09133095
+v 0.06438209 0.01151924 0.09133095
+v 0.06428809 0.02699370 0.09133095
+v 0.06440029 0.00442496 0.09133095
+v 0.06440029 -0.00359560 0.09133095
+v 0.06438513 -0.01065719 0.09133095
+v 0.06434874 -0.01774057 0.09133095
+v 0.06430628 -0.02481305 0.09133095
+v 0.06425473 -0.03189643 0.09133095
+v 0.06418499 -0.03792275 0.09133095
+v 0.06391813 0.03178860 0.08826907
+v 0.06424260 0.03290015 0.09133095
+v 0.04597526 0.06390355 0.09133095
+v 0.04331582 0.06365291 0.08826907
+v 0.06384232 0.03830531 0.08826907
+v 0.06416072 0.03961301 0.09133095
+v 0.05311359 0.06332598 0.09133095
+v 0.04801912 0.06357663 0.08887994
+v 0.04761580 0.06347855 0.08826907
+v 0.06376348 0.04331816 0.08826907
+v 0.06402123 0.04563933 0.09133095
+v 0.05350478 0.06327150 0.09133095
+v 0.04879845 0.06335868 0.08826907
+v 0.06376045 0.04341624 0.08826907
+v 0.06369070 0.04802589 0.08884487
+v 0.06401214 0.04592267 0.09133095
+v 0.05368066 0.06318432 0.09133095
+v 0.05332283 0.06271573 0.08826907
+v 0.06360276 0.04763358 0.08826907
+v 0.06356940 0.04794960 0.08826907
+v 0.06347843 0.04874512 0.08826907
+v 0.06286285 0.05304963 0.08826907
+v 0.06339049 0.05342015 0.09133095
+v 0.06343901 0.05307143 0.09133095
+v 0.05976977 0.05966442 0.09133095
+v 0.05624003 0.06117917 0.08826907
+v 0.06283555 0.05322400 0.08826907
+v 0.06130115 0.05612273 0.08826907
+v 0.06330862 0.05357272 0.09133095
+v 0.05943924 0.05932660 0.08826907
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 14
+f 1 14 9
+f 1 9 4
+f 1 4 2
+f 2 4 8
+f 2 8 6
+f 2 6 11
+f 2 11 30
+f 2 30 10
+f 2 10 5
+f 3 5 10
+f 3 10 31
+f 3 31 34
+f 3 34 33
+f 3 33 32
+f 3 32 47
+f 3 47 46
+f 3 46 45
+f 3 45 44
+f 3 44 43
+f 3 43 42
+f 3 42 41
+f 3 41 39
+f 3 39 38
+f 3 38 37
+f 3 37 40
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+f 3 28 49
+f 3 49 53
+f 3 53 58
+f 3 58 63
+f 3 63 71
+f 3 71 70
+f 3 70 76
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+f 3 72 64
+f 3 64 59
+f 3 59 54
+f 3 54 50
+f 3 50 35
+f 3 35 13
+f 3 13 7
+f 4 9 29
+f 4 29 36
+f 4 36 51
+f 4 51 56
+f 4 56 60
+f 4 60 65
+f 4 65 73
+f 4 73 77
+f 4 77 75
+f 4 75 74
+f 4 74 69
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+f 4 68 67
+f 4 67 66
+f 4 66 61
+f 4 61 57
+f 4 57 52
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+f 7 13 14
+f 8 15 16
+f 8 16 17
+f 8 17 18
+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 25
+f 8 25 26
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+f 8 27 28
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+f 9 14 29
+f 10 30 31
+f 11 12 30
+f 12 26 32
+f 12 32 33
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+f 12 34 31
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+f 13 36 29
+f 13 29 14
+f 15 37 38
+f 15 38 39
+f 15 39 16
+f 15 28 40
+f 15 40 37
+f 16 39 17
+f 17 39 41
+f 17 41 18
+f 18 41 19
+f 19 41 42
+f 19 42 20
+f 20 42 21
+f 21 42 43
+f 21 43 22
+f 22 43 44
+f 22 44 23
+f 23 45 46
+f 23 46 24
+f 23 44 45
+f 24 46 25
+f 25 46 47
+f 25 47 26
+f 26 47 32
+f 27 48 28
+f 28 48 49
+f 35 50 36
+f 36 50 51
+f 48 52 49
+f 49 52 53
+f 50 54 55
+f 50 55 51
+f 51 55 56
+f 52 57 53
+f 53 57 58
+f 54 59 60
+f 54 60 55
+f 55 60 56
+f 57 61 62
+f 57 62 58
+f 58 62 63
+f 59 64 65
+f 59 65 60
+f 61 66 62
+f 62 67 68
+f 62 68 69
+f 62 69 70
+f 62 70 71
+f 62 71 63
+f 62 66 67
+f 64 72 73
+f 64 73 65
+f 69 74 70
+f 70 74 75
+f 70 75 76
+f 72 76 75
+f 72 75 77
+f 72 77 73
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_326.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_326.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7f8f33bbfb0c6b4e03a842184a20005ed1fa711
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_326.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.01850626 0.03621165 -0.00251501
+v 0.01850626 -0.01971377 -0.00251501
+v 0.01850626 0.03621165 -0.00470521
+v -0.05090401 0.03621165 -0.00251501
+v 0.01850626 -0.01971377 -0.00470521
+v -0.05113603 -0.01971377 -0.00251501
+v -0.05090401 0.03621165 -0.00470521
+v -0.05096542 0.03420805 -0.00470521
+v -0.05103367 0.03178841 -0.00470521
+v -0.05102684 0.03178841 -0.00251501
+v -0.05114286 -0.01971377 -0.00470521
+v -0.05114968 -0.01774850 -0.00251501
+v -0.05114286 -0.01971377 -0.00296244
+v -0.05105414 0.03049648 -0.00470521
+v -0.05106096 0.02931951 -0.00251501
+v -0.05114968 -0.01904043 -0.00470521
+v -0.05120427 -0.00359196 -0.00251501
+v -0.05121110 -0.00359196 -0.00470521
+v -0.05112238 0.02471015 -0.00470521
+v -0.05112238 0.02471015 -0.00251501
+v -0.05120427 0.00348083 -0.00251501
+v -0.05120427 0.00348083 -0.00470521
+v -0.05114286 0.02005152 -0.00470521
+v -0.05119745 0.00590594 -0.00470521
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 15
+f 1 15 20
+f 1 20 21
+f 1 21 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 11
+f 2 11 5
+f 3 5 11
+f 3 11 16
+f 3 16 18
+f 3 18 22
+f 3 22 24
+f 3 24 23
+f 3 23 19
+f 3 19 14
+f 3 14 9
+f 3 9 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 6 12 13
+f 9 14 10
+f 10 14 15
+f 11 13 16
+f 12 17 18
+f 12 18 16
+f 12 16 13
+f 14 19 20
+f 14 20 15
+f 17 21 18
+f 18 21 22
+f 19 23 20
+f 20 23 24
+f 20 24 21
+f 21 24 22
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_327.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_327.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5c1320d7358ec118700ca6e47bb59aa98e2ec6e
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_327.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00098779 -0.01782529 0.03180274
+v 0.04073938 -0.01782529 0.03180274
+v 0.00098779 -0.01782529 0.03532227
+v 0.00098779 0.04149154 0.03180274
+v 0.04073938 -0.01782529 0.03532227
+v 0.04073938 0.04149154 0.03180274
+v 0.00098779 0.04149154 0.03532227
+v 0.04073938 0.04149154 0.03532227
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_330.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_330.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a08d6608aca54eadcc25c3e40580bb639ca1c6c2
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_330.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.05303639 -0.05336078 -0.10105600
+v 0.05303639 -0.06403554 -0.10105600
+v 0.05303639 -0.05336078 -0.10406780
+v -0.05813002 -0.05336078 -0.10105600
+v 0.05296022 -0.06404016 -0.10105600
+v 0.05303639 -0.06404478 -0.10111909
+v 0.05303639 -0.06443163 -0.10406780
+v -0.05813002 -0.05336078 -0.10406780
+v -0.05813002 -0.06198350 -0.10105600
+v 0.04582190 -0.06445819 -0.10105600
+v 0.04595247 -0.06483696 -0.10406780
+v -0.05813002 -0.06269485 -0.10406780
+v -0.05813002 -0.06214864 -0.10132843
+v -0.05570342 -0.06370066 -0.10105600
+v 0.03896649 -0.06461524 -0.10105600
+v 0.03896649 -0.06499054 -0.10406780
+v -0.05813002 -0.06223525 -0.10176214
+v -0.05772740 -0.06309671 -0.10406780
+v -0.05667188 -0.06381151 -0.10237511
+v -0.05324418 -0.06399859 -0.10105600
+v 0.03188257 -0.06467760 -0.10105600
+v 0.03188257 -0.06505059 -0.10406780
+v -0.05688952 -0.06393161 -0.10406780
+v -0.05303743 -0.06441662 -0.10406780
+v -0.05303743 -0.06402053 -0.10105600
+v 0.03034826 -0.06468337 -0.10105600
+v 0.02711642 -0.06506907 -0.10406780
+v -0.05090463 -0.06454249 -0.10406780
+v -0.04793396 -0.06432308 -0.10105600
+v 0.02480953 -0.06470416 -0.10105600
+v 0.01619130 -0.06473649 -0.10105600
+v 0.00357953 -0.06515683 -0.10406780
+v -0.04997970 -0.06459561 -0.10406780
+v -0.04722666 -0.06436350 -0.10105600
+v 0.00873741 -0.06476421 -0.10105600
+v 0.00357953 -0.06478268 -0.10105600
+v -0.00349351 -0.06478268 -0.10105600
+v -0.00349351 -0.06515568 -0.10406780
+v -0.04584469 -0.06482772 -0.10406780
+v -0.04569235 -0.06445011 -0.10105600
+v -0.00502782 -0.06477691 -0.10105600
+v -0.00842287 -0.06513720 -0.10406780
+v -0.04380983 -0.06487622 -0.10406780
+v -0.04079563 -0.06456674 -0.10105600
+v -0.01470156 -0.06511295 -0.10406780
+v -0.02472351 -0.06470070 -0.10105600
+v -0.03888047 -0.06498477 -0.10406780
+v -0.03888047 -0.06460831 -0.10105600
+v -0.02241661 -0.06508292 -0.10406780
+v -0.03180743 -0.06467298 -0.10105600
+v -0.03672591 -0.06500556 -0.10406780
+v -0.03372259 -0.06465681 -0.10105600
+v -0.02950053 -0.06505521 -0.10406780
+v -0.03334173 -0.06466028 -0.10105600
+v -0.03180743 -0.06504597 -0.10406780
+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 14
+f 1 14 20
+f 1 20 25
+f 1 25 29
+f 1 29 34
+f 1 34 40
+f 1 40 44
+f 1 44 48
+f 1 48 52
+f 1 52 54
+f 1 54 50
+f 1 50 46
+f 1 46 41
+f 1 41 37
+f 1 37 36
+f 1 36 35
+f 1 35 31
+f 1 31 30
+f 1 30 26
+f 1 26 21
+f 1 21 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 11
+f 3 11 16
+f 3 16 22
+f 3 22 27
+f 3 27 32
+f 3 32 38
+f 3 38 42
+f 3 42 45
+f 3 45 49
+f 3 49 53
+f 3 53 55
+f 3 55 51
+f 3 51 47
+f 3 47 43
+f 3 43 39
+f 3 39 33
+f 3 33 28
+f 3 28 24
+f 3 24 23
+f 3 23 18
+f 3 18 12
+f 3 12 8
+f 4 8 12
+f 4 12 17
+f 4 17 13
+f 4 13 9
+f 5 10 6
+f 6 10 7
+f 7 10 11
+f 9 13 14
+f 10 15 11
+f 11 15 16
+f 12 18 17
+f 13 17 19
+f 13 19 14
+f 14 19 20
+f 15 21 16
+f 16 21 22
+f 17 18 19
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 19 25 20
+f 21 26 27
+f 21 27 22
+f 24 28 29
+f 24 29 25
+f 26 30 27
+f 27 30 31
+f 27 31 32
+f 28 33 29
+f 29 33 34
+f 31 35 32
+f 32 35 36
+f 32 36 37
+f 32 37 38
+f 33 39 40
+f 33 40 34
+f 37 41 42
+f 37 42 38
+f 39 43 40
+f 40 43 44
+f 41 45 42
+f 41 46 45
+f 43 47 44
+f 44 47 48
+f 45 46 49
+f 46 50 53
+f 46 53 49
+f 47 51 48
+f 48 51 52
+f 50 54 51
+f 50 51 55
+f 50 55 53
+f 51 54 52
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_331.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_331.obj
new file mode 100644
index 0000000000000000000000000000000000000000..692800c57bdf9fd187c9766121c249cb54dbb6c1
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_331.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.05892720 -0.01420021 0.12070485
+v 0.05591646 -0.01420021 0.12315395
+v 0.05588186 -0.01784648 0.12315395
+v 0.05889260 -0.01775273 0.12070485
+v -0.05891854 -0.01420021 0.12070485
+v -0.05309316 -0.01420021 0.12315395
+v 0.05873110 -0.03130153 0.12070485
+v 0.05881185 -0.02482931 0.12070485
+v 0.05568576 -0.03130153 0.12315395
+v -0.05882626 -0.02270316 0.12070485
+v -0.05581552 -0.01775273 0.12315395
+v -0.05585012 -0.01420021 0.12314484
+v -0.05581552 -0.01767404 0.12315395
+v -0.05871090 -0.03130153 0.12070485
+v -0.05189348 -0.03130153 0.12315395
+v -0.05874551 -0.02968264 0.12070485
+v -0.05572323 -0.02469203 0.12315395
+v -0.05845713 -0.03130153 0.12090766
+v -0.05571170 -0.02482931 0.12315395
+v -0.05563095 -0.03130153 0.12314891
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 7
+f 1 7 14
+f 1 14 16
+f 1 16 10
+f 1 10 5
+f 1 5 12
+f 1 12 6
+f 1 6 2
+f 2 6 13
+f 2 13 11
+f 2 11 17
+f 2 17 19
+f 2 19 15
+f 2 15 9
+f 2 9 3
+f 3 7 8
+f 3 8 4
+f 3 9 7
+f 5 10 11
+f 5 11 12
+f 6 12 13
+f 7 9 15
+f 7 15 20
+f 7 20 18
+f 7 18 14
+f 10 16 11
+f 11 13 12
+f 11 16 17
+f 14 18 16
+f 15 19 20
+f 16 18 20
+f 16 20 17
+f 17 20 19
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_332.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_332.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3086d482526d8de39f52d9d3a918a6f37be73cb
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_332.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.04739806 -0.06508915 -0.10675407
+v 0.05303639 -0.06477789 -0.10675407
+v 0.04739806 -0.06503198 -0.10621877
+v 0.04739806 -0.00019506 -0.10675407
+v 0.05303639 -0.06471437 -0.10622403
+v 0.05303639 -0.00019506 -0.10675407
+v 0.04739806 -0.06475248 -0.10406809
+v 0.04739806 -0.00019506 -0.10406809
+v 0.05303639 -0.06442852 -0.10406809
+v 0.05303639 -0.00019506 -0.10406809
+f 1 2 3
+f 1 3 7
+f 1 7 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 5
+f 3 5 7
+f 4 8 10
+f 4 10 6
+f 5 9 7
+f 7 9 10
+f 7 10 8
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_344.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_344.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c894737f3ee47891a3ce923108952d7c6430ea27
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_344.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.00829110 -0.01507435 0.06534545
+v 0.05993494 -0.01507853 0.06534545
+v 0.00829110 -0.01507435 0.06363266
+v -0.06011290 -0.01507435 0.06534545
+v 0.05993494 -0.01775742 0.06534545
+v 0.05962936 -0.01507853 0.06363753
+v 0.05586831 -0.01507853 0.06363266
+v -0.05603452 -0.01507435 0.06363266
+v -0.06006589 -0.01507435 0.06503612
+v -0.06011290 -0.01775324 0.06534545
+v 0.05988793 -0.02483289 0.06534545
+v 0.05958234 -0.02483289 0.06363266
+v 0.05961760 -0.01775742 0.06363266
+v -0.05979556 -0.01776578 0.06363266
+v -0.05980731 -0.01507435 0.06364020
+v -0.05974855 -0.03192089 0.06363266
+v -0.06006589 -0.03020740 0.06534545
+v 0.05987618 -0.02653384 0.06534545
+v 0.05952358 -0.03191671 0.06363266
+v -0.05977206 -0.02484543 0.06363266
+v -0.05964277 -0.03899636 0.06363266
+v -0.06005413 -0.03190835 0.06534545
+v 0.05982916 -0.03191671 0.06534545
+v 0.05942955 -0.03897546 0.06363266
+v -0.05943121 -0.04606764 0.06363266
+v -0.05979556 -0.04435833 0.06534545
+v -0.05994835 -0.03898382 0.06534545
+v 0.05980566 -0.03361349 0.06534545
+v 0.05925325 -0.04605929 0.06363266
+v 0.05972338 -0.03897546 0.06534545
+v 0.05957059 -0.04605929 0.06534545
+v -0.05973680 -0.04605929 0.06534545
+v -0.05793855 -0.05222785 0.06363266
+v -0.05795030 -0.05223203 0.06364473
+v 0.05790163 -0.05211919 0.06363266
+v 0.05806617 -0.05254548 0.06534545
+v -0.05860849 -0.05074840 0.06534545
+v -0.05556439 -0.05576768 0.06363266
+v -0.05597575 -0.05614381 0.06534545
+v -0.05726861 -0.05421717 0.06534545
+v -0.05811485 -0.05263742 0.06534545
+v 0.05599760 -0.05604769 0.06534545
+v 0.05559799 -0.05566319 0.06364473
+v 0.05558624 -0.05565901 0.06363266
+v -0.05213244 -0.05776953 0.06363266
+v -0.05219120 -0.05776953 0.06364423
+v -0.05405997 -0.05728056 0.06534545
+v 0.05290649 -0.05776535 0.06534545
+v 0.05283597 -0.05776535 0.06515265
+v 0.05218954 -0.05776535 0.06363367
+v 0.05213078 -0.05776535 0.06363266
+v 0.00829110 -0.05776953 0.06363266
+v -0.05235575 -0.05776953 0.06391919
+v -0.05303744 -0.05776953 0.06534545
+v 0.00829110 -0.05776953 0.06534545
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 22
+f 1 22 27
+f 1 27 26
+f 1 26 32
+f 1 32 37
+f 1 37 41
+f 1 41 40
+f 1 40 39
+f 1 39 47
+f 1 47 54
+f 1 54 55
+f 1 55 48
+f 1 48 42
+f 1 42 36
+f 1 36 31
+f 1 31 30
+f 1 30 28
+f 1 28 23
+f 1 23 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 13
+f 3 13 12
+f 3 12 19
+f 3 19 24
+f 3 24 29
+f 3 29 35
+f 3 35 44
+f 3 44 51
+f 3 51 52
+f 3 52 45
+f 3 45 38
+f 3 38 33
+f 3 33 25
+f 3 25 21
+f 3 21 16
+f 3 16 20
+f 3 20 14
+f 3 14 8
+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 6 13 7
+f 8 14 15
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 11 18 12
+f 12 18 19
+f 14 20 15
+f 15 20 16
+f 16 21 27
+f 16 27 22
+f 16 22 17
+f 18 23 19
+f 19 23 24
+f 21 25 26
+f 21 26 27
+f 23 28 24
+f 24 28 30
+f 24 30 31
+f 24 31 29
+f 25 32 26
+f 25 33 34
+f 25 34 32
+f 29 31 35
+f 31 36 35
+f 32 34 37
+f 33 38 34
+f 34 38 39
+f 34 39 40
+f 34 40 41
+f 34 41 37
+f 35 36 42
+f 35 42 43
+f 35 43 44
+f 38 45 46
+f 38 46 47
+f 38 47 39
+f 42 48 49
+f 42 49 50
+f 42 50 43
+f 43 50 44
+f 44 50 51
+f 45 52 55
+f 45 55 54
+f 45 54 53
+f 45 53 46
+f 46 53 47
+f 47 53 54
+f 48 55 52
+f 48 52 49
+f 49 52 50
+f 50 52 51
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_346.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_346.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85c1598fab9414392794ce9ec3788bde9e7323f0
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_346.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00286526 0.02636820 0.02336976
+v 0.00286526 0.00420542 0.02336976
+v 0.00286526 0.02636820 0.02113903
+v -0.04992804 0.02636820 0.02336976
+v 0.00286526 0.00420542 0.02113793
+v -0.04992804 0.00420542 0.02336976
+v 0.00286526 0.02313576 0.02113881
+v -0.00172367 0.02636820 0.02113575
+v -0.04992804 0.02636820 0.02113575
+v -0.00024570 0.00420542 0.02113575
+v -0.04992804 0.00420542 0.02113575
+v -0.00150662 0.02313576 0.02113575
+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 11
+f 2 11 10
+f 2 10 5
+f 3 7 8
+f 4 9 11
+f 4 11 6
+f 5 10 7
+f 7 10 12
+f 7 12 8
+f 8 12 10
+f 8 10 11
+f 8 11 9
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_348.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_348.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e054ce622cc17709282c0112be50a333317b0ec
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_348.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.05019314 -0.00029289 0.02336998
+v 0.05019314 -0.00643140 0.02336998
+v 0.05019314 -0.00029289 0.02113553
+v 0.00286526 -0.00029289 0.02336998
+v 0.05019314 -0.00643140 0.02113553
+v 0.00286526 -0.00643140 0.02336998
+v 0.00318492 -0.00029289 0.02113553
+v 0.00286526 -0.00029289 0.02113728
+v 0.00313859 -0.00643140 0.02113553
+v 0.00286526 -0.00643140 0.02113706
+v 0.00294402 -0.00029289 0.02113684
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 10
+f 2 10 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 8 10
+f 4 10 6
+f 7 9 11
+f 8 11 9
+f 8 9 10
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_349.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_349.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98cd8be2c28d7e42656f6f1d18b9a8e431fdbf63
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_349.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.03681018 -0.04411884 -0.06686384
+v 0.03681018 -0.04854198 -0.06686384
+v 0.03681018 -0.04411884 -0.07082571
+v -0.05844282 -0.04411884 -0.06686384
+v 0.03681018 -0.04854198 -0.07082571
+v -0.05778519 -0.04854198 -0.06686384
+v -0.05916621 -0.04411884 -0.07082571
+v -0.05881861 -0.04411884 -0.06888259
+v -0.05910045 -0.04606303 -0.07082571
+v -0.05835827 -0.04606303 -0.06686384
+v -0.05852737 -0.04854198 -0.07082571
+v -0.05780397 -0.04854198 -0.06695886
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 12
+f 2 12 11
+f 2 11 5
+f 3 5 11
+f 3 11 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 6 10 12
+f 7 9 8
+f 9 11 12
+f 9 12 10
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_352.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_352.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2dcdd0890a95cdea138569def2b990829866d35
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_352.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.05670846 -0.00371803 0.04564819
+v -0.05670846 -0.00320290 0.04564819
+v -0.05667008 -0.00359603 0.04542458
+v -0.05607288 -0.01033336 0.04212895
+v -0.05665617 -0.01778916 0.04564819
+v -0.05670798 0.00348021 0.04564819
+v -0.05666961 0.00348021 0.04542630
+v -0.05609735 0.00348021 0.04212895
+v -0.05609783 -0.00310801 0.04212895
+v -0.05609783 -0.00359603 0.04212895
+v -0.05604554 -0.01756549 0.04212895
+v -0.05610311 -0.02386903 0.04259720
+v -0.05663219 -0.02386903 0.04564302
+v -0.05180856 -0.02386903 0.04564750
+v -0.05180856 -0.02280488 0.04564819
+v -0.05670654 0.00387333 0.04564819
+v -0.05668159 0.01048188 0.04564819
+v -0.05609591 0.00395467 0.04212895
+v -0.05602156 -0.02386903 0.04212895
+v -0.05180856 -0.02386903 0.04212895
+v -0.05180856 0.04537503 0.04564819
+v -0.05663171 0.02361087 0.04564819
+v -0.05604267 0.01779535 0.04212895
+v -0.05180856 0.04537503 0.04212895
+v -0.05583497 0.04537503 0.04564819
+v -0.05662739 0.02470891 0.04564819
+v -0.05601580 0.02470891 0.04212895
+v -0.05501760 0.04537503 0.04212895
+v -0.05611510 0.04283328 0.04564819
+v -0.05583161 0.03841403 0.04212895
+v -0.05658518 0.03178514 0.04564819
+v -0.05601341 0.02510203 0.04212895
+v -0.05640962 0.03995941 0.04564819
+v -0.05585559 0.03753966 0.04212895
+v -0.05653769 0.03588583 0.04564819
+v -0.05654873 0.03539104 0.04564819
+v -0.05596928 0.03178514 0.04212895
+v -0.05597023 0.03166992 0.04212895
+f 1 2 3
+f 1 3 4
+f 1 4 5
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+f 1 15 21
+f 1 21 25
+f 1 25 29
+f 1 29 33
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+f 1 35 36
+f 1 36 31
+f 1 31 26
+f 1 26 22
+f 1 22 17
+f 1 17 16
+f 1 16 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
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+f 4 12 5
+f 4 10 9
+f 4 9 8
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+f 4 27 32
+f 4 32 38
+f 4 38 37
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+f 4 34 30
+f 4 30 28
+f 4 28 24
+f 4 24 20
+f 4 20 19
+f 4 19 11
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 11 19 12
+f 12 19 20
+f 12 20 14
+f 12 14 13
+f 14 20 24
+f 14 24 21
+f 14 21 15
+f 17 22 18
+f 18 22 23
+f 21 24 28
+f 21 28 25
+f 22 26 27
+f 22 27 23
+f 25 28 30
+f 25 30 29
+f 26 31 27
+f 27 31 32
+f 29 30 33
+f 30 34 35
+f 30 35 33
+f 31 36 37
+f 31 37 38
+f 31 38 32
+f 34 37 36
+f 34 36 35
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_353.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_353.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f26868445d210358ef65f4c67aea8893c470e08
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_353.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.04482282 0.06446808 0.11359138
+v -0.04482282 0.06460254 0.11314458
+v -0.04596339 0.06444435 0.11359138
+v -0.04482282 -0.01571008 0.11359138
+v -0.04482282 0.06461045 0.11309541
+v -0.04596339 0.06461836 0.11299424
+v -0.04679275 0.06438899 0.11359138
+v -0.04679275 0.06460254 0.11292539
+v -0.04679275 -0.01571008 0.11359138
+v -0.04482282 -0.01571008 0.10880724
+v -0.04482282 0.06476073 0.11188473
+v -0.04482282 0.06509293 0.10880724
+v -0.04679275 0.06499801 0.10922875
+v -0.04679275 -0.01571008 0.10880724
+v -0.04596339 0.06506129 0.10880724
+v -0.04679275 0.06503756 0.10880724
+f 1 2 3
+f 1 3 7
+f 1 7 9
+f 1 9 4
+f 1 4 10
+f 1 10 12
+f 1 12 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 8
+f 3 8 7
+f 4 9 14
+f 4 14 10
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 8
+f 7 8 13
+f 7 13 16
+f 7 16 14
+f 7 14 9
+f 10 14 16
+f 10 16 15
+f 10 15 12
+f 12 15 13
+f 13 15 16
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_355.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_355.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ac799cc3888daf4b97c5c7d3b245d9a35ae1e73
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_355.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.05074275 -0.05051643 0.07314907
+v 0.05074275 -0.06001178 0.07314907
+v 0.05074275 -0.05051643 0.07048175
+v -0.06000223 -0.05051643 0.07314907
+v 0.04846628 -0.06054671 0.07314907
+v 0.04603804 -0.06044502 0.07048175
+v 0.05074275 -0.05972577 0.07204297
+v 0.05074275 -0.05932113 0.07048175
+v -0.05950357 -0.05051643 0.07048175
+v -0.05944937 -0.05339236 0.07314907
+v 0.04603804 -0.06094712 0.07314907
+v 0.04603804 -0.06049057 0.07072224
+v 0.04579956 -0.06045244 0.07048175
+v -0.05866887 -0.05376311 0.07048175
+v -0.05941685 -0.05353642 0.07314907
+v 0.04276426 -0.06103610 0.07314907
+v 0.03895930 -0.06063887 0.07048175
+v 0.04572367 -0.06045455 0.07048175
+v -0.05861467 -0.05387857 0.07048175
+v -0.05879895 -0.05476412 0.07314907
+v 0.04138753 -0.06107317 0.07314907
+v 0.03895930 -0.06113567 0.07314907
+v 0.03568551 -0.06118121 0.07314907
+v 0.03430879 -0.06120028 0.07314907
+v 0.03188055 -0.06073632 0.07048175
+v -0.05833281 -0.05443363 0.07048175
+v -0.05787752 -0.05655430 0.07314907
+v -0.05722710 -0.05733287 0.07208893
+v 0.03188055 -0.06122994 0.07314907
+v 0.03156618 -0.06073844 0.07048175
+v -0.05432188 -0.05832965 0.07048175
+v -0.05738970 -0.05748858 0.07314907
+v -0.05589374 -0.05822266 0.07314907
+v -0.05644659 -0.05795572 0.07314907
+v 0.01773390 -0.06128397 0.07314907
+v 0.01041666 -0.06081894 0.07048175
+v -0.05364979 -0.05864955 0.07048175
+v -0.05372566 -0.05925227 0.07314907
+v 0.00600464 -0.06132846 0.07314907
+v 0.00357641 -0.06088886 0.07072224
+v 0.00357641 -0.06084437 0.07048175
+v -0.05342214 -0.05939316 0.07314907
+v -0.04624583 -0.06037829 0.07048175
+v 0.00357641 -0.06133693 0.07314907
+v -0.00350234 -0.06133799 0.07314907
+v -0.00350234 -0.06084437 0.07048175
+v -0.04595314 -0.06094500 0.07314907
+v -0.04615911 -0.06039841 0.07048175
+v -0.04595314 -0.06044290 0.07048175
+v -0.01384403 -0.06129879 0.07314907
+v -0.01796336 -0.06079034 0.07048175
+v -0.00381671 -0.06084331 0.07048175
+v -0.03888523 -0.06063887 0.07048175
+v -0.03888523 -0.06113567 0.07314907
+v -0.02800152 -0.06124477 0.07314907
+v -0.03180649 -0.06073738 0.07048175
+v -0.03180649 -0.06122994 0.07314907
+v -0.02937825 -0.06123948 0.07314907
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 15
+f 1 15 20
+f 1 20 27
+f 1 27 32
+f 1 32 34
+f 1 34 33
+f 1 33 38
+f 1 38 42
+f 1 42 47
+f 1 47 54
+f 1 54 57
+f 1 57 58
+f 1 58 55
+f 1 55 50
+f 1 50 45
+f 1 45 44
+f 1 44 39
+f 1 39 35
+f 1 35 29
+f 1 29 24
+f 1 24 23
+f 1 23 22
+f 1 22 21
+f 1 21 16
+f 1 16 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 6
+f 3 6 13
+f 3 13 18
+f 3 18 17
+f 3 17 25
+f 3 25 30
+f 3 30 36
+f 3 36 41
+f 3 41 46
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+f 3 52 51
+f 3 51 56
+f 3 56 53
+f 3 53 49
+f 3 49 48
+f 3 48 43
+f 3 43 37
+f 3 37 31
+f 3 31 26
+f 3 26 19
+f 3 19 14
+f 3 14 9
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 8 7
+f 6 12 13
+f 9 14 15
+f 9 15 10
+f 11 16 17
+f 11 17 18
+f 11 18 13
+f 11 13 12
+f 14 19 15
+f 15 19 20
+f 16 21 17
+f 17 21 22
+f 17 22 23
+f 17 23 24
+f 17 24 25
+f 19 26 20
+f 20 26 28
+f 20 28 27
+f 24 29 25
+f 25 29 30
+f 26 31 28
+f 27 28 32
+f 28 31 33
+f 28 33 34
+f 28 34 32
+f 29 35 30
+f 30 35 36
+f 31 37 33
+f 33 37 38
+f 35 39 36
+f 36 39 40
+f 36 40 41
+f 37 42 38
+f 37 43 42
+f 39 44 40
+f 40 44 45
+f 40 45 41
+f 41 45 46
+f 42 43 48
+f 42 48 49
+f 42 49 47
+f 45 50 51
+f 45 51 52
+f 45 52 46
+f 47 49 53
+f 47 53 54
+f 50 55 51
+f 51 55 56
+f 53 56 54
+f 54 56 57
+f 55 58 56
+f 56 58 57
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_358.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_358.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cfbcb78b082afa70c0bc035422851a8b71ce498
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_358.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.06519755 -0.03552123 -0.12325547
+v 0.06518011 -0.03898687 -0.12325547
+v 0.06466559 -0.03898687 -0.12514107
+v 0.06467722 -0.03552123 -0.12515586
+v 0.03550084 -0.03552123 -0.12325547
+v 0.06507255 -0.04606265 -0.12325547
+v 0.06459582 -0.04606265 -0.12505895
+v 0.06019771 -0.04606265 -0.12831706
+v 0.06019771 -0.03898687 -0.12841499
+v 0.06019771 -0.03552123 -0.12843335
+v 0.03550084 -0.03552123 -0.12846599
+v 0.03550084 -0.05630899 -0.12325547
+v 0.06483419 -0.05314046 -0.12325547
+v 0.06444466 -0.05314046 -0.12483403
+v 0.06019771 -0.05314046 -0.12789985
+v 0.05986051 -0.04606265 -0.12846599
+v 0.05989830 -0.04562715 -0.12846599
+v 0.06009306 -0.03898687 -0.12846599
+v 0.06009597 -0.03883017 -0.12846599
+v 0.06014539 -0.03552123 -0.12845936
+v 0.03550084 -0.05630695 -0.12846599
+v 0.05656120 -0.03552123 -0.12846599
+v 0.06436909 -0.05630899 -0.12325547
+v 0.03550084 -0.05630899 -0.12842876
+v 0.06422084 -0.05630899 -0.12452494
+v 0.06311041 -0.05630899 -0.12532672
+v 0.06008143 -0.05630899 -0.12686295
+v 0.05860183 -0.05308551 -0.12846599
+v 0.05909891 -0.05171390 -0.12846599
+v 0.03578571 -0.05630899 -0.12846599
+v 0.05629086 -0.05630899 -0.12816099
+v 0.05584611 -0.05586331 -0.12846599
+v 0.05539554 -0.05630899 -0.12846599
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 22
+f 1 22 11
+f 1 11 5
+f 1 5 12
+f 1 12 23
+f 1 23 13
+f 1 13 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 21
+f 5 21 24
+f 5 24 12
+f 6 13 14
+f 6 14 7
+f 7 14 8
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 8 14 15
+f 9 18 19
+f 9 19 20
+f 9 20 10
+f 11 22 19
+f 11 19 18
+f 11 18 17
+f 11 17 16
+f 11 16 29
+f 11 29 28
+f 11 28 32
+f 11 32 33
+f 11 33 30
+f 11 30 21
+f 12 24 30
+f 12 30 33
+f 12 33 31
+f 12 31 27
+f 12 27 26
+f 12 26 25
+f 12 25 23
+f 13 23 25
+f 13 25 14
+f 14 25 26
+f 14 26 15
+f 15 27 28
+f 15 28 29
+f 15 29 16
+f 15 26 27
+f 19 22 20
+f 21 30 24
+f 27 31 32
+f 27 32 28
+f 31 33 32
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_360.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_360.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51c27dd66daa271b062c6b09ba03dc96f9f7d18c
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_360.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.00341863 0.04954375 0.12070485
+v -0.00341863 0.01968536 0.12070485
+v -0.00341863 0.04954375 0.11922848
+v -0.05667911 0.04954375 0.12070485
+v -0.00341863 0.01968536 0.11922848
+v -0.05884545 0.01968536 0.12070485
+v -0.05983320 0.04954375 0.11922848
+v -0.05712247 0.04954375 0.12049819
+v -0.05802605 0.04586663 0.12070485
+v -0.06074801 0.01968536 0.11922848
+v -0.05884545 0.01969705 0.12070485
+v -0.06030463 0.04581694 0.11922848
+v -0.05861534 0.03886605 0.12070485
+v -0.06070872 0.02471583 0.11922848
+v -0.05880616 0.02471583 0.12070485
+v -0.06046178 0.04239411 0.11922848
+v -0.05872759 0.03179240 0.12070485
+v -0.06055158 0.03886605 0.11922848
+v -0.06065260 0.03179240 0.11922848
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 17
+f 1 17 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 14
+f 3 14 19
+f 3 19 18
+f 3 18 16
+f 3 16 12
+f 3 12 7
+f 4 8 9
+f 6 11 10
+f 7 12 9
+f 7 9 8
+f 9 12 13
+f 10 11 14
+f 11 15 14
+f 12 16 13
+f 13 16 18
+f 13 18 17
+f 14 15 19
+f 15 17 19
+f 17 18 19
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_363.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_363.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54e0c8ad633fb191ba9f817faf23bd32d9207210
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_363.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.04561717 -0.01551347 -0.09186047
+v 0.04561717 -0.02617633 -0.09186047
+v 0.04561717 -0.01551347 -0.09532560
+v -0.06364407 -0.01551347 -0.09186047
+v 0.04561717 -0.02617633 -0.09532560
+v -0.06360109 -0.02617633 -0.09186047
+v -0.06414907 -0.01551347 -0.09532560
+v -0.06396641 -0.01551347 -0.09374909
+v -0.06394492 -0.02617633 -0.09387054
+v -0.06362258 -0.02092789 -0.09186047
+v -0.06410609 -0.02617633 -0.09532560
+v -0.06411684 -0.02482977 -0.09532560
+v -0.06402013 -0.02617633 -0.09453887
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 13
+f 2 13 11
+f 2 11 5
+f 3 5 11
+f 3 11 12
+f 3 12 7
+f 4 8 9
+f 4 9 10
+f 6 10 9
+f 7 12 9
+f 7 9 8
+f 9 12 13
+f 11 13 12
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_368.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_368.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de5bcb99fd6ffb6c272b0b697872c274216e414d
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_368.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.03539064 -0.00871891 -0.08422119
+v 0.04350961 -0.00872580 -0.08422119
+v 0.03539064 -0.00871891 -0.08137051
+v 0.03539064 0.06167582 -0.08422119
+v 0.04350961 -0.00872580 -0.08137051
+v 0.06204414 -0.00872580 -0.08422119
+v 0.03539064 0.06106938 -0.08137051
+v 0.03896863 0.06102804 -0.08137051
+v 0.03820658 0.06164136 -0.08422119
+v 0.06148304 -0.00872580 -0.08137051
+v 0.06204936 -0.00435671 -0.08422119
+v 0.06149348 -0.00359177 -0.08137051
+v 0.06148826 -0.00720282 -0.08137051
+v 0.04243178 0.06093845 -0.08137051
+v 0.04350700 0.06103493 -0.08195566
+v 0.04350700 0.06134504 -0.08341895
+v 0.03896863 0.06162758 -0.08422119
+v 0.06204936 0.00348560 -0.08422119
+v 0.06149348 0.00348560 -0.08137051
+v 0.04604630 0.06083508 -0.08137051
+v 0.04604630 0.06144151 -0.08422119
+v 0.04350961 0.06151043 -0.08422119
+v 0.06204153 0.01056298 -0.08422119
+v 0.06148304 0.01014261 -0.08137051
+v 0.04950945 0.06026999 -0.08137051
+v 0.05235931 0.06041471 -0.08422119
+v 0.06202065 0.01764035 -0.08422119
+v 0.06147260 0.01402931 -0.08137051
+v 0.05333797 0.05937412 -0.08137051
+v 0.05316573 0.06022175 -0.08422119
+v 0.06199194 0.02395968 -0.08422119
+v 0.06143085 0.02430425 -0.08137051
+v 0.06146216 0.01722687 -0.08137051
+v 0.05747705 0.05737564 -0.08137051
+v 0.05795725 0.05785114 -0.08422119
+v 0.06198672 0.02471773 -0.08422119
+v 0.06194236 0.03101638 -0.08422119
+v 0.06140214 0.02817027 -0.08137051
+v 0.05954921 0.05324775 -0.08137051
+v 0.06038694 0.05306168 -0.08422119
+v 0.06193453 0.03178132 -0.08422119
+v 0.06137343 0.03178132 -0.08137051
+v 0.06051482 0.04940240 -0.08137051
+v 0.06059050 0.05224851 -0.08422119
+v 0.06184841 0.03886558 -0.08422119
+v 0.06133168 0.03524765 -0.08137051
+v 0.06110984 0.04593607 -0.08137051
+v 0.06167616 0.04593607 -0.08422119
+v 0.06128209 0.03886558 -0.08137051
+v 0.06169704 0.04517802 -0.08422119
+v 0.06112028 0.04552259 -0.08137051
+v 0.06119858 0.04232502 -0.08137051
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 17
+f 1 17 22
+f 1 22 21
+f 1 21 26
+f 1 26 30
+f 1 30 35
+f 1 35 40
+f 1 40 44
+f 1 44 48
+f 1 48 50
+f 1 50 45
+f 1 45 41
+f 1 41 37
+f 1 37 36
+f 1 36 31
+f 1 31 27
+f 1 27 23
+f 1 23 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 13
+f 3 13 12
+f 3 12 19
+f 3 19 24
+f 3 24 28
+f 3 28 33
+f 3 33 32
+f 3 32 38
+f 3 38 42
+f 3 42 46
+f 3 46 49
+f 3 49 52
+f 3 52 51
+f 3 51 47
+f 3 47 43
+f 3 43 39
+f 3 39 34
+f 3 34 29
+f 3 29 25
+f 3 25 20
+f 3 20 14
+f 3 14 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 12
+f 6 12 13
+f 6 13 10
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 11 18 19
+f 11 19 12
+f 14 20 15
+f 15 20 21
+f 15 21 16
+f 16 21 22
+f 16 22 17
+f 18 23 19
+f 19 23 24
+f 20 25 26
+f 20 26 21
+f 23 27 28
+f 23 28 24
+f 25 29 26
+f 26 29 30
+f 27 31 32
+f 27 32 33
+f 27 33 28
+f 29 34 30
+f 30 34 35
+f 31 36 32
+f 32 36 37
+f 32 37 38
+f 34 39 40
+f 34 40 35
+f 37 41 42
+f 37 42 38
+f 39 43 40
+f 40 43 44
+f 41 45 46
+f 41 46 42
+f 43 47 48
+f 43 48 44
+f 45 49 46
+f 45 50 49
+f 47 51 50
+f 47 50 48
+f 49 50 52
+f 50 51 52
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_37.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63427538b4285d8ed1cce0dd674c50c326c67c80
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_37.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.05120720 -0.00359245 -0.00251477
+v -0.05120386 -0.00359245 -0.00003561
+v -0.05120386 0.00348036 -0.00003561
+v -0.05120673 0.00348036 -0.00251477
+v -0.05117135 -0.01313821 -0.00251477
+v -0.05117757 -0.01067154 -0.00003561
+v -0.05116322 0.01517187 -0.00251477
+v -0.05118043 0.01055945 -0.00251477
+v -0.05115080 0.01763225 -0.00003561
+v -0.05115701 -0.01693890 -0.00251477
+v -0.05115366 -0.01693890 -0.00003780
+v -0.04632377 -0.01649213 -0.00003561
+v -0.05113646 0.02224468 -0.00251477
+v -0.05112355 0.02473022 -0.00003561
+v -0.04632377 -0.01693890 -0.00251477
+v -0.04632377 -0.01693890 -0.00003585
+v -0.04632377 0.04717568 -0.00003561
+v -0.05112689 0.02471135 -0.00251477
+v -0.05103368 0.03179044 -0.00003561
+v -0.05103703 0.03179044 -0.00251477
+v -0.04632377 0.04734558 -0.00251477
+v -0.04632377 0.04733299 -0.00003780
+v -0.04671909 0.04701207 -0.00003561
+v -0.05082670 0.03886324 -0.00003561
+v -0.05083052 0.03886324 -0.00251477
+v -0.04673534 0.04701207 -0.00251477
+v -0.04673630 0.04699948 -0.00003561
+v -0.05009963 0.04346938 -0.00003561
+v -0.05035681 0.04186478 -0.00251477
+v -0.05010154 0.04347567 -0.00251477
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 7
+f 1 7 13
+f 1 13 18
+f 1 18 20
+f 1 20 25
+f 1 25 29
+f 1 29 30
+f 1 30 26
+f 1 26 21
+f 1 21 15
+f 1 15 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 17
+f 2 17 23
+f 2 23 27
+f 2 27 28
+f 2 28 24
+f 2 24 19
+f 2 19 14
+f 2 14 9
+f 2 9 3
+f 3 7 8
+f 3 8 4
+f 3 9 7
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 7 9 13
+f 9 14 13
+f 10 15 16
+f 10 16 11
+f 11 16 12
+f 12 16 15
+f 12 15 21
+f 12 21 22
+f 12 22 17
+f 13 14 18
+f 14 19 20
+f 14 20 18
+f 17 22 23
+f 19 24 25
+f 19 25 20
+f 21 26 27
+f 21 27 22
+f 22 27 23
+f 24 28 29
+f 24 29 25
+f 26 30 28
+f 26 28 27
+f 28 30 29
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_370.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_370.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a49aaea8aaed4e287a69831affd2a7054802005
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_370.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.05644983 0.00869476 -0.05271974
+v -0.05594314 0.00869476 -0.04960021
+v -0.05625048 0.01129641 -0.05156018
+v -0.05644153 0.01055680 -0.05271974
+v 0.02840833 0.00869476 -0.05271974
+v -0.05593484 0.01055170 -0.04960021
+v 0.02840833 0.00869476 -0.04960021
+v -0.05643322 0.01129641 -0.05271974
+v -0.05592653 0.01129641 -0.04960021
+v 0.02840833 0.01129641 -0.05271974
+v 0.02840833 0.01129641 -0.04960021
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 10
+f 1 10 5
+f 1 5 7
+f 1 7 2
+f 2 6 3
+f 2 7 11
+f 2 11 9
+f 2 9 6
+f 3 8 4
+f 3 6 9
+f 3 9 11
+f 3 11 10
+f 3 10 8
+f 5 10 11
+f 5 11 7
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_371.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_371.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9ed1bb4d4d476c164de7d40d7f6e7c96c197543
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_371.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.04817972 -0.01828318 0.06010702
+v 0.04817972 -0.05802395 0.06010702
+v 0.04817972 -0.01828318 0.05660493
+v 0.00271618 -0.01828318 0.06010702
+v 0.04817972 -0.05749833 0.05660493
+v 0.04604361 -0.05848587 0.06010702
+v 0.00271618 -0.01828318 0.05660493
+v 0.00271618 -0.05895973 0.06010702
+v 0.04604361 -0.05781689 0.05660493
+v 0.04251013 -0.05863321 0.06010702
+v 0.00271618 -0.05833854 0.05660493
+v 0.00358397 -0.05895973 0.06010702
+v 0.00271618 -0.05888408 0.05967745
+v 0.03900335 -0.05810758 0.05660493
+v 0.03896330 -0.05873674 0.06010702
+v 0.00361958 -0.05833854 0.05660493
+v 0.00712636 -0.05894779 0.06010702
+v 0.03541646 -0.05880046 0.06010702
+v 0.03188743 -0.05823102 0.05660493
+v 0.01777575 -0.05828677 0.05660493
+v 0.01065984 -0.05893584 0.06010702
+v 0.03188743 -0.05885222 0.06010702
+v 0.02835840 -0.05886815 0.06010702
+v 0.02485162 -0.05825889 0.05660493
+v 0.02128254 -0.05889602 0.06010702
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 21
+f 1 21 25
+f 1 25 23
+f 1 23 22
+f 1 22 18
+f 1 18 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 5
+f 3 5 9
+f 3 9 14
+f 3 14 19
+f 3 19 24
+f 3 24 20
+f 3 20 16
+f 3 16 11
+f 3 11 7
+f 4 7 11
+f 4 11 13
+f 4 13 8
+f 5 6 9
+f 6 10 9
+f 8 13 12
+f 9 10 14
+f 10 15 14
+f 11 16 13
+f 12 13 16
+f 12 16 17
+f 14 15 18
+f 14 18 19
+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 20 24 23
+f 20 23 25
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_373.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_373.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f60c4786cb87b37625a003dc7a55b2cbb4e5caf
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_373.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.03133936 -0.05643280 0.05070609
+v 0.00460820 -0.05643280 0.05070609
+v -0.03133936 -0.05643280 0.05660378
+v -0.03133936 0.05697172 0.05070609
+v 0.00460820 -0.05643280 0.05660378
+v 0.00460820 0.05708385 0.05070609
+v -0.03133936 0.05154481 0.05660378
+v -0.03133936 0.05800328 0.05660147
+v -0.02490005 0.05700536 0.05070609
+v 0.00460820 0.05710628 0.05660378
+v -0.00393181 0.05708385 0.05070609
+v -0.00350252 0.05811541 0.05660378
+v 0.00460820 0.05810420 0.05659859
+v -0.02476634 0.05802571 0.05660378
+v -0.01765142 0.05805935 0.05660378
+v -0.01791181 0.05703900 0.05070609
+v 0.00357369 0.05810420 0.05660378
+f 1 2 5
+f 1 5 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 6 13
+f 2 13 10
+f 2 10 5
+f 3 5 10
+f 3 10 17
+f 3 17 12
+f 3 12 15
+f 3 15 14
+f 3 14 7
+f 4 8 9
+f 6 11 12
+f 6 12 13
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 10 13 17
+f 11 16 12
+f 12 17 13
+f 12 16 15
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_376.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_376.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1015548978c54f9f1ecdd7b1e4e0df37d0179519
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_376.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.05854220 -0.05845344 -0.09962158
+v -0.02197738 -0.05845344 -0.09962158
+v -0.05854220 -0.05845344 -0.09744964
+v -0.05854220 0.05435320 -0.09962158
+v -0.02197738 -0.05845344 -0.09744964
+v 0.01493266 -0.05844241 -0.09962158
+v -0.05854220 0.05435320 -0.09744964
+v 0.01492546 0.05435320 -0.09962158
+v 0.01493266 -0.05844241 -0.09744964
+v 0.01493266 -0.00471128 -0.09962158
+v 0.01492546 0.05435320 -0.09744964
+v 0.01493266 -0.00471128 -0.09744964
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 12
+f 3 12 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 6 10 12
+f 6 12 9
+f 8 11 12
+f 8 12 10
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_381.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_381.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cadb500d638cf2cea7df18fc73c67b5de3879dbc
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_381.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.05145045 0.00240275 0.00374149
+v -0.05120119 0.00240275 -0.00003561
+v -0.01558522 0.00240275 0.00374149
+v -0.05144694 0.00348350 0.00374149
+v -0.05120119 0.00349889 -0.00003561
+v -0.01558522 0.00240275 -0.00003561
+v -0.01558522 0.04169445 0.00374149
+v -0.05142236 0.01056032 0.00374149
+v -0.05117661 0.01057955 -0.00003561
+v -0.01558522 0.04169445 -0.00003561
+v -0.05055522 0.04169445 0.00374149
+v -0.05140832 0.01434487 0.00374149
+v -0.05136970 0.02471010 0.00374149
+v -0.05112395 0.02471010 -0.00003561
+v -0.05037968 0.04169445 -0.00003561
+v -0.05054820 0.04169445 0.00355145
+v -0.05108533 0.03886757 0.00374149
+v -0.05132406 0.02849850 0.00374149
+v -0.05128193 0.03178691 0.00374149
+v -0.05103267 0.03180614 -0.00003561
+v -0.05082554 0.03886757 -0.00003561
+v -0.05118363 0.03557532 0.00374149
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 17
+f 1 17 22
+f 1 22 19
+f 1 19 18
+f 1 18 13
+f 1 13 12
+f 1 12 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 14
+f 2 14 20
+f 2 20 21
+f 2 21 15
+f 2 15 10
+f 2 10 6
+f 3 6 10
+f 3 10 7
+f 4 8 9
+f 4 9 5
+f 7 10 15
+f 7 15 16
+f 7 16 11
+f 8 12 9
+f 9 12 13
+f 9 13 14
+f 11 16 17
+f 13 18 14
+f 14 18 19
+f 14 19 20
+f 15 21 17
+f 15 17 16
+f 17 21 22
+f 19 22 20
+f 20 22 21
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_383.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_383.obj
new file mode 100644
index 0000000000000000000000000000000000000000..962a1ccc4d85500a380ab0c121b5c6b2e63ccc61
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_383.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.03205330 -0.04222535 -0.05271974
+v 0.05574207 -0.04222535 -0.05271974
+v 0.03205330 -0.04222535 -0.04960021
+v 0.03205330 0.01129666 -0.05271974
+v 0.05609681 -0.03898238 -0.05271974
+v 0.05558018 -0.03898238 -0.04960021
+v 0.05520402 -0.04222535 -0.04960021
+v 0.03205330 0.01129666 -0.04960021
+v 0.05635869 0.01129666 -0.05271974
+v 0.05622537 -0.03190444 -0.05271974
+v 0.05572065 -0.03190444 -0.04960021
+v 0.05585635 0.01129666 -0.04960021
+v 0.05593015 0.01129666 -0.05005091
+v 0.05636108 0.01055272 -0.05271974
+v 0.05629442 -0.02482650 -0.05271974
+v 0.05579207 -0.02482650 -0.04960021
+v 0.05585873 0.01055272 -0.04960021
+v 0.05587064 0.00348002 -0.04960021
+v 0.05637298 0.00348002 -0.05271974
+v 0.05632536 -0.01971320 -0.05271974
+v 0.05583254 -0.01774332 -0.04960021
+v 0.05587064 -0.00359792 -0.04960021
+v 0.05637298 -0.00359792 -0.05271974
+v 0.05633489 -0.01774332 -0.05271974
+v 0.05585873 -0.01067586 -0.04960021
+v 0.05636108 -0.01067586 -0.05271974
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 19
+f 1 19 23
+f 1 23 26
+f 1 26 24
+f 1 24 20
+f 1 20 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 21
+f 3 21 25
+f 3 25 22
+f 3 22 18
+f 3 18 17
+f 3 17 12
+f 3 12 8
+f 4 8 12
+f 4 12 13
+f 4 13 9
+f 5 10 11
+f 5 11 6
+f 9 13 14
+f 10 15 16
+f 10 16 11
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 13 19 14
+f 15 20 16
+f 16 20 21
+f 18 22 23
+f 18 23 19
+f 20 24 21
+f 21 24 26
+f 21 26 25
+f 22 25 26
+f 22 26 23
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_386.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_386.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70dd451cce8023adfccff307ab23c4a6c47fc368
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_386.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.04123087 -0.02498519 0.01408995
+v -0.03301597 -0.02498519 0.01408995
+v -0.04123087 -0.02498519 0.01804271
+v -0.04123087 0.05047754 0.01408995
+v -0.03301597 -0.02498519 0.01804271
+v -0.03301597 0.05104210 0.01408995
+v -0.04123087 0.05124534 0.01804271
+v -0.04123087 0.05091413 0.01409498
+v -0.03888582 0.05133567 0.01408995
+v -0.03301597 0.05191528 0.01804271
+v -0.03301597 0.05148622 0.01409188
+v -0.03888582 0.05176473 0.01804271
+v -0.03575025 0.05184754 0.01804271
+v -0.03301597 0.05156149 0.01477370
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 11
+f 2 11 14
+f 2 14 10
+f 2 10 5
+f 3 5 10
+f 3 10 13
+f 3 13 12
+f 3 12 7
+f 4 8 9
+f 6 9 11
+f 7 12 8
+f 8 12 9
+f 9 12 13
+f 9 13 14
+f 9 14 11
+f 10 14 13
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_389.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_389.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90df959a9bff6ed0d75c487d1760cf7ddc7c38d2
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_389.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.00357608 0.06216504 0.07890897
+v 0.00357608 0.06148621 0.07523697
+v -0.00350307 0.06216504 0.07890897
+v 0.00939789 0.06214312 0.07890897
+v -0.00350307 0.06148621 0.07523697
+v 0.01648761 0.06211633 0.07890897
+v 0.01773439 0.06143264 0.07523697
+v -0.00473928 0.06216078 0.07890897
+v -0.01057166 0.06213886 0.07890897
+v -0.02924161 0.06138880 0.07523697
+v 0.03188213 0.06205789 0.07890897
+v 0.02029134 0.06142290 0.07523697
+v -0.02592391 0.06208041 0.07890897
+v -0.03179855 0.06137906 0.07523697
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+v -0.03179855 0.06205789 0.07890897
+v -0.03632076 0.06132366 0.07523697
+v -0.03297137 0.06204571 0.07890897
+v 0.03896128 0.06128774 0.07523697
+v 0.04600874 0.06179427 0.07890897
+v -0.03887770 0.06128774 0.07523697
+v -0.03887770 0.06197326 0.07890897
+v 0.04604044 0.06110266 0.07523697
+v 0.04857625 0.06137298 0.07890897
+v 0.04857625 0.06129870 0.07850856
+v 0.04604044 0.06158301 0.07779939
+v -0.04339991 0.06117085 0.07523697
+v -0.04033580 0.06193734 0.07890897
+v -0.03986034 0.06194952 0.07890897
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+v 0.04857625 0.05594603 0.07890897
+v -0.04595686 0.06110023 0.07523697
+v -0.04592516 0.06179244 0.07890897
+v 0.04857625 0.05594603 0.07523697
+v -0.05936499 0.05594603 0.07890897
+v -0.04595686 0.06158119 0.07779939
+v -0.05046850 0.06037878 0.07523697
+v -0.05303602 0.06071241 0.07890897
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+v -0.05850915 0.05594603 0.07523697
+v -0.05832953 0.05788631 0.07890897
+v -0.05912197 0.05594603 0.07779939
+v -0.05323676 0.05974684 0.07523697
+v -0.05303602 0.06045002 0.07779939
+v -0.05764275 0.05762087 0.07523697
+v -0.05802312 0.05799590 0.07779939
+v -0.05818161 0.05815297 0.07890897
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+f 1 5 3
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+f 1 25 21
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+f 2 18 14
+f 2 14 10
+f 2 10 5
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+f 21 27 24
+f 22 28 29
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+f 22 30 23
+f 24 27 31
+f 24 31 32
+f 25 33 36
+f 25 36 32
+f 25 32 31
+f 25 31 26
+f 26 31 27
+f 28 34 35
+f 28 35 29
+f 33 37 44
+f 33 44 42
+f 33 42 36
+f 34 38 35
+f 34 39 40
+f 34 40 41
+f 34 41 38
+f 35 38 41
+f 37 43 44
+f 39 45 46
+f 39 46 40
+f 40 46 47
+f 40 47 48
+f 40 48 49
+f 42 44 47
+f 43 49 48
+f 43 48 44
+f 44 48 47
+f 45 47 46
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_39.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65ac39f4e402e790e63607f5039081fc1d66e897
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_39.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.01807974 -0.02129241 0.03180274
+v -0.01807974 -0.02129241 0.03532227
+v -0.01807974 -0.01783110 0.03180274
+v 0.04367429 -0.02129241 0.03180274
+v -0.01807974 -0.01783110 0.03532227
+v 0.04368034 -0.02129241 0.03532227
+v 0.04368034 -0.01783110 0.03180274
+v 0.04368034 -0.02128868 0.03180274
+v 0.04368034 -0.02129241 0.03182789
+v 0.04368034 -0.01783110 0.03532227
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 6 9 8
+f 6 8 7
+f 6 7 10
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_393.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_393.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce466664ef8e3e063e5c975255cb3c7569b2fad4
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_393.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.03187397 0.00240275 0.00374149
+v 0.03188213 -0.00219295 0.00374149
+v 0.03187397 0.00240275 -0.00003561
+v -0.05143432 0.00240275 0.00374149
+v 0.03188213 -0.00219295 -0.00003561
+v 0.03188213 -0.00487288 0.00374149
+v -0.05118961 0.00240275 -0.00003561
+v -0.05127118 0.00240275 0.00120111
+v -0.05145063 -0.00359665 0.00374149
+v 0.03188213 -0.00487288 -0.00003561
+v -0.05143432 -0.00487288 0.00374149
+v -0.05119777 -0.00219295 -0.00003561
+v -0.05119777 -0.00487288 -0.00003561
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 13
+f 3 13 12
+f 3 12 7
+f 4 8 9
+f 6 11 13
+f 6 13 10
+f 7 12 9
+f 7 9 8
+f 9 12 13
+f 9 13 11
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_397.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_397.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f321ce2a996607a77754566db5a8ea07944e725b
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_397.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00353724 -0.00680955 0.03546171
+v 0.00354119 -0.00680955 0.03532262
+v 0.00353724 -0.00680955 0.03857420
+v 0.00353724 0.05387198 0.03532262
+v 0.04389148 -0.00680955 0.03532262
+v 0.04389148 -0.00680955 0.03857420
+v 0.00353724 0.05505279 0.03857420
+v 0.00353724 0.05452597 0.03532294
+v 0.00358069 0.05452597 0.03532262
+v 0.04389148 0.04937885 0.03532262
+v 0.04389148 0.05407786 0.03857420
+v 0.00358069 0.05505279 0.03857420
+v 0.00358069 0.05453203 0.03533439
+v 0.00353724 0.05453808 0.03537673
+v 0.01773786 0.05447752 0.03532262
+v 0.03896570 0.05424136 0.03532262
+v 0.04389148 0.05350260 0.03532644
+v 0.03896570 0.05476819 0.03857420
+v 0.01773786 0.05499829 0.03857420
+v 0.02480854 0.05444725 0.03532262
+v 0.03188712 0.05439275 0.03532262
+v 0.03188712 0.05491957 0.03857420
+v 0.02480854 0.05496802 0.03857420
+f 1 2 5
+f 1 5 6
+f 1 6 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 2
+f 2 4 9
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+f 2 15 20
+f 2 20 21
+f 2 21 16
+f 2 16 10
+f 2 10 5
+f 3 6 11
+f 3 11 18
+f 3 18 22
+f 3 22 23
+f 3 23 19
+f 3 19 12
+f 3 12 7
+f 4 8 9
+f 5 10 17
+f 5 17 11
+f 5 11 6
+f 7 12 13
+f 7 13 14
+f 8 14 13
+f 8 13 9
+f 9 13 15
+f 10 16 17
+f 11 17 16
+f 11 16 18
+f 12 19 15
+f 12 15 13
+f 15 19 23
+f 15 23 20
+f 16 21 22
+f 16 22 18
+f 20 23 22
+f 20 22 21
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_4.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7505c0e797f2f239e87ba9d85b80022f241931ef
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,297 @@
+# https://github.com/mikedh/trimesh
+v 0.03186309 -0.00006559 0.13733325
+v 0.03186309 -0.00006559 0.15224890
+v 0.03186309 0.03179188 0.13733325
+v 0.03187172 -0.05119026 0.13733325
+v 0.03186309 0.03175939 0.15226591
+v 0.03187172 -0.05114152 0.14149916
+v 0.03187172 -0.05052419 0.14913383
+v 0.03187172 -0.04985000 0.15242063
+v 0.03187172 -0.04780306 0.15324192
+v 0.03187172 -0.04703952 0.15352079
+v 0.03187172 -0.04667400 0.15361430
+v 0.03187172 -0.03899799 0.15362450
+v 0.03186309 0.03179188 0.15216728
+v 0.05089179 0.03179188 0.13733325
+v 0.03421309 -0.05074351 0.13733325
+v 0.03753631 -0.05006931 0.14149916
+v 0.03186309 0.03178376 0.15226591
+v 0.03251695 -0.05041860 0.14918484
+v 0.03677456 -0.04989874 0.14723281
+v 0.03529206 -0.04954134 0.15195134
+v 0.03897134 -0.04550432 0.15386426
+v 0.03897134 -0.03898175 0.15470254
+v 0.03896918 0.03179188 0.15370782
+v 0.03189114 0.03179188 0.15226591
+v 0.05131044 0.02887581 0.13733325
+v 0.05084432 0.03179188 0.14149406
+v 0.03757731 -0.05009369 0.13733325
+v 0.04107317 -0.04923267 0.14149916
+v 0.03906845 -0.04899711 0.14918484
+v 0.04414824 -0.04419656 0.15338986
+v 0.04538689 -0.03898175 0.15387275
+v 0.04604291 -0.02483189 0.15419243
+v 0.04604291 -0.01775697 0.15425875
+v 0.04604291 -0.00360711 0.15428765
+v 0.04604291 -0.00007371 0.15428765
+v 0.04604291 0.00347593 0.15428425
+v 0.04604291 0.01763391 0.15424513
+v 0.04604291 0.02470884 0.15416692
+v 0.04660181 0.03179188 0.15357009
+v 0.05186071 0.02470884 0.14150086
+v 0.05190603 0.02470884 0.13733325
+v 0.05083785 0.03179188 0.14159949
+v 0.04111633 -0.04924080 0.13733325
+v 0.04298295 -0.04778682 0.13733325
+v 0.04561779 -0.04569115 0.14149916
+v 0.04528331 -0.04534999 0.14857271
+v 0.04887628 -0.03895738 0.14897739
+v 0.04942224 -0.03500159 0.15160447
+v 0.04990130 -0.03028227 0.15254137
+v 0.05031131 -0.02483189 0.15302428
+v 0.05075153 -0.01775697 0.15345277
+v 0.05105148 -0.01067392 0.15368742
+v 0.05119175 -0.00360711 0.15377753
+v 0.05115506 0.00347593 0.15375713
+v 0.05096516 0.01055086 0.15362961
+v 0.05064363 0.01763391 0.15336095
+v 0.04711540 0.03179188 0.15337965
+v 0.05021420 0.02470884 0.15292055
+v 0.05133417 0.02470884 0.14857440
+v 0.05272604 0.01763391 0.14150086
+v 0.05226209 0.02179276 0.13733325
+v 0.05027894 0.03179188 0.14885667
+v 0.04562858 -0.04569927 0.13733325
+v 0.04771099 -0.04284818 0.13733325
+v 0.04916760 -0.04083373 0.13733325
+v 0.04915465 -0.04078500 0.14149916
+v 0.04983441 -0.03658553 0.14688594
+v 0.05031347 -0.03234545 0.14897739
+v 0.05153270 -0.02483189 0.14857271
+v 0.05241314 -0.01775697 0.14857271
+v 0.05303247 -0.01067392 0.14857271
+v 0.05332163 -0.00360711 0.14857271
+v 0.05328279 -0.00006559 0.14857440
+v 0.05324395 0.00347593 0.14857440
+v 0.05285120 0.01055086 0.14857440
+v 0.05017104 0.03179188 0.14941948
+v 0.04984735 0.02997238 0.15247505
+v 0.05219519 0.01763391 0.14857440
+v 0.05276057 0.01763391 0.13733325
+v 0.05339285 0.01055086 0.14150086
+v 0.05000272 -0.03729221 0.13733325
+v 0.04998114 -0.03724348 0.14149916
+v 0.05097164 -0.03189870 0.14149916
+v 0.05206355 -0.02483189 0.14149916
+v 0.05294831 -0.01775697 0.14149916
+v 0.05358058 -0.01067392 0.14149916
+v 0.05388485 -0.00360711 0.14149916
+v 0.05384386 -0.00006559 0.14150086
+v 0.05380285 0.00347593 0.14150086
+v 0.05303463 0.01471784 0.13733325
+v 0.05341874 0.01055086 0.13733325
+v 0.05061126 -0.03409997 0.13733325
+v 0.05101695 -0.03189870 0.13733325
+v 0.05210671 -0.02483189 0.13733325
+v 0.05298068 -0.01775697 0.13733325
+v 0.05360648 -0.01067392 0.13733325
+v 0.05390644 -0.00360711 0.13733325
+v 0.05386759 -0.00006559 0.13733325
+v 0.05382659 0.00347593 0.13733325
+v 0.05358706 0.00764291 0.13733325
+f 1 2 5
+f 1 5 17
+f 1 17 13
+f 1 13 3
+f 1 3 14
+f 1 14 25
+f 1 25 41
+f 1 41 61
+f 1 61 79
+f 1 79 90
+f 1 90 91
+f 1 91 100
+f 1 100 99
+f 1 99 98
+f 1 98 97
+f 1 97 96
+f 1 96 95
+f 1 95 94
+f 1 94 93
+f 1 93 92
+f 1 92 81
+f 1 81 65
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+f 1 63 44
+f 1 44 43
+f 1 43 27
+f 1 27 15
+f 1 15 4
+f 1 4 2
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+f 2 7 8
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+f 2 10 11
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+f 5 12 17
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+f 9 21 10
+f 10 21 11
+f 11 21 22
+f 11 22 12
+f 12 22 23
+f 12 23 17
+f 13 17 24
+f 14 26 25
+f 15 27 16
+f 16 28 19
+f 16 27 28
+f 17 23 24
+f 18 19 20
+f 19 28 29
+f 19 29 20
+f 20 29 30
+f 20 30 21
+f 21 30 22
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 23
+f 23 38 39
+f 25 40 41
+f 25 26 40
+f 26 42 40
+f 27 43 28
+f 28 43 44
+f 28 44 45
+f 28 45 46
+f 28 46 29
+f 29 46 30
+f 30 46 47
+f 30 47 48
+f 30 48 31
+f 31 48 49
+f 31 49 50
+f 31 50 51
+f 31 51 52
+f 31 52 32
+f 32 52 53
+f 32 53 33
+f 33 53 34
+f 34 53 35
+f 35 53 36
+f 36 53 37
+f 37 54 38
+f 37 53 54
+f 38 54 55
+f 38 55 56
+f 38 56 39
+f 39 56 58
+f 39 58 57
+f 40 42 59
+f 40 59 60
+f 40 60 41
+f 41 60 61
+f 42 62 59
+f 44 63 45
+f 45 63 64
+f 45 64 65
+f 45 65 66
+f 45 66 46
+f 46 66 47
+f 47 67 48
+f 47 66 67
+f 48 67 68
+f 48 68 69
+f 48 69 49
+f 49 69 70
+f 49 70 50
+f 50 70 71
+f 50 71 51
+f 51 71 52
+f 52 71 72
+f 52 72 53
+f 53 72 54
+f 54 73 74
+f 54 74 55
+f 54 72 73
+f 55 74 75
+f 55 75 56
+f 56 75 58
+f 57 58 77
+f 57 77 76
+f 58 75 78
+f 58 78 77
+f 59 77 78
+f 59 78 60
+f 59 62 77
+f 60 79 61
+f 60 78 80
+f 60 80 79
+f 62 76 77
+f 65 81 66
+f 66 81 82
+f 66 82 67
+f 67 82 83
+f 67 83 69
+f 67 69 68
+f 69 83 84
+f 69 84 85
+f 69 85 70
+f 70 85 86
+f 70 86 71
+f 71 86 87
+f 71 87 72
+f 72 87 73
+f 73 87 74
+f 74 87 88
+f 74 88 89
+f 74 89 75
+f 75 89 80
+f 75 80 78
+f 79 80 90
+f 80 91 90
+f 80 89 91
+f 81 92 82
+f 82 92 83
+f 83 93 84
+f 83 92 93
+f 84 94 85
+f 84 93 94
+f 85 95 86
+f 85 94 95
+f 86 95 96
+f 86 96 87
+f 87 97 98
+f 87 98 88
+f 87 96 97
+f 88 98 99
+f 88 99 89
+f 89 99 100
+f 89 100 91
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_402.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_402.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76b617decbe18cf842572818cf71a48fae8bfaa2
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_402.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.06394587 0.05355894 -0.10105599
+v 0.06369420 0.05355894 -0.09962159
+v 0.06390812 0.05178736 -0.09962159
+v 0.06400879 0.05302284 -0.10105599
+v -0.06377608 0.05355894 -0.10105599
+v -0.06338599 0.05355894 -0.09962159
+v 0.06408429 0.04895096 -0.09962159
+v 0.06431079 0.04853438 -0.10105599
+v -0.06388933 0.05328105 -0.10105599
+v -0.06367541 0.05302284 -0.09962159
+v 0.06410946 0.04853438 -0.09962159
+v -0.06424167 0.04853438 -0.10105599
+v -0.06392708 0.05302284 -0.10105599
+v -0.06402775 0.04910293 -0.09962159
+v -0.06407808 0.04853438 -0.09962159
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 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 15
+f 2 15 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 8
+f 8 11 15
+f 8 15 12
+f 9 13 10
+f 10 13 14
+f 12 15 13
+f 13 15 14
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_405.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_405.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2926df4fdd4437487c61498e8d4a69fc3ba9576
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_405.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00839763 0.06534370 0.10880678
+v 0.01052070 0.06533587 0.10880678
+v 0.00839763 0.06564880 0.10610964
+v 0.00839763 -0.01427175 0.10880678
+v 0.01052070 0.06562533 0.10624648
+v 0.01052070 -0.01427175 0.10880678
+v 0.01052070 0.06563315 0.10616162
+v 0.01052070 0.06563315 0.10610964
+v 0.01052070 0.06539846 0.10338864
+v 0.00839763 0.06540628 0.10338864
+v 0.00839763 -0.01427175 0.10338864
+v 0.01052070 -0.01427175 0.10338864
+f 1 2 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 9
+f 2 9 8
+f 2 8 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 4 12 6
+f 9 12 11
+f 9 11 10
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_408.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_408.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6e6d54a4ddd713d6cdd6622410042607746b1db
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_408.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v -0.06565363 -0.00358218 -0.12173837
+v -0.06465970 -0.00358218 -0.12523357
+v -0.06460917 -0.03190410 -0.12518088
+v -0.06564801 -0.00557435 -0.12173837
+v -0.04781914 -0.03551205 -0.12173771
+v -0.06565363 0.00349601 -0.12173837
+v -0.06465690 0.00349601 -0.12523291
+v -0.06020670 0.00363372 -0.12846467
+v -0.06020950 -0.00344447 -0.12846467
+v -0.06020950 -0.00358218 -0.12846467
+v -0.06013089 -0.03190410 -0.12846467
+v -0.06231528 -0.03552123 -0.12684386
+v -0.06459794 -0.03552123 -0.12516574
+v -0.06556098 -0.03190410 -0.12173837
+v -0.06557782 -0.02683645 -0.12173837
+v -0.06554132 -0.03552123 -0.12173837
+v -0.03697020 -0.03551205 -0.12173771
+v -0.04781914 0.05826703 -0.12173771
+v -0.06558063 0.02470303 -0.12173837
+v -0.06460636 0.03178121 -0.12517232
+v -0.06464566 0.01056501 -0.12521843
+v -0.06011404 0.03178121 -0.12845875
+v -0.06013089 0.02473057 -0.12846467
+v -0.04781914 0.05826703 -0.12846533
+v -0.04781914 -0.03551205 -0.12846533
+v -0.06011404 -0.03394218 -0.12846467
+v -0.06011404 -0.03552123 -0.12845678
+v -0.06524651 -0.03552123 -0.12281320
+v -0.04781914 -0.03552123 -0.12173837
+v -0.03697020 -0.03551205 -0.12846533
+v -0.03697020 0.05826703 -0.12173771
+v -0.06367701 0.05826703 -0.12173837
+v -0.06432559 0.05781718 -0.12173837
+v -0.06512017 0.05301577 -0.12173837
+v -0.06538409 0.04592841 -0.12173837
+v -0.06551044 0.03885940 -0.12173837
+v -0.06555536 0.03178121 -0.12173837
+v -0.06458109 0.03885940 -0.12514071
+v -0.06011404 0.03885940 -0.12841660
+v -0.06010281 0.03178121 -0.12846467
+v -0.06011404 0.02933919 -0.12846467
+v -0.05319307 0.05826703 -0.12846467
+v -0.03697020 0.05826703 -0.12846533
+v -0.06001578 0.03885940 -0.12846467
+v -0.05981362 0.04548774 -0.12846467
+v -0.05977150 0.04592841 -0.12846467
+v -0.05901343 0.05157443 -0.12846467
+v -0.05849681 0.05296069 -0.12846467
+v -0.05575089 0.05573321 -0.12846467
+v -0.06009720 -0.03552123 -0.12846467
+v -0.04781914 -0.03552123 -0.12846467
+v -0.06247251 0.05826703 -0.12488451
+v -0.06405605 0.05731226 -0.12441361
+v -0.06435647 0.05301577 -0.12483050
+v -0.06424978 0.05453974 -0.12468364
+v -0.06451089 0.04592841 -0.12505772
+v -0.06011404 0.04592841 -0.12831386
+v -0.05828062 0.05826703 -0.12673716
+v -0.06011404 0.05301577 -0.12789169
+v -0.06005789 0.05453974 -0.12739576
+v -0.05991750 0.05826703 -0.12617735
+v -0.06150947 0.05453974 -0.12666010
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 18
+f 1 18 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 11
+f 2 11 3
+f 3 12 13
+f 3 13 14
+f 3 14 15
+f 3 15 4
+f 3 11 12
+f 4 15 5
+f 5 15 14
+f 5 14 16
+f 5 16 29
+f 5 29 17
+f 5 17 31
+f 5 31 18
+f 6 19 20
+f 6 20 21
+f 6 21 7
+f 6 18 19
+f 7 21 22
+f 7 22 8
+f 8 22 23
+f 8 23 24
+f 8 24 9
+f 9 24 25
+f 9 25 10
+f 10 25 11
+f 11 25 26
+f 11 26 27
+f 11 27 12
+f 12 27 50
+f 12 50 51
+f 12 51 29
+f 12 29 16
+f 12 16 28
+f 12 28 13
+f 13 28 14
+f 14 28 16
+f 17 29 51
+f 17 51 30
+f 17 30 43
+f 17 43 31
+f 18 31 43
+f 18 43 24
+f 18 24 42
+f 18 42 58
+f 18 58 61
+f 18 61 52
+f 18 52 32
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 36
+f 18 36 37
+f 18 37 19
+f 19 37 20
+f 20 38 39
+f 20 39 22
+f 20 22 21
+f 20 37 38
+f 22 40 41
+f 22 41 23
+f 22 39 40
+f 23 41 24
+f 24 43 30
+f 24 30 25
+f 24 41 40
+f 24 40 44
+f 24 44 45
+f 24 45 46
+f 24 46 47
+f 24 47 48
+f 24 48 49
+f 24 49 42
+f 25 30 51
+f 25 51 50
+f 25 50 26
+f 26 50 27
+f 32 52 53
+f 32 53 33
+f 33 53 34
+f 34 54 35
+f 34 53 55
+f 34 55 54
+f 35 54 56
+f 35 56 36
+f 36 56 38
+f 36 38 37
+f 38 56 57
+f 38 57 39
+f 39 44 40
+f 39 57 44
+f 42 49 58
+f 44 57 45
+f 45 57 46
+f 46 57 47
+f 47 59 48
+f 47 57 59
+f 48 59 60
+f 48 60 49
+f 49 60 61
+f 49 61 58
+f 52 61 53
+f 53 61 60
+f 53 60 62
+f 53 62 55
+f 54 55 59
+f 54 59 57
+f 54 57 56
+f 55 62 59
+f 59 62 60
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_410.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_410.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16f332ff1a5661fd48a6a96a262f1157ed35d886
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_410.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.03301517 -0.02498519 0.01408995
+v 0.01964868 -0.02498519 0.01408995
+v -0.03301517 -0.02498519 0.01804271
+v -0.03301517 0.05104039 0.01408995
+v 0.01964868 -0.02498519 0.01804271
+v 0.01964868 0.05048954 0.01408995
+v -0.03301517 0.05190818 0.01804271
+v -0.03301517 0.05148561 0.01409188
+v -0.03180374 0.05151579 0.01408995
+v 0.01964868 0.05203646 0.01804271
+v 0.01964868 0.05161389 0.01409885
+v 0.01773100 0.05162143 0.01408995
+v -0.03180374 0.05193837 0.01804271
+v -0.02472587 0.05159125 0.01408995
+v -0.02869525 0.05197609 0.01804271
+v 0.01065314 0.05165162 0.01408995
+v 0.01065314 0.05207419 0.01804271
+v -0.02472587 0.05201382 0.01804271
+v -0.02159161 0.05202892 0.01804271
+v -0.01057530 0.05165162 0.01408995
+v 0.00357528 0.05167425 0.01408995
+v 0.00357528 0.05168180 0.01410194
+v 0.00357528 0.05209683 0.01804271
+v -0.00350259 0.05209683 0.01804271
+v -0.00350259 0.05167425 0.01408995
+v -0.00038895 0.05210438 0.01804271
+v -0.00036317 0.05210438 0.01804271
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 20
+f 1 20 25
+f 1 25 21
+f 1 21 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 10
+f 2 10 5
+f 3 5 10
+f 3 10 17
+f 3 17 23
+f 3 23 27
+f 3 27 26
+f 3 26 24
+f 3 24 19
+f 3 19 18
+f 3 18 15
+f 3 15 13
+f 3 13 7
+f 4 8 9
+f 6 12 11
+f 7 13 9
+f 7 9 8
+f 9 13 15
+f 9 15 14
+f 10 11 12
+f 10 12 16
+f 10 16 17
+f 14 15 18
+f 14 18 19
+f 14 19 20
+f 16 21 22
+f 16 22 17
+f 17 22 23
+f 19 24 20
+f 20 24 25
+f 21 25 22
+f 22 25 26
+f 22 26 27
+f 22 27 23
+f 24 26 25
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_416.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_416.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1217c70631a86f44926231d1eb38eeaa62c6b35c
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_416.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.02166500 -0.05534515 -0.07082571
+v 0.02166500 -0.05805296 -0.07082571
+v 0.02166500 -0.05534515 -0.07567317
+v -0.05407299 -0.05534515 -0.07082571
+v 0.02166500 -0.05920754 -0.07082998
+v 0.01773056 -0.05922133 -0.07082571
+v 0.02166500 -0.06013757 -0.07567317
+v -0.05683939 -0.05534515 -0.07567317
+v -0.05516418 -0.05534515 -0.07082998
+v -0.05514113 -0.05538083 -0.07082571
+v 0.02166500 -0.05957099 -0.07272227
+v 0.00357579 -0.05927366 -0.07082571
+v 0.00357579 -0.05927461 -0.07082998
+v 0.00357579 -0.06020465 -0.07567317
+v -0.05666265 -0.05567482 -0.07567317
+v -0.05614010 -0.05629136 -0.07508717
+v -0.05159859 -0.05768665 -0.07082571
+v -0.00350159 -0.05927318 -0.07082571
+v -0.00128847 -0.06020417 -0.07567317
+v -0.05626306 -0.05640934 -0.07567317
+v -0.05294337 -0.05818521 -0.07567317
+v -0.04595820 -0.05977888 -0.07567317
+v -0.04595820 -0.05882268 -0.07082998
+v -0.04595820 -0.05882172 -0.07082571
+v -0.00350159 -0.06020370 -0.07567317
+v -0.02472606 -0.05919088 -0.07082571
+v -0.00836585 -0.06018514 -0.07567317
+v -0.04374508 -0.05985023 -0.07567317
+v -0.03888082 -0.05905055 -0.07082998
+v -0.03888082 -0.05904960 -0.07082571
+v -0.03180344 -0.05916281 -0.07082571
+v -0.03180344 -0.05916377 -0.07082998
+v -0.03180344 -0.06009380 -0.07567317
+v -0.01764867 -0.06014899 -0.07567317
+v -0.03888082 -0.05998867 -0.07567317
+v -0.03664465 -0.06002435 -0.07567317
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 24
+f 1 24 30
+f 1 30 31
+f 1 31 26
+f 1 26 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 14
+f 3 14 19
+f 3 19 25
+f 3 25 27
+f 3 27 34
+f 3 34 33
+f 3 33 36
+f 3 36 35
+f 3 35 28
+f 3 28 22
+f 3 22 21
+f 3 21 20
+f 3 20 15
+f 3 15 8
+f 4 9 10
+f 5 6 11
+f 6 12 13
+f 6 13 11
+f 7 11 14
+f 8 15 16
+f 8 16 9
+f 9 16 10
+f 10 16 17
+f 11 13 14
+f 12 18 13
+f 13 18 14
+f 14 18 19
+f 15 20 16
+f 16 20 17
+f 17 20 21
+f 17 21 22
+f 17 22 23
+f 17 23 24
+f 18 25 19
+f 18 26 27
+f 18 27 25
+f 22 28 23
+f 23 28 29
+f 23 29 30
+f 23 30 24
+f 26 31 32
+f 26 32 33
+f 26 33 34
+f 26 34 27
+f 28 35 29
+f 29 32 31
+f 29 31 30
+f 29 35 32
+f 32 35 36
+f 32 36 33
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_419.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_419.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e05783794fc7ad13faa71ff265270e638a3e29b3
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_419.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.04678208 -0.06366681 0.08826877
+v 0.04678208 -0.06326824 0.08554910
+v 0.04919586 -0.06371663 0.08826877
+v 0.04678208 0.06352486 0.08826877
+v 0.04678208 -0.06321843 0.08533917
+v 0.05316705 -0.06242130 0.08533917
+v 0.05345313 -0.06295687 0.08826877
+v 0.04761491 0.06348750 0.08826877
+v 0.04678208 0.06328822 0.08699569
+v 0.04678208 0.06290211 0.08533917
+v 0.05639577 -0.06067758 0.08533917
+v 0.05615486 -0.06130034 0.08826877
+v 0.05639577 -0.06112597 0.08805826
+v 0.04797344 0.06345014 0.08826877
+v 0.05253279 0.06226689 0.08533917
+v 0.05639577 0.06047336 0.08533917
+v 0.05635624 -0.06117579 0.08826877
+v 0.05639577 -0.06115087 0.08826877
+v 0.04879309 0.06335049 0.08826877
+v 0.05315011 0.06217971 0.08533917
+v 0.05300990 0.06276510 0.08826877
+v 0.05639577 0.06074737 0.08659188
+v 0.05639577 0.06109611 0.08826877
+v 0.05332515 0.06271528 0.08826877
+v 0.05615580 0.06123313 0.08826877
+v 0.05639577 0.06104629 0.08799201
+v 0.05639577 0.06107121 0.08811189
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 17
+f 1 17 18
+f 1 18 23
+f 1 23 25
+f 1 25 24
+f 1 24 21
+f 1 21 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 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 9
+f 5 10 15
+f 5 15 20
+f 5 20 16
+f 5 16 11
+f 5 11 6
+f 6 11 7
+f 7 11 13
+f 7 13 12
+f 8 14 9
+f 9 14 15
+f 9 15 10
+f 11 16 22
+f 11 22 26
+f 11 26 27
+f 11 27 23
+f 11 23 18
+f 11 18 13
+f 12 13 17
+f 13 18 17
+f 14 19 15
+f 15 19 21
+f 15 21 20
+f 16 20 22
+f 20 21 24
+f 20 24 25
+f 20 25 22
+f 22 25 26
+f 23 27 25
+f 25 27 26
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_420.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_420.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55ea3e46d5df4f2492563603913afaa00da8e6c8
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_420.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.04289859 -0.01480484 0.02113501
+v 0.04289859 -0.05140713 0.02113501
+v 0.04289859 -0.01480484 0.01804301
+v -0.02358815 -0.01480484 0.02113501
+v 0.03896119 -0.05230700 0.02113501
+v 0.04289859 -0.05107754 0.01804301
+v -0.02358815 -0.01480484 0.01804301
+v -0.02358815 -0.05255882 0.02113501
+v 0.03188688 -0.05248105 0.02113501
+v 0.03583079 -0.05205149 0.01804301
+v 0.03896119 -0.05197002 0.01804301
+v -0.02358815 -0.05222554 0.01804301
+v -0.00353670 -0.05263659 0.02113501
+v -0.02078316 -0.05223665 0.01804301
+v -0.00662805 -0.05229219 0.01804301
+v 0.02877601 -0.05218110 0.01804301
+v 0.03188688 -0.05214407 0.01804301
+v 0.02480607 -0.05255512 0.02113501
+v -0.00349765 -0.05230330 0.01804301
+v 0.00358316 -0.05263659 0.02113501
+v 0.02480607 -0.05222183 0.01804301
+v 0.01064445 -0.05227738 0.01804301
+v 0.00358316 -0.05230330 0.01804301
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 20
+f 1 20 18
+f 1 18 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 6 11
+f 3 11 10
+f 3 10 17
+f 3 17 16
+f 3 16 21
+f 3 21 22
+f 3 22 23
+f 3 23 19
+f 3 19 15
+f 3 15 14
+f 3 14 12
+f 3 12 7
+f 4 7 12
+f 4 12 8
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 8 12 14
+f 8 14 15
+f 8 15 13
+f 9 16 17
+f 9 17 10
+f 9 18 16
+f 13 15 19
+f 13 19 23
+f 13 23 20
+f 16 18 21
+f 18 20 22
+f 18 22 21
+f 20 23 22
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_422.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_422.obj
new file mode 100644
index 0000000000000000000000000000000000000000..334bbc8dd8bd8dbd5d5f190a289cff899b2d9dfa
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_422.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.05110031 -0.03504437 -0.00470521
+v 0.05100538 -0.03898883 -0.00470521
+v 0.05101131 -0.03899105 -0.00712271
+v 0.05110031 -0.03504437 -0.00712271
+v -0.00950084 -0.03504437 -0.00470521
+v 0.05072062 -0.04078287 -0.00470521
+v 0.05072655 -0.04078287 -0.00712271
+v -0.00950084 -0.03504437 -0.00712271
+v -0.00950677 -0.04078287 -0.00470521
+v 0.05024602 -0.04368810 -0.00470521
+v 0.05024602 -0.04369363 -0.00712271
+v -0.00950677 -0.04078287 -0.00712271
+v -0.00950677 -0.04635094 -0.00470521
+v 0.04770688 -0.04635094 -0.00470521
+v 0.04771281 -0.04635094 -0.00597383
+v 0.04771281 -0.04635094 -0.00712271
+v -0.00950677 -0.04635094 -0.00712271
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 13
+f 1 13 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 11
+f 3 11 16
+f 3 16 17
+f 3 17 12
+f 3 12 8
+f 3 8 4
+f 5 8 12
+f 5 12 9
+f 6 10 7
+f 7 10 11
+f 9 12 17
+f 9 17 13
+f 10 14 15
+f 10 15 11
+f 11 15 16
+f 13 17 16
+f 13 16 15
+f 13 15 14
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_424.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_424.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcef8f3ccb87329e2187840fd455ee51aa114d8d
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_424.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.03549099 -0.03552123 -0.12325547
+v 0.03549099 -0.05630899 -0.12325547
+v 0.03549099 -0.03552123 -0.12846599
+v -0.06511951 -0.03552123 -0.12325547
+v 0.03549099 -0.05630899 -0.12846599
+v -0.06443985 -0.05630899 -0.12325547
+v -0.06009588 -0.03552123 -0.12846599
+v -0.06459745 -0.03552123 -0.12516657
+v -0.06511951 -0.03617854 -0.12325547
+v -0.05535791 -0.05630899 -0.12846599
+v -0.06445955 -0.05620113 -0.12325547
+v -0.06442999 -0.05630899 -0.12335799
+v -0.06005648 -0.03898687 -0.12846599
+v -0.06011558 -0.03552123 -0.12845732
+v -0.06458760 -0.03898687 -0.12515127
+v -0.06231219 -0.03552123 -0.12684458
+v -0.06011558 -0.03898687 -0.12843845
+v -0.06510966 -0.03761120 -0.12325547
+v -0.05999738 -0.05630899 -0.12687825
+v -0.05857894 -0.05309365 -0.12846599
+v -0.06475505 -0.05314046 -0.12325547
+v -0.06436104 -0.05314046 -0.12484065
+v -0.06413449 -0.05630899 -0.12453005
+v -0.05982993 -0.04606265 -0.12846599
+v -0.06011558 -0.04606265 -0.12833899
+v -0.06505056 -0.04333165 -0.12325547
+v -0.06509981 -0.03898687 -0.12325547
+v -0.06451865 -0.04606265 -0.12506762
+v -0.06011558 -0.05314046 -0.12791974
+v -0.06485356 -0.05062924 -0.12325547
+v -0.06499146 -0.04606265 -0.12325547
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 14
+f 1 14 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 27
+f 1 27 26
+f 1 26 31
+f 1 31 30
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+f 1 21 11
+f 1 11 6
+f 1 6 2
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+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 14
+f 8 15 9
+f 8 16 17
+f 8 17 15
+f 9 15 18
+f 10 19 20
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 13 24 25
+f 13 25 17
+f 13 17 14
+f 14 17 16
+f 15 26 27
+f 15 27 18
+f 15 17 25
+f 15 25 28
+f 15 28 26
+f 19 23 29
+f 19 29 20
+f 20 29 24
+f 21 30 22
+f 22 28 25
+f 22 25 29
+f 22 29 23
+f 22 30 28
+f 24 29 25
+f 26 28 31
+f 28 30 31
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_425.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_425.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66849ea6ccb38adf011a08eb27ad7e8adeff7ce2
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_425.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.05643833 -0.06129664 0.08826877
+v -0.05643833 -0.06124689 0.08801036
+v -0.05622495 -0.06142103 0.08826877
+v -0.05643833 0.06090134 0.08826877
+v -0.05340359 -0.06292612 0.08826877
+v -0.05643833 -0.06061251 0.08533917
+v -0.05326845 0.06272984 0.08826877
+v -0.05643833 0.06088891 0.08814974
+v -0.05308984 -0.06239125 0.08533917
+v -0.05255639 -0.06249076 0.08533917
+v -0.04952007 -0.06364756 0.08826877
+v -0.05643833 0.06042868 0.08533917
+v -0.04836466 0.06333934 0.08826877
+v -0.05307166 0.06220741 0.08533917
+v -0.04836466 -0.06300075 0.08533917
+v -0.04905222 -0.06370976 0.08826877
+v -0.04836466 0.06271740 0.08533917
+v -0.04836466 -0.06373463 0.08826877
+v -0.04836466 -0.06352317 0.08727502
+v -0.04836466 -0.06357292 0.08748438
+f 1 2 3
+f 1 3 5
+f 1 5 11
+f 1 11 16
+f 1 16 18
+f 1 18 13
+f 1 13 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 5 6 9
+f 6 12 14
+f 6 14 17
+f 6 17 15
+f 6 15 10
+f 6 10 9
+f 7 13 14
+f 7 14 12
+f 7 12 8
+f 10 15 16
+f 10 16 11
+f 13 17 14
+f 13 18 20
+f 13 20 19
+f 13 19 15
+f 13 15 17
+f 15 19 16
+f 16 19 20
+f 16 20 18
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_43.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e3390ac45748427aafc3278ebf89fecfb457d49
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_43.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.00357220 0.05384070 -0.03819997
+v -0.00348826 0.05383965 -0.03819997
+v -0.00349864 0.05343892 -0.03542896
+v 0.00356182 0.05343892 -0.03542896
+v 0.01771389 0.05338661 -0.03542896
+v 0.02478473 0.05336045 -0.03542896
+v 0.02480550 0.05376118 -0.03819997
+v -0.01056948 0.05381245 -0.03819997
+v -0.01056948 0.05341172 -0.03542896
+v 0.03186596 0.05329454 -0.03542896
+v 0.03187634 0.05369840 -0.03819997
+v 0.02756738 0.05373816 -0.03819997
+v -0.02472155 0.05375700 -0.03819997
+v -0.02473194 0.05335627 -0.03542896
+v 0.03893680 0.05313341 -0.03542896
+v 0.03895757 0.05354146 -0.03819997
+v 0.03463823 0.05363981 -0.03819997
+v -0.03180278 0.05369317 -0.03819997
+v -0.03180278 0.05329035 -0.03544197
+v -0.03181316 0.05328826 -0.03542896
+v 0.03895757 0.05313445 -0.03544197
+v 0.04601802 0.05176276 -0.03542896
+v 0.04171945 0.05312085 -0.03819997
+v -0.03887362 0.05353309 -0.03819997
+v -0.03887362 0.05312399 -0.03542896
+v 0.05008817 0.04998406 -0.03542896
+v 0.05008817 0.04999139 -0.03544197
+v 0.04602841 0.05176171 -0.03544197
+v 0.04602841 0.05228277 -0.03819997
+v -0.04595485 0.05228800 -0.03819997
+v -0.03889439 0.05312085 -0.03542896
+v 0.05041005 0.04930606 -0.03544197
+v 0.05197789 0.04594746 -0.03542896
+v 0.05248665 0.04594641 -0.03819997
+v 0.05042043 0.05030841 -0.03819997
+v -0.04843639 0.05121032 -0.03819997
+v -0.05002499 0.05000289 -0.03544197
+v -0.04595485 0.05176904 -0.03544197
+v -0.04596523 0.05176171 -0.03542896
+v 0.05197789 0.04593281 -0.03542896
+v 0.05256972 0.04315176 -0.03544197
+v 0.05308887 0.04315176 -0.03819997
+v -0.05034687 0.05031887 -0.03819997
+v -0.05001461 0.05000185 -0.03542896
+v -0.05059606 0.04930606 -0.03665796
+v -0.05036764 0.04930606 -0.03544197
+v 0.05143797 0.04315176 -0.03542896
+v -0.05298416 0.04315176 -0.03819997
+v -0.05086602 0.04930606 -0.03819997
+v -0.05197701 0.04594641 -0.03544197
+v -0.05195624 0.04594746 -0.03542896
+v -0.05131249 0.04842195 -0.03819997
+v -0.05145785 0.04315176 -0.03542896
+v -0.05257922 0.04315176 -0.03544197
+v -0.05249616 0.04594641 -0.03819997
+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 11
+f 1 11 17
+f 1 17 16
+f 1 16 23
+f 1 23 29
+f 1 29 35
+f 1 35 34
+f 1 34 42
+f 1 42 48
+f 1 48 55
+f 1 55 52
+f 1 52 49
+f 1 49 43
+f 1 43 36
+f 1 36 30
+f 1 30 24
+f 1 24 18
+f 1 18 13
+f 1 13 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 14
+f 3 14 20
+f 3 20 25
+f 3 25 31
+f 3 31 39
+f 3 39 44
+f 3 44 51
+f 3 51 53
+f 3 53 47
+f 3 47 40
+f 3 40 33
+f 3 33 26
+f 3 26 22
+f 3 22 15
+f 3 15 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 8 13 14
+f 8 14 9
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 13 18 14
+f 14 18 19
+f 14 19 20
+f 15 21 16
+f 15 22 21
+f 16 21 23
+f 18 24 20
+f 18 20 19
+f 20 24 25
+f 21 22 23
+f 22 26 27
+f 22 27 28
+f 22 28 29
+f 22 29 23
+f 24 30 31
+f 24 31 25
+f 26 32 27
+f 26 33 32
+f 27 32 34
+f 27 34 35
+f 27 35 29
+f 27 29 28
+f 30 36 37
+f 30 37 38
+f 30 38 31
+f 31 38 39
+f 32 33 34
+f 33 40 41
+f 33 41 42
+f 33 42 34
+f 36 43 37
+f 37 44 39
+f 37 39 38
+f 37 43 45
+f 37 45 46
+f 37 46 44
+f 40 47 41
+f 41 47 53
+f 41 53 54
+f 41 54 48
+f 41 48 42
+f 43 49 45
+f 44 46 50
+f 44 50 51
+f 45 49 52
+f 45 52 46
+f 46 52 50
+f 48 54 55
+f 50 52 55
+f 50 55 54
+f 50 54 51
+f 51 54 53
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_432.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_432.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fb2ebfa76064ef05c30493492804f2b76bed740
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_432.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.00171772 -0.00151540 0.07523696
+v -0.00171182 -0.00525439 0.07523696
+v -0.00171772 -0.00151540 0.07314953
+v -0.06196114 -0.00151540 0.07523696
+v -0.00170592 -0.04785894 0.07523696
+v -0.00171182 -0.00525439 0.07314953
+v -0.06157179 -0.00151540 0.07314953
+v -0.06197294 -0.00360316 0.07523696
+v -0.00170592 -0.04785894 0.07314953
+v -0.00170592 -0.04998941 0.07523696
+v -0.06157179 -0.00525439 0.07314953
+v -0.06148330 -0.03190181 0.07314953
+v -0.06187266 -0.03155069 0.07523696
+v -0.00170592 -0.04998941 0.07314953
+v -0.06062791 -0.04998941 0.07523696
+v -0.06146561 -0.03328258 0.07314953
+v -0.06177237 -0.03898122 0.07523696
+v -0.06138892 -0.03898122 0.07314953
+v -0.06013237 -0.04998941 0.07314953
+v -0.06069870 -0.04785894 0.07314953
+v -0.06156000 -0.04605588 0.07523696
+v -0.06116474 -0.04605588 0.07314953
+v -0.06170158 -0.04154347 0.07523696
+v -0.06124733 -0.04362649 0.07314953
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 17
+f 1 17 23
+f 1 23 21
+f 1 21 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 3 6 9
+f 3 9 14
+f 3 14 19
+f 3 19 20
+f 3 20 22
+f 3 22 24
+f 3 24 18
+f 3 18 16
+f 3 16 12
+f 3 12 11
+f 3 11 7
+f 4 7 8
+f 5 10 14
+f 5 14 9
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 10 15 19
+f 10 19 14
+f 12 16 13
+f 13 16 18
+f 13 18 17
+f 15 20 19
+f 15 21 22
+f 15 22 20
+f 17 18 23
+f 18 24 23
+f 21 23 24
+f 21 24 22
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_433.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_433.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ee40132939c09b2232208483a032f4f0bbfed9a
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_433.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.06481767 0.00305105 -0.10105599
+v 0.06465270 0.00305105 -0.09962159
+v 0.06465270 -0.00359765 -0.09962159
+v 0.06480498 -0.00542404 -0.10105599
+v -0.06482268 0.00305105 -0.10105599
+v -0.06467040 0.00305105 -0.09962159
+v 0.06462732 -0.01067891 -0.09962159
+v 0.06476691 -0.01624219 -0.10102398
+v 0.06470346 -0.00542404 -0.10012860
+v 0.06479229 -0.00914090 -0.10105599
+v -0.06480999 -0.00542404 -0.10105599
+v -0.06467040 -0.00542404 -0.09962159
+v 0.06460194 -0.01727554 -0.09962159
+v 0.06476691 -0.01624219 -0.10105599
+v 0.06456387 -0.02624728 -0.09962159
+v 0.06472884 -0.02482943 -0.10105599
+v -0.06472116 -0.02520592 -0.10105599
+v -0.06467040 -0.02624728 -0.10056064
+v -0.06464502 -0.01115954 -0.09962159
+v 0.06452580 -0.03190268 -0.09962159
+v 0.06469077 -0.03036467 -0.10105599
+v -0.06468309 -0.03228318 -0.10105599
+v -0.06454350 -0.03190268 -0.09962159
+v -0.06458157 -0.02530605 -0.09962159
+v 0.06446235 -0.03786648 -0.09962159
+v 0.06456387 -0.03786648 -0.10048426
+v 0.06462732 -0.03786648 -0.10105599
+v 0.06467808 -0.03190268 -0.10105599
+v -0.06467040 -0.03381719 -0.10105599
+v -0.06463233 -0.03786648 -0.10105599
+v -0.06451812 -0.03786648 -0.09993245
+v -0.06448005 -0.03786648 -0.09962159
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 14
+f 1 14 16
+f 1 16 21
+f 1 21 28
+f 1 28 27
+f 1 27 30
+f 1 30 29
+f 1 29 22
+f 1 22 17
+f 1 17 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 32
+f 2 32 25
+f 2 25 20
+f 2 20 15
+f 2 15 13
+f 2 13 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 8
+f 4 8 10
+f 5 11 12
+f 5 12 6
+f 7 13 8
+f 8 14 10
+f 8 13 15
+f 8 15 16
+f 8 16 14
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 15 20 16
+f 16 20 21
+f 17 22 18
+f 18 22 23
+f 18 23 24
+f 18 24 19
+f 20 25 26
+f 20 26 27
+f 20 27 28
+f 20 28 21
+f 22 29 23
+f 23 29 30
+f 23 30 31
+f 23 31 32
+f 25 32 31
+f 25 31 30
+f 25 30 27
+f 25 27 26
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_435.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_435.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bcb1e33923338ad5080cd64215b752c3e218557
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_435.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.06536269 0.01406167 0.10038976
+v -0.06525189 0.01763550 0.09903255
+v -0.06532616 0.01406167 0.09988045
+v -0.05292380 0.01406167 0.10038976
+v -0.06529816 0.03094071 0.10038976
+v -0.06519831 0.03179022 0.09903255
+v -0.06522632 0.01406167 0.09852668
+v -0.06526528 0.01406167 0.09903255
+v -0.05292380 0.01406167 0.09832380
+v -0.05292380 0.03401264 0.10038976
+v -0.06529450 0.03179022 0.10038976
+v -0.06528354 0.03314750 0.10038976
+v -0.06514230 0.03179022 0.09832380
+v -0.06517031 0.02471286 0.09832380
+v -0.06521049 0.01406167 0.09832380
+v -0.06519710 0.01763550 0.09832380
+v -0.05292380 0.03400092 0.09832380
+v -0.05292380 0.03401264 0.09833857
+v -0.06526771 0.03401264 0.10038976
+v -0.06525189 0.03401264 0.10018466
+v -0.06510334 0.03401264 0.09832380
+v -0.05509963 0.03401264 0.09832380
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 12
+f 1 12 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 7
+f 4 9 17
+f 4 17 18
+f 4 18 10
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 16
+f 7 16 15
+f 9 15 16
+f 9 16 14
+f 9 14 13
+f 9 13 21
+f 9 21 22
+f 9 22 17
+f 10 18 22
+f 10 22 21
+f 10 21 20
+f 10 20 19
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 17 22 18
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_436.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_436.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a37e1b80979977fd4ed863971975d6dca48bbad
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_436.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.05322996 -0.00360276 0.02336998
+v -0.05290643 -0.00360276 0.02113553
+v -0.05290643 -0.00364683 0.02113553
+v -0.05288057 -0.01067678 0.02113553
+v -0.05320378 -0.01067678 0.02336998
+v -0.05322931 0.00347861 0.02336998
+v -0.05290610 0.00347861 0.02113553
+v -0.05282821 -0.02482484 0.02113553
+v -0.05318568 -0.01555441 0.02336998
+v -0.05320281 0.01055264 0.02336998
+v -0.05287960 0.01055264 0.02113553
+v -0.05315110 -0.02482484 0.02336998
+v -0.05275484 -0.03190621 0.02113553
+v -0.05308032 -0.03190621 0.02336998
+v -0.05317598 0.01763402 0.02336998
+v -0.05285310 0.01758994 0.02113553
+v -0.05275387 -0.03195028 0.02113553
+v -0.05296331 -0.03679118 0.02336998
+v -0.05314916 0.02470804 0.02336998
+v -0.05282627 0.02466397 0.02113553
+v -0.05258548 -0.03898024 0.02113553
+v -0.05290546 -0.03898024 0.02336998
+v -0.05313332 0.02636820 0.02336998
+v -0.05282595 0.02470804 0.02113553
+v -0.05257804 -0.03901697 0.02113553
+v -0.05112360 -0.04625261 0.02336998
+v -0.04992804 0.02636820 0.02336998
+v -0.05280850 0.02636820 0.02113553
+v -0.05075643 -0.04622322 0.02113553
+v -0.04999721 -0.04861061 0.02336998
+v -0.04992804 0.02636820 0.02113553
+v -0.04992804 -0.04867673 0.02336998
+v -0.05030361 -0.04688434 0.02113553
+v -0.04992804 -0.04724429 0.02113553
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 12
+f 1 12 14
+f 1 14 18
+f 1 18 22
+f 1 22 26
+f 1 26 30
+f 1 30 32
+f 1 32 27
+f 1 27 23
+f 1 23 19
+f 1 19 15
+f 1 15 10
+f 1 10 6
+f 1 6 7
+f 1 7 2
+f 2 7 11
+f 2 11 16
+f 2 16 20
+f 2 20 24
+f 2 24 28
+f 2 28 31
+f 2 31 34
+f 2 34 33
+f 2 33 29
+f 2 29 25
+f 2 25 21
+f 2 21 17
+f 2 17 13
+f 2 13 8
+f 2 8 4
+f 2 4 3
+f 5 8 9
+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 11
+f 13 17 14
+f 14 17 18
+f 15 19 20
+f 15 20 16
+f 17 21 18
+f 18 21 22
+f 19 23 24
+f 19 24 20
+f 21 25 22
+f 22 25 26
+f 23 27 31
+f 23 31 28
+f 23 28 24
+f 25 29 26
+f 26 29 30
+f 27 32 34
+f 27 34 31
+f 29 33 30
+f 30 33 34
+f 30 34 32
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_438.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_438.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dff4e1865bcb8c367396d3995501f60a705eab6
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_438.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01355898 0.04006693 0.07890897
+v 0.01355898 0.03157079 0.07890897
+v 0.01355898 0.04006693 0.07523697
+v -0.06237969 0.04006693 0.07890897
+v 0.01355898 0.03157079 0.07523697
+v -0.06255104 0.03157079 0.07890897
+v -0.06173898 0.04006693 0.07523697
+v -0.06240204 0.04006693 0.07890250
+v -0.06240204 0.04003450 0.07890897
+v -0.06186563 0.03157079 0.07523697
+v -0.06245419 0.03886758 0.07890897
+v -0.06177623 0.03886758 0.07523697
+v -0.06186563 0.03179120 0.07523697
+v -0.06220833 0.04006693 0.07779939
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 13
+f 3 13 12
+f 3 12 7
+f 4 8 9
+f 6 11 12
+f 6 12 13
+f 6 13 10
+f 7 12 11
+f 7 11 14
+f 8 11 9
+f 8 14 11
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_440.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_440.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd2a07d08e178e50d803e5ce2ac8a2bf15c657ed
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_440.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.04073938 0.05113697 0.03532227
+v 0.04073938 0.04149735 0.03532227
+v 0.04073938 0.05113697 0.03180274
+v 0.00098779 0.05113697 0.03532227
+v 0.04073938 0.04149735 0.03180274
+v 0.00098779 0.04149735 0.03532227
+v 0.00098779 0.05113697 0.03180274
+v 0.00098779 0.04149735 0.03180274
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_441.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_441.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b25ef0f4f8ce5a42e497425d1da463cf60b0feef
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_441.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.06353907 0.05826703 -0.10896574
+v 0.06424613 0.05749919 -0.10896574
+v 0.05044157 0.05826703 -0.10896574
+v 0.06314177 0.05826703 -0.10675449
+v 0.06409799 0.05722355 -0.10675449
+v 0.06501380 0.05301683 -0.10896574
+v 0.05044157 -0.00877805 -0.10896574
+v -0.00310667 0.05826703 -0.10896553
+v 0.05044157 0.05826703 -0.10675449
+v 0.06475118 0.05301683 -0.10675449
+v 0.06525623 0.04869197 -0.10896574
+v -0.00310667 -0.00877805 -0.10896553
+v 0.06566700 -0.00877805 -0.10896574
+v -0.00310667 0.05826703 -0.10675471
+v 0.05044157 -0.00877805 -0.10675449
+v 0.06511481 0.04648033 -0.10675449
+v 0.06514175 0.04594218 -0.10675449
+v 0.06537744 0.04594218 -0.10896574
+v -0.00310667 -0.00877805 -0.10675471
+v 0.06568720 -0.00392818 -0.10896574
+v 0.06557946 -0.00877805 -0.10811437
+v 0.06543131 -0.00877805 -0.10675449
+v 0.06528989 0.03886754 -0.10675449
+v 0.06552558 0.03886754 -0.10896574
+v 0.06568720 0.00348117 -0.10896574
+v 0.06545151 -0.00359348 -0.10675449
+v 0.06535050 0.03178632 -0.10675449
+v 0.06557946 0.03178632 -0.10896574
+v 0.06537744 0.02472480 -0.10675449
+v 0.06545151 0.00348117 -0.10675449
+f 1 2 6
+f 1 6 11
+f 1 11 18
+f 1 18 24
+f 1 24 28
+f 1 28 25
+f 1 25 20
+f 1 20 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 5
+f 2 5 6
+f 3 7 12
+f 3 12 8
+f 4 9 15
+f 4 15 22
+f 4 22 26
+f 4 26 30
+f 4 30 29
+f 4 29 27
+f 4 27 23
+f 4 23 17
+f 4 17 16
+f 4 16 10
+f 4 10 5
+f 5 10 6
+f 6 10 11
+f 7 13 21
+f 7 21 22
+f 7 22 15
+f 7 15 19
+f 7 19 12
+f 8 12 19
+f 8 19 14
+f 9 14 19
+f 9 19 15
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 13 20 21
+f 17 23 24
+f 17 24 18
+f 20 25 30
+f 20 30 26
+f 20 26 21
+f 21 26 22
+f 23 27 24
+f 24 27 28
+f 25 28 29
+f 25 29 30
+f 27 29 28
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_442.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_442.obj
new file mode 100644
index 0000000000000000000000000000000000000000..253bed8e228ec909516e60b7b47effa9afa7a083
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_442.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00286009 -0.04746416 0.02336976
+v 0.00286009 -0.05296405 0.02336976
+v 0.00286009 -0.04746416 0.02113575
+v -0.04992288 -0.04746416 0.02336976
+v -0.00350136 -0.05296459 0.02336976
+v 0.00286009 -0.05263669 0.02113575
+v -0.04969033 -0.04746416 0.02113575
+v -0.04992288 -0.04746416 0.02198198
+v -0.04992288 -0.04867721 0.02336976
+v -0.01058112 -0.05293767 0.02336976
+v -0.00354787 -0.05263669 0.02113575
+v -0.04672406 -0.05030321 0.02113575
+v -0.04849142 -0.05004531 0.02336976
+v -0.01770222 -0.05258285 0.02113575
+v -0.02254436 -0.05289190 0.02336976
+v -0.04605743 -0.05070002 0.02113575
+v -0.04848625 -0.05004801 0.02336976
+v -0.02472513 -0.05255593 0.02113575
+v -0.02472513 -0.05288329 0.02336976
+v -0.04611427 -0.05106561 0.02336976
+v -0.03891566 -0.05230019 0.02113575
+v -0.03180489 -0.05281114 0.02336976
+v -0.03180489 -0.05248055 0.02113575
+v -0.03887948 -0.05264046 0.02336976
+v -0.03887948 -0.05230665 0.02113575
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 17
+f 1 17 20
+f 1 20 24
+f 1 24 22
+f 1 22 19
+f 1 19 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 6 11
+f 3 11 14
+f 3 14 18
+f 3 18 23
+f 3 23 25
+f 3 25 21
+f 3 21 16
+f 3 16 12
+f 3 12 7
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 7 12 9
+f 7 9 8
+f 9 12 13
+f 10 14 11
+f 10 15 14
+f 12 16 13
+f 13 16 17
+f 14 15 18
+f 15 19 18
+f 16 20 17
+f 16 21 20
+f 18 19 22
+f 18 22 23
+f 20 21 24
+f 21 25 24
+f 22 24 23
+f 23 24 25
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_446.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_446.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57b366459202bbf5dfe5e4ae3878443b5d899e4b
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_446.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01447884 0.01806197 0.13733155
+v 0.01447884 0.01806197 0.13443867
+v 0.01256532 0.01806197 0.13733155
+v 0.01447884 -0.03852994 0.13733155
+v 0.01256532 0.01806197 0.13443867
+v 0.01447884 -0.03852994 0.13443867
+v 0.01256532 -0.03852994 0.13733155
+v 0.01256532 -0.03852994 0.13443867
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_448.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_448.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e015d9ceba2ebc99ea710711c13e89b509592286
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_448.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.02509775 0.01130607 -0.08136983
+v 0.02509775 0.01130607 -0.07787505
+v 0.02509775 0.05166625 -0.08136983
+v 0.03152509 0.01130607 -0.08136983
+v 0.03152509 0.01130607 -0.07787505
+v 0.02509775 0.05166625 -0.07787505
+v 0.03152509 0.05166625 -0.08136983
+v 0.04390662 0.01130607 -0.08136949
+v 0.04390662 0.01130607 -0.07787538
+v 0.03152509 0.05166625 -0.07787505
+v 0.04390662 0.05166625 -0.08136949
+v 0.04390662 0.05166625 -0.07787538
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 6 10
+f 3 10 12
+f 3 12 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 5 9 12
+f 5 12 10
+f 8 11 12
+f 8 12 9
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_45.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0f9516f901f88fbe0bb03f0beb289ed5b2a0fa2
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_45.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.06549872 0.01462787 0.10338811
+v 0.06553523 0.00619545 0.10338811
+v 0.06526750 0.00918856 0.10038996
+v 0.06523099 0.01462787 0.10038996
+v 0.03002387 0.01462787 0.10338811
+v 0.06554740 -0.00360732 0.10338811
+v 0.06527967 0.00347279 0.10038996
+v 0.03002387 0.01462787 0.10038996
+v -0.05877888 0.01462185 0.10338811
+v 0.06541353 -0.03237852 0.10338811
+v 0.06525533 -0.01287517 0.10038996
+v 0.06527967 -0.00360732 0.10038996
+v -0.05877888 0.01462185 0.10038996
+v -0.05877888 -0.04677314 0.10338811
+v 0.06538919 -0.03633929 0.10338811
+v 0.06515797 -0.03237852 0.10038996
+v -0.05877888 -0.04677314 0.10038996
+v 0.06518231 -0.04677314 0.10338811
+v 0.06536485 -0.03898381 0.10338811
+v 0.06514580 -0.03410948 0.10038996
+v 0.06490240 -0.04677314 0.10038996
+v 0.06520665 -0.04605792 0.10338811
+v 0.06493891 -0.04605792 0.10038996
+v 0.06504844 -0.04118959 0.10038996
+v 0.06509712 -0.03898381 0.10038996
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 14
+f 1 14 18
+f 1 18 22
+f 1 22 19
+f 1 19 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 12
+f 3 12 11
+f 3 11 16
+f 3 16 20
+f 3 20 25
+f 3 25 24
+f 3 24 23
+f 3 23 21
+f 3 21 17
+f 3 17 13
+f 3 13 8
+f 3 8 4
+f 5 8 13
+f 5 13 9
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 9 13 17
+f 9 17 14
+f 10 15 16
+f 10 16 11
+f 14 17 21
+f 14 21 18
+f 15 19 20
+f 15 20 16
+f 18 21 23
+f 18 23 22
+f 19 22 24
+f 19 24 25
+f 19 25 20
+f 22 23 24
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_452.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_452.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9600c2cc419a0cc4e45200e9df8c9fe60273845a
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_452.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.00349654 0.06457196 0.09453345
+v -0.00349654 0.06430398 0.09195508
+v -0.01057132 0.06427726 0.09195508
+v -0.01624966 0.06425574 0.09195508
+v -0.01344135 0.06453410 0.09453345
+v 0.00358596 0.06457122 0.09453345
+v 0.00358596 0.06430398 0.09195508
+v -0.00349654 0.06423050 0.09133126
+v -0.01057132 0.06420451 0.09133126
+v -0.01624966 0.06418299 0.09133126
+v -0.01624966 0.06452297 0.09453345
+v 0.00808389 0.06455489 0.09453345
+v 0.01880793 0.06417557 0.09133126
+v 0.00461207 0.06422753 0.09133126
+v 0.00358596 0.06423050 0.09133126
+v 0.03188509 0.06419709 0.09195508
+v 0.02589042 0.06414958 0.09133126
+v -0.01624966 0.05698850 0.09133126
+v -0.01624966 0.05698850 0.09453345
+v 0.01515867 0.06452816 0.09453345
+v 0.03302693 0.06411767 0.09133126
+v 0.03188509 0.06412657 0.09133126
+v 0.02902277 0.06447546 0.09453345
+v 0.03188509 0.06446432 0.09453345
+v 0.03896758 0.06440049 0.09453345
+v 0.03896758 0.06413028 0.09195508
+v 0.03896758 0.06406199 0.09133126
+v 0.06132606 0.05698850 0.09133126
+v 0.06255276 0.05698850 0.09453345
+v 0.04590349 0.06424608 0.09453345
+v 0.03970052 0.06405086 0.09133126
+v 0.05976760 0.05967047 0.09133126
+v 0.06235217 0.05733367 0.09453345
+v 0.04596521 0.06390685 0.09133126
+v 0.04580320 0.06393209 0.09152530
+v 0.04565661 0.06391576 0.09133126
+v 0.05035513 0.06399518 0.09453345
+v 0.05742220 0.06224184 0.09453345
+v 0.05983704 0.05973802 0.09195508
+v 0.05368035 0.06319200 0.09133126
+v 0.05531596 0.06349487 0.09453345
+v 0.06006849 0.05997333 0.09453345
+v 0.05141982 0.06383484 0.09359772
+v 0.05310943 0.06333898 0.09133126
+v 0.05049400 0.06398702 0.09453345
+v 0.05350290 0.06328330 0.09133126
+v 0.05351833 0.06331893 0.09152530
+v 0.05333317 0.06373018 0.09453345
+v 0.05181329 0.06390165 0.09453345
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 19
+f 1 19 29
+f 1 29 33
+f 1 33 42
+f 1 42 38
+f 1 38 41
+f 1 41 48
+f 1 48 49
+f 1 49 45
+f 1 45 37
+f 1 37 30
+f 1 30 25
+f 1 25 24
+f 1 24 23
+f 1 23 20
+f 1 20 12
+f 1 12 6
+f 1 6 7
+f 1 7 2
+f 2 8 9
+f 2 9 3
+f 2 7 15
+f 2 15 8
+f 3 9 10
+f 3 10 4
+f 4 10 18
+f 4 18 19
+f 4 19 11
+f 4 11 5
+f 6 12 7
+f 7 13 14
+f 7 14 15
+f 7 12 20
+f 7 20 16
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_454.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_454.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf57559391f980d4b5159c32bd5c3e8eb62f4a45
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_454.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.03970557 -0.06574150 0.10610938
+v 0.04604677 -0.06558735 0.10610938
+v 0.03970557 -0.06542035 0.10880625
+v 0.03970557 -0.06547174 0.10338917
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+v 0.05007218 -0.06540751 0.10610938
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+v 0.03970557 0.06514309 0.10880625
+v 0.05573000 -0.06448262 0.10338865
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+v 0.05312132 -0.06499645 0.10880625
+v 0.04604677 0.06506602 0.10880625
+v 0.03970557 0.06548992 0.10610938
+v 0.05752588 -0.06422571 0.10338865
+v 0.05334155 -0.06494507 0.10338917
+v 0.05573000 0.06433381 0.10338865
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+v 0.05573000 -0.06476523 0.10610938
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+v 0.05546664 -0.06473954 0.10880625
+v 0.04604677 0.06534862 0.10610938
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+v 0.06104045 -0.06101429 0.10338865
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+v 0.05511699 0.06444942 0.10338917
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+v 0.05312132 0.06500179 0.10610938
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+v 0.06289763 0.05859179 0.10880625
+v 0.06289763 0.05895147 0.10723904
+v 0.06289763 0.05919554 0.10610938
+v 0.06260475 0.05910562 0.10338865
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_461.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_461.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4d1df5e07337e223b0378d1b837f9d25e19364d
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_461.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.06356733 -0.05842024 -0.12325427
+v -0.06335050 -0.05867828 -0.12325427
+v -0.06252144 -0.06016770 -0.12185500
+v -0.06425608 -0.05842024 -0.12053218
+v -0.06415405 -0.05765995 -0.12325297
+v -0.06446016 -0.05620322 -0.12325297
+v -0.06457495 -0.05494781 -0.12325297
+v 0.06312524 -0.05842024 -0.12325427
+v -0.06145004 -0.06016770 -0.12325427
+v -0.06289133 -0.06016770 -0.12037152
+v -0.06429435 -0.05842024 -0.12037152
+v -0.06446016 -0.05820820 -0.12037152
+v -0.06511065 -0.05494781 -0.12037152
+v -0.06486831 -0.05494781 -0.12207266
+v 0.06447724 -0.05494781 -0.12325297
+v 0.06424766 -0.05765484 -0.12325297
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+v -0.06282755 -0.06016770 -0.11329616
+v -0.06434537 -0.05833747 -0.11783988
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+v -0.06446016 -0.05819083 -0.11783988
+v -0.06509789 -0.05494781 -0.11783988
+v -0.06481729 -0.05639636 -0.11783988
+v 0.06519151 -0.05494781 -0.12037152
+v 0.06297218 -0.06016770 -0.12037152
+v 0.06454102 -0.05820565 -0.12037152
+v 0.06437521 -0.05842024 -0.12037152
+v -0.06229185 -0.06016770 -0.11098089
+v -0.06423057 -0.05774988 -0.11001825
+v -0.06444740 -0.05815966 -0.11329745
+v -0.06507238 -0.05494781 -0.11329745
+v 0.06516600 -0.05494781 -0.11329745
+v 0.06454102 -0.05818981 -0.11783988
+v 0.06294668 -0.06016770 -0.11725556
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+v -0.06360559 -0.05842024 -0.11001825
+v 0.06252577 -0.06016770 -0.11098089
+v -0.06468974 -0.05494781 -0.11001825
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+v 0.06431143 -0.05775192 -0.11001825
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_462.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_462.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52a4bd9553621d585049056906a5d2b609983d50
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_462.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.00357482 0.06006802 -0.07567317
+v 0.00357482 0.05913510 -0.07082998
+v 0.00844109 0.06005034 -0.07567317
+v 0.00134252 0.06006802 -0.07567317
+v 0.00357482 0.05913403 -0.07082571
+v 0.01773336 0.05908259 -0.07082998
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+v -0.00350058 0.06006748 -0.07567317
+v 0.01772563 0.05908152 -0.07082571
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+v 0.02166499 0.05963666 -0.07378040
+v 0.01773336 0.06001604 -0.07567317
+v -0.00573289 0.06005891 -0.07567317
+v -0.01281602 0.06003158 -0.07567317
+v -0.01765912 0.06001282 -0.07567317
+v -0.01765912 0.05907884 -0.07082571
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+v -0.01986052 0.06000425 -0.07567317
+v -0.03180220 0.05995763 -0.07567317
+v -0.02472680 0.05905204 -0.07082998
+v -0.03180992 0.05902311 -0.07082571
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+v 0.02166499 0.05459430 -0.07567317
+v -0.03888533 0.05985261 -0.07567317
+v -0.03180220 0.05902418 -0.07082998
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+v -0.03888533 0.05891004 -0.07082571
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+v -0.05724585 0.05459430 -0.07567317
+v -0.04596074 0.05964309 -0.07567317
+v -0.04596074 0.05868338 -0.07082998
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+v -0.04773731 0.05928782 -0.07567317
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+v -0.05293572 0.05805804 -0.07567317
+v -0.05553107 0.05664340 -0.07567317
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_465.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_465.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1269ff38f8d679e5e0ce560a393055d61903c55b
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_465.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
+v -0.06495443 -0.00357908 0.09453314
+v -0.06494967 0.00348139 0.09453314
+v -0.06474946 0.00348139 0.09195534
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+v -0.06464460 -0.03189710 0.09195534
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+v -0.06456833 -0.03189710 0.09133126
+v -0.06455402 -0.03276742 0.09133126
+v -0.06441579 -0.03897933 0.09133126
+v -0.06448253 -0.03897933 0.09195534
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+v -0.06456833 0.03177765 0.09133126
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+v -0.06470180 0.03857702 0.09453314
+v -0.06447776 0.03885988 0.09195534
+v -0.06441102 0.03885988 0.09133126
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+v -0.06414886 -0.04661638 0.09210736
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+v -0.06461123 0.04143820 0.09453314
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+v -0.01625738 -0.04660551 0.09453252
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+v -0.03779829 0.06406651 0.09133126
+v -0.03888035 0.06404475 0.09133126
+v -0.04587316 0.06390332 0.09133126
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+v -0.05142165 0.06382717 0.09361348
+v -0.05305187 0.06334849 0.09133126
+v -0.05347135 0.06329410 0.09133126
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+f 9 66 64
+f 9 64 63
+f 9 63 62
+f 9 62 61
+f 9 61 60
+f 9 60 48
+f 9 48 41
+f 9 41 36
+f 9 36 30
+f 9 30 22
+f 9 22 16
+f 9 16 15
+f 9 15 14
+f 9 14 12
+f 9 12 11
+f 10 19 21
+f 10 21 20
+f 16 22 17
+f 17 22 23
+f 17 23 18
+f 19 24 21
+f 20 21 25
+f 21 24 26
+f 21 26 27
+f 21 27 28
+f 21 28 29
+f 21 29 25
+f 22 30 31
+f 22 31 23
+f 23 31 32
+f 27 33 28
+f 28 33 34
+f 28 34 35
+f 28 35 29
+f 30 36 37
+f 30 37 32
+f 30 32 31
+f 34 38 39
+f 34 39 40
+f 34 40 35
+f 36 41 42
+f 36 42 37
+f 37 42 43
+f 37 43 49
+f 37 49 44
+f 38 45 39
+f 39 45 46
+f 39 46 47
+f 41 48 49
+f 41 49 43
+f 41 43 42
+f 44 49 50
+f 44 50 51
+f 44 51 52
+f 44 52 53
+f 44 53 54
+f 44 54 55
+f 44 55 56
+f 44 56 57
+f 46 58 59
+f 46 59 47
+f 46 57 58
+f 48 60 50
+f 48 50 49
+f 50 60 61
+f 50 61 51
+f 51 61 52
+f 52 61 62
+f 52 62 63
+f 52 63 53
+f 53 63 54
+f 54 63 64
+f 54 64 65
+f 54 65 55
+f 55 65 56
+f 56 65 66
+f 56 66 67
+f 56 67 59
+f 56 59 58
+f 56 58 57
+f 64 66 65
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_50.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..010a8c8a2a1e7c9f197ae0428f7c3b8a6b4fdf7b
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_50.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.05570936 0.03139428 0.12315435
+v 0.05563269 0.03139428 0.12328159
+v 0.05396776 0.01763481 0.12734231
+v 0.05434018 0.01055321 0.12734764
+v 0.05439495 0.00906821 0.12734231
+v 0.05447163 0.00681750 0.12734231
+v 0.05457021 0.00347625 0.12734764
+v 0.05587366 0.01805247 0.12315435
+v -0.05561038 0.03139428 0.12315435
+v 0.05293814 0.03139428 0.12734231
+v 0.05347486 0.02470713 0.12734764
+v 0.05395681 0.01763017 0.12734764
+v 0.05461402 -0.00360071 0.12734764
+v 0.05566555 0.00906821 0.12401509
+v 0.05596129 0.00681750 0.12315435
+v -0.05579659 0.01763481 0.12315435
+v -0.05455885 0.00348089 0.12734764
+v -0.05444932 0.00681750 0.12734272
+v -0.05437264 0.00906821 0.12734231
+v -0.05431788 0.01055785 0.12734764
+v -0.05393451 0.01763481 0.12734764
+v -0.05391260 0.01805247 0.12734231
+v -0.05346351 0.02471177 0.12734764
+v -0.05292679 0.03139428 0.12734231
+v 0.04834865 0.03139428 0.12734764
+v 0.05588462 -0.01601440 0.12315435
+v 0.05593939 -0.01071480 0.12315435
+v 0.05598320 -0.00361000 0.12315435
+v 0.05598320 0.00348089 0.12315435
+v 0.05442781 -0.01067768 0.12734764
+v 0.05443876 -0.01067304 0.12734272
+v -0.05586231 0.01059033 0.12315435
+v -0.05589517 0.00681750 0.12315435
+v -0.05591708 0.00369900 0.12315435
+v -0.05460267 -0.00359607 0.12734764
+v -0.04830444 0.03139428 0.12734764
+v 0.05416493 -0.01601440 0.12734272
+v -0.05582945 -0.01601440 0.12315435
+v 0.05167850 -0.01601440 0.12734764
+v -0.05591708 0.00348089 0.12315517
+v -0.05591708 -0.00404157 0.12315435
+v -0.05591708 -0.00359607 0.12315517
+v -0.05587327 -0.01067304 0.12315435
+v -0.05546799 -0.01601440 0.12418338
+v -0.05441646 -0.01067304 0.12734764
+v -0.05165619 -0.01601440 0.12734764
+v -0.05415357 -0.01601440 0.12734272
+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 15
+f 1 15 29
+f 1 29 28
+f 1 28 27
+f 1 27 26
+f 1 26 38
+f 1 38 43
+f 1 43 41
+f 1 41 34
+f 1 34 33
+f 1 33 32
+f 1 32 16
+f 1 16 9
+f 1 9 24
+f 1 24 36
+f 1 36 25
+f 1 25 10
+f 1 10 2
+f 2 10 11
+f 2 11 3
+f 3 11 12
+f 3 12 4
+f 4 6 5
+f 4 12 11
+f 4 11 25
+f 4 25 36
+f 4 36 23
+f 4 23 21
+f 4 21 20
+f 4 20 17
+f 4 17 35
+f 4 35 45
+f 4 45 46
+f 4 46 39
+f 4 39 30
+f 4 30 13
+f 4 13 7
+f 4 7 6
+f 7 13 14
+f 7 14 8
+f 8 14 15
+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 10 25 11
+f 13 26 27
+f 13 27 28
+f 13 28 29
+f 13 29 14
+f 13 30 31
+f 13 31 26
+f 14 29 15
+f 16 32 17
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 17 20 18
+f 18 20 19
+f 21 23 22
+f 23 36 24
+f 26 31 37
+f 26 37 39
+f 26 39 46
+f 26 46 47
+f 26 47 44
+f 26 44 38
+f 30 39 37
+f 30 37 31
+f 34 40 35
+f 34 41 42
+f 34 42 40
+f 35 40 42
+f 35 42 41
+f 35 41 43
+f 35 43 38
+f 35 38 44
+f 35 44 45
+f 44 47 45
+f 45 47 46
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_54.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6611e57de6b1c2617788e71b7049c8996c2a142c
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_54.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.06089235 -0.00359717 -0.07787469
+v -0.06086549 -0.01063654 -0.07787469
+v -0.06042733 -0.01551701 -0.07567317
+v -0.06044579 -0.01067099 -0.07567317
+v -0.06047265 -0.00359717 -0.07567317
+v -0.06047349 0.00347665 -0.07567317
+v -0.06089235 0.00351110 -0.07787469
+v -0.06081093 -0.02479566 -0.07787469
+v -0.06037276 -0.02966465 -0.07567317
+v -0.06043908 0.01276678 -0.07567317
+v -0.06084031 0.01765874 -0.07787469
+v -0.06078323 -0.03190393 -0.07787469
+v -0.06036353 -0.03190393 -0.07567317
+v -0.06039459 0.02470960 -0.07567317
+v -0.06038620 0.02693739 -0.07567317
+v -0.06081345 0.02474405 -0.07787469
+v -0.06029554 -0.03677292 -0.07567317
+v -0.06068334 -0.03897775 -0.07787469
+v -0.06036773 0.03178342 -0.07567317
+v -0.06078659 0.03181787 -0.07787469
+v -0.06026028 -0.03897775 -0.07567317
+v -0.06045670 -0.04602860 -0.07787469
+v -0.06003365 -0.04605157 -0.07567317
+v -0.06026448 0.03885724 -0.07567317
+v -0.06068754 0.03885724 -0.07787469
+v -0.06045587 -0.04605157 -0.07787469
+v -0.05823062 -0.05310242 -0.07567317
+v -0.06019397 0.04107355 -0.07567317
+v -0.06068670 0.03889169 -0.07787469
+v -0.05848748 -0.05359621 -0.07787469
+v -0.05827092 -0.05402110 -0.07787469
+v -0.05673398 -0.05684603 -0.07787469
+v -0.05626979 -0.05639818 -0.07567317
+v -0.06003785 0.04594254 -0.07567317
+v -0.06046090 0.04594254 -0.07787469
+v -0.05389850 -0.05825850 -0.07787469
+v -0.05294663 -0.05817812 -0.07567317
+v -0.05962234 0.04774544 -0.07567317
+v -0.06045503 0.04596550 -0.07787469
+v -0.05347377 -0.05845372 -0.07787469
+v -0.05231792 -0.05872932 -0.07787469
+v -0.05231792 -0.05830444 -0.07567317
+v -0.05823062 0.05298191 -0.07567317
+v -0.05848664 0.05347570 -0.07787469
+v -0.05231792 0.05858585 -0.07787469
+v -0.05231792 0.05819541 -0.07567317
+v -0.05665340 0.05555420 -0.07567317
+v -0.05827595 0.05388910 -0.07787469
+v -0.05346957 0.05832172 -0.07787469
+v -0.05231792 0.05824134 -0.07589794
+v -0.05293739 0.05805761 -0.07567317
+v -0.05553616 0.05663365 -0.07567317
+v -0.05388255 0.05812650 -0.07787469
+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 16
+f 1 16 20
+f 1 20 25
+f 1 25 29
+f 1 29 35
+f 1 35 39
+f 1 39 44
+f 1 44 48
+f 1 48 53
+f 1 53 49
+f 1 49 45
+f 1 45 41
+f 1 41 40
+f 1 40 36
+f 1 36 32
+f 1 32 31
+f 1 31 30
+f 1 30 26
+f 1 26 22
+f 1 22 18
+f 1 18 12
+f 1 12 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 13
+f 3 13 17
+f 3 17 21
+f 3 21 23
+f 3 23 27
+f 3 27 33
+f 3 33 37
+f 3 37 42
+f 3 42 46
+f 3 46 51
+f 3 51 52
+f 3 52 47
+f 3 47 43
+f 3 43 38
+f 3 38 34
+f 3 34 28
+f 3 28 24
+f 3 24 19
+f 3 19 15
+f 3 15 14
+f 3 14 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 6 10 11
+f 6 11 7
+f 8 12 9
+f 9 12 13
+f 10 14 11
+f 11 14 15
+f 11 15 16
+f 12 17 13
+f 12 18 17
+f 15 19 20
+f 15 20 16
+f 17 18 21
+f 18 22 23
+f 18 23 21
+f 19 24 25
+f 19 25 20
+f 22 26 23
+f 23 26 27
+f 24 28 29
+f 24 29 25
+f 26 30 27
+f 27 30 31
+f 27 31 32
+f 27 32 33
+f 28 34 35
+f 28 35 29
+f 32 36 37
+f 32 37 33
+f 34 38 35
+f 35 38 39
+f 36 40 37
+f 37 40 41
+f 37 41 42
+f 38 43 44
+f 38 44 39
+f 41 45 50
+f 41 50 46
+f 41 46 42
+f 43 47 48
+f 43 48 44
+f 45 49 50
+f 46 50 51
+f 47 52 48
+f 48 52 53
+f 49 53 51
+f 49 51 50
+f 51 53 52
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_56.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6d83b808ee9df119de808e50a6723ba9e01dca8
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_56.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.00358791 0.05148389 -0.01780202
+v 0.00009492 0.05148389 -0.01780202
+v 0.00358791 0.05123866 -0.01421289
+v 0.02480701 0.05140427 -0.01780202
+v -0.00348784 0.05148283 -0.01780202
+v -0.00348784 0.05123866 -0.01421289
+v 0.02480701 0.05115904 -0.01421289
+v 0.02839793 0.05136287 -0.01780202
+v -0.00698083 0.05147009 -0.01780202
+v -0.02472327 0.05115692 -0.01421289
+v 0.03188276 0.05107412 -0.01421289
+v 0.03188276 0.05132040 -0.01780202
+v -0.01763935 0.05142869 -0.01780202
+v -0.02472327 0.05140109 -0.01780202
+v -0.03179902 0.05131616 -0.01780202
+v -0.03179902 0.05106987 -0.01421289
+v 0.03895852 0.05089152 -0.01421289
+v 0.03895852 0.05114206 -0.01780202
+v 0.03547369 0.05123123 -0.01780202
+v -0.03214995 0.05130766 -0.01780202
+v -0.03214995 0.05106032 -0.01421289
+v 0.04383891 0.05013355 -0.01421289
+v 0.04414087 0.05025882 -0.01780202
+v -0.03214995 0.04063977 -0.01780202
+v -0.03214995 0.04063977 -0.01421289
+v 0.04535689 0.04900084 -0.01421289
+v 0.04768283 0.04777152 -0.01780202
+v 0.05122479 0.04063977 -0.01780202
+v 0.05099628 0.04063977 -0.01421289
+v 0.04738087 0.04748913 -0.01421289
+v 0.05040051 0.04395193 -0.01421289
+v 0.05053109 0.04423431 -0.01780202
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 19
+f 1 19 18
+f 1 18 23
+f 1 23 27
+f 1 27 32
+f 1 32 28
+f 1 28 24
+f 1 24 20
+f 1 20 15
+f 1 15 14
+f 1 14 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 6 10
+f 3 10 16
+f 3 16 21
+f 3 21 25
+f 3 25 29
+f 3 29 31
+f 3 31 30
+f 3 30 26
+f 3 26 22
+f 3 22 17
+f 3 17 11
+f 3 11 7
+f 4 7 8
+f 5 9 6
+f 6 9 10
+f 7 11 8
+f 8 11 12
+f 9 13 10
+f 10 14 15
+f 10 15 16
+f 10 13 14
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 15 20 16
+f 16 20 21
+f 17 22 18
+f 18 22 23
+f 20 24 25
+f 20 25 21
+f 22 26 27
+f 22 27 23
+f 24 28 29
+f 24 29 25
+f 26 30 27
+f 27 30 31
+f 27 31 32
+f 28 32 31
+f 28 31 29
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_57.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71fcf353e9ac6ecc35f03e9f2859353a1e5e0cf9
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_57.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.05723267 -0.00360514 -0.05726880
+v -0.05689037 -0.00360514 -0.05524211
+v -0.05723267 0.00346654 -0.05726880
+v -0.05720414 -0.01107754 -0.05726880
+v -0.05689037 0.00346654 -0.05524211
+v -0.05717868 -0.01774849 -0.05726880
+v -0.05680886 -0.02482017 -0.05524211
+v -0.05715423 0.02430442 -0.05726225
+v -0.05717969 0.01762561 -0.05726880
+v -0.05681294 0.02430442 -0.05524211
+v -0.05715117 -0.02482017 -0.05726880
+v -0.05715015 -0.02507946 -0.05726880
+v -0.05679155 -0.02817529 -0.05524211
+v -0.05178841 0.02430442 -0.05726781
+v -0.05178739 0.02328296 -0.05726880
+v -0.04682501 0.02430442 -0.05524211
+v -0.05711450 -0.03189970 -0.05726880
+v -0.05676913 -0.03189970 -0.05524211
+v -0.05081346 0.02430442 -0.05726880
+v -0.04682501 0.02430442 -0.05726880
+v -0.04682501 -0.05544839 -0.05524211
+v -0.05699326 -0.03843708 -0.05726880
+v -0.05671514 -0.03479909 -0.05524211
+v -0.04682501 -0.05596698 -0.05726880
+v -0.05299666 -0.05200684 -0.05524211
+v -0.04682501 -0.05545625 -0.05527128
+v -0.05663160 -0.03897924 -0.05524211
+v -0.05698205 -0.03897924 -0.05726880
+v -0.05178841 -0.05307545 -0.05726880
+v -0.05377092 -0.05054536 -0.05524211
+v -0.05631782 -0.04763811 -0.05726880
+v -0.05351623 -0.05202255 -0.05726880
+v -0.05346529 -0.05207756 -0.05726880
+v -0.05341435 -0.05211684 -0.05726880
+v -0.05670088 -0.04378012 -0.05726880
+v -0.05652565 -0.04077073 -0.05524211
+v -0.05605600 -0.04605092 -0.05524211
+v -0.05606008 -0.04601949 -0.05524211
+v -0.05649916 -0.04605092 -0.05726880
+f 1 2 5
+f 1 5 3
+f 1 3 9
+f 1 9 15
+f 1 15 19
+f 1 19 20
+f 1 20 24
+f 1 24 29
+f 1 29 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
+f 1 31 39
+f 1 39 35
+f 1 35 28
+f 1 28 22
+f 1 22 17
+f 1 17 12
+f 1 12 11
+f 1 11 6
+f 1 6 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 13
+f 2 13 18
+f 2 18 23
+f 2 23 27
+f 2 27 36
+f 2 36 38
+f 2 38 37
+f 2 37 30
+f 2 30 25
+f 2 25 21
+f 2 21 16
+f 2 16 10
+f 2 10 5
+f 3 5 8
+f 3 8 9
+f 5 10 8
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 8 10 16
+f 8 16 20
+f 8 20 19
+f 8 19 14
+f 8 14 9
+f 9 14 15
+f 12 17 13
+f 13 17 18
+f 14 19 15
+f 16 21 26
+f 16 26 24
+f 16 24 20
+f 17 22 18
+f 18 22 23
+f 21 25 26
+f 22 27 23
+f 22 28 27
+f 24 26 25
+f 24 25 29
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 29
+f 27 28 35
+f 27 35 36
+f 30 37 31
+f 31 37 38
+f 31 38 39
+f 35 39 38
+f 35 38 36
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_6.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f152c5774990a3c10d9bc6038f6f580774b8873b
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.05386189 0.00347899 -0.03542831
+v -0.05296036 -0.00358891 -0.02888918
+v -0.05296036 0.00347899 -0.02888918
+v -0.05288326 0.02418156 -0.02888918
+v -0.05380851 0.01762523 -0.03542831
+v -0.05385991 -0.00358891 -0.03542831
+v -0.05383421 -0.01066725 -0.03542831
+v -0.05295839 -0.00412135 -0.02888918
+v -0.05288128 0.02470356 -0.02888918
+v -0.05378083 0.02470356 -0.03542831
+v -0.05290501 -0.01826759 -0.02888918
+v -0.05290699 -0.01774558 -0.02888918
+v -0.05377885 -0.02482392 -0.03542831
+v -0.05281209 0.03125990 -0.02888918
+v -0.05371361 0.03178190 -0.03542831
+v -0.05287931 -0.02482392 -0.02888918
+v -0.05287535 -0.02534592 -0.02888918
+v -0.05371163 -0.03190226 -0.03542831
+v -0.05280616 0.03178190 -0.02888918
+v -0.05264997 0.03833824 -0.02888918
+v -0.05352382 0.03886024 -0.03542831
+v -0.05280616 -0.03190226 -0.02888918
+v -0.05352184 -0.03898060 -0.03542831
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+v -0.03366660 0.05231743 -0.02888918
+v -0.03366660 -0.05340872 -0.03542831
+v -0.03366660 -0.05247955 -0.02888918
+v -0.03366660 0.05324660 -0.03542831
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+f 29 33 34
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+f 33 35 39
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+f 37 45 46
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+f 39 40 47
+f 40 48 47
+f 43 49 50
+f 43 50 44
+f 47 48 51
+f 48 50 49
+f 48 49 51
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_60.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ef435e99f8e25152be5539c39b6e03eab49b0c1
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_60.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
+v 0.00357002 0.05680282 -0.05726880
+v -0.00349064 0.05680282 -0.05726880
+v 0.00357002 0.05645926 -0.05524211
+v 0.00859807 0.05678691 -0.05726880
+v -0.00539488 0.05679964 -0.05726880
+v -0.00349064 0.05645926 -0.05524211
+v 0.01200002 0.05642744 -0.05524211
+v 0.01242794 0.05645289 -0.05539824
+v 0.02584320 0.05637337 -0.05524211
+v 0.02250544 0.05672965 -0.05726880
+v -0.02471543 0.05671693 -0.05726880
+v -0.02471543 0.05637655 -0.05524211
+v 0.03031496 0.05634792 -0.05524211
+v 0.02940563 0.05669784 -0.05726880
+v 0.02480550 0.05672011 -0.05726880
+v -0.02674804 0.05670738 -0.05726880
+v -0.03179749 0.05668193 -0.05726880
+v -0.03179749 0.05633519 -0.05524211
+v 0.03187686 0.05633837 -0.05524211
+v 0.03187686 0.05668193 -0.05726880
+v -0.03890094 0.05654515 -0.05726880
+v -0.03886885 0.05619841 -0.05524211
+v 0.03895892 0.05620159 -0.05524211
+v 0.03679793 0.05647516 -0.05657307
+v 0.03598488 0.05660559 -0.05726880
+v -0.04598300 0.05606479 -0.05726880
+v -0.04619696 0.05562262 -0.05524211
+v 0.03895892 0.05654833 -0.05726880
+v 0.03901241 0.05619841 -0.05524211
+v 0.04149434 0.05643699 -0.05726880
+v -0.04650720 0.05602026 -0.05726880
+v -0.04752351 0.05497049 -0.05524211
+v 0.04292787 0.05592801 -0.05524211
+v 0.04159062 0.05643062 -0.05726880
+v -0.05224132 0.05268644 -0.05726880
+v -0.05224132 0.05230152 -0.05524211
+v 0.04467164 0.05580394 -0.05524211
+v 0.04292787 0.05632565 -0.05726880
+v -0.05224132 0.02434577 -0.05726880
+v -0.05224132 0.02430442 -0.05524211
+v 0.04627634 0.05562262 -0.05524211
+v 0.04660797 0.05602026 -0.05726880
+v 0.04605168 0.05606798 -0.05726880
+v -0.05224132 0.02430442 -0.05726741
+v -0.05079709 0.02430442 -0.05726880
+v 0.01242794 0.02430442 -0.05524211
+v 0.05302676 0.05183708 -0.05524211
+v 0.05346538 0.05191343 -0.05726880
+v 0.01242794 0.02430442 -0.05726880
+v 0.05704919 0.02430760 -0.05726880
+v 0.05670687 0.02430760 -0.05524211
+v 0.05381841 0.05030695 -0.05524211
+v 0.05628964 0.04722444 -0.05726880
+v 0.05698501 0.03082255 -0.05726880
+v 0.05668547 0.02698929 -0.05524211
+v 0.05670687 0.02471478 -0.05524211
+v 0.05597940 0.04594245 -0.05524211
+v 0.05603289 0.04543983 -0.05524211
+v 0.05641802 0.04594245 -0.05726880
+v 0.05697431 0.03179279 -0.05726880
+v 0.05663198 0.03179279 -0.05524211
+v 0.05646081 0.03986331 -0.05524211
+v 0.05665337 0.04296491 -0.05726880
+v 0.05688873 0.03729932 -0.05726880
+v 0.05661058 0.03360922 -0.05524211
+v 0.05651430 0.03886762 -0.05524211
+v 0.05685663 0.03886762 -0.05726880
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 10
+f 1 10 15
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+f 47 52 53
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+f 54 60 55
+f 55 60 61
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+f 58 63 59
+f 60 64 65
+f 60 65 61
+f 62 66 63
+f 63 66 67
+f 64 67 66
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_72.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b14db7aaa4c226c52aaff19eec2443f04d9b842
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_72.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v -0.05461541 -0.00358646 0.12734765
+v -0.05425644 -0.00800114 0.13000260
+v -0.05436927 -0.00358646 0.13000260
+v -0.05457097 0.00346858 0.12734765
+v -0.05443422 -0.01066262 0.12734765
+v -0.05414363 -0.01066262 0.13000260
+v -0.05431115 0.00346858 0.13000260
+v -0.05433850 0.01054475 0.12734765
+v -0.05407184 -0.01773879 0.12734765
+v -0.05391799 -0.01507731 0.13000260
+v -0.05401372 0.01054475 0.13000260
+v -0.05396243 0.01762091 0.12734765
+v -0.05356929 -0.02481495 0.12734765
+v -0.05337100 -0.02216403 0.13000260
+v -0.05353510 0.01762091 0.13000260
+v -0.05347356 0.02470764 0.12734765
+v -0.05295734 -0.03189112 0.12734765
+v -0.05266333 -0.02925076 0.13000260
+v -0.05291289 0.02470764 0.13000260
+v -0.05290947 0.03178380 0.12734765
+v -0.05214710 -0.03910458 0.12734765
+v -0.05153515 -0.03674938 0.13000260
+v -0.05218129 0.03178380 0.13000260
+v -0.05214368 0.03896558 0.12734765
+v -0.05203428 -0.03983332 0.12734765
+v -0.05117619 -0.03861876 0.13000260
+v -0.05116251 0.03845863 0.13000260
+v -0.05159327 0.04040194 0.12734765
+v -0.05089585 -0.03978051 0.13000260
+v -0.05035228 -0.04437474 0.12734765
+v -0.04975400 0.04091945 0.13000260
+v -0.04862241 0.04621073 0.12734765
+v -0.04944632 -0.04205123 0.13000260
+v -0.04697459 -0.04564211 0.13000260
+v -0.04764807 -0.04771215 0.12734765
+v -0.04636948 -0.04640254 0.13000260
+v -0.04635580 0.04625298 0.13000260
+v -0.04719680 0.04759428 0.12734765
+v -0.04411312 -0.05037364 0.12734765
+v -0.04551822 -0.04701510 0.13000260
+v -0.03813380 0.05104787 0.13000260
+v -0.04626691 0.04849200 0.12734765
+v -0.03948077 -0.05092283 0.13000260
+v -0.03953205 -0.05206347 0.12734765
+v -0.03181260 0.05206177 0.13000260
+v -0.03879019 0.05197728 0.12734765
+v -0.03959359 0.05169212 0.12734765
+v -0.03999358 0.05153370 0.12734765
+v -0.03829790 -0.05121855 0.13000260
+v -0.03888249 -0.05216908 0.12734765
+v -0.03652358 -0.05156708 0.13000260
+v -0.02473586 0.05288556 0.13000260
+v -0.03181602 0.05279051 0.12734765
+v -0.03180918 -0.05300344 0.12734765
+v -0.02915626 -0.05271828 0.13000260
+v -0.01968984 0.05331858 0.13000260
+v -0.02473928 0.05344532 0.12734765
+v -0.02473586 -0.05364769 0.12734765
+v -0.02207610 -0.05347870 0.13000260
+v -0.01968984 0.05384665 0.12734765
+v -0.01968984 -0.05366881 0.13000260
+v -0.01968984 -0.05404902 0.12734765
+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 24
+f 1 24 28
+f 1 28 32
+f 1 32 38
+f 1 38 42
+f 1 42 48
+f 1 48 47
+f 1 47 46
+f 1 46 53
+f 1 53 57
+f 1 57 60
+f 1 60 62
+f 1 62 58
+f 1 58 54
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+f 25 29 26
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+f 27 32 28
+f 29 30 33
+f 30 34 33
+f 30 35 36
+f 30 36 34
+f 31 37 32
+f 32 37 38
+f 35 39 36
+f 36 39 40
+f 37 41 42
+f 37 42 38
+f 39 43 40
+f 39 44 43
+f 41 45 46
+f 41 46 47
+f 41 47 48
+f 41 48 42
+f 43 44 49
+f 44 50 51
+f 44 51 49
+f 45 52 53
+f 45 53 46
+f 50 54 55
+f 50 55 51
+f 52 56 57
+f 52 57 53
+f 54 58 59
+f 54 59 55
+f 56 60 57
+f 56 61 62
+f 56 62 60
+f 58 62 61
+f 58 61 59
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_76.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42a7cfba933f9472dc1551420a576553e4682510
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_76.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.05016940 0.05348474 -0.05524187
+v -0.04945380 0.05346417 -0.05271924
+v -0.04753245 0.05497809 -0.05524187
+v 0.04997593 0.05348474 -0.05524187
+v -0.04802259 0.05346417 -0.04960021
+v -0.04941458 0.05348386 -0.05271924
+v 0.04900546 0.05346417 -0.05271924
+v -0.04609143 0.05511355 -0.05271924
+v -0.04618947 0.05563102 -0.05524187
+v 0.04629008 0.05563455 -0.05524187
+v 0.04808399 0.05346417 -0.04960021
+v -0.04595420 0.05447414 -0.04960021
+v -0.03887658 0.05526694 -0.04960021
+v -0.03887658 0.05620491 -0.05524187
+v 0.04467262 0.05581792 -0.05524187
+v 0.04618225 0.05511649 -0.05271924
+v 0.04603521 0.05447560 -0.04960021
+v -0.03179896 0.05541270 -0.04960021
+v -0.03178916 0.05634244 -0.05524187
+v 0.03901641 0.05621050 -0.05524187
+v 0.04212390 0.05557520 -0.05271924
+v 0.03895759 0.05527547 -0.04960021
+v -0.02472135 0.05546118 -0.04960021
+v -0.02471155 0.05638270 -0.05524187
+v 0.03896740 0.05621285 -0.05524187
+v 0.03896740 0.05579352 -0.05271924
+v 0.03895759 0.05579382 -0.05271924
+v 0.03583050 0.05585671 -0.05271924
+v 0.03187998 0.05541769 -0.04960021
+v -0.01764373 0.05548880 -0.04960021
+v -0.01639878 0.05641531 -0.05524187
+v 0.03265440 0.05633362 -0.05524187
+v 0.03188978 0.05634743 -0.05524187
+v 0.02480236 0.05546529 -0.04960021
+v -0.00348850 0.05554346 -0.04960021
+v -0.00347870 0.05646556 -0.05524187
+v 0.02585126 0.05638182 -0.05524187
+v 0.02481216 0.05638681 -0.05524187
+v 0.01772474 0.05549174 -0.04960021
+v 0.00356951 0.05554434 -0.04960021
+v 0.00357931 0.05646615 -0.05524187
+f 1 2 3
+f 1 3 9
+f 1 9 14
+f 1 14 19
+f 1 19 24
+f 1 24 31
+f 1 31 36
+f 1 36 41
+f 1 41 38
+f 1 38 37
+f 1 37 33
+f 1 33 32
+f 1 32 25
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+f 3 5 8
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+f 4 10 11
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+f 5 12 8
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+f 5 40 35
+f 5 35 30
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+f 5 18 13
+f 5 13 12
+f 8 12 13
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+f 9 13 14
+f 10 15 16
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+f 13 18 14
+f 14 18 19
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+f 16 21 17
+f 17 21 22
+f 18 23 19
+f 19 23 24
+f 20 25 26
+f 20 26 22
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+f 22 26 25
+f 22 25 27
+f 22 27 28
+f 22 28 29
+f 23 30 31
+f 23 31 24
+f 25 32 28
+f 25 28 27
+f 28 32 29
+f 29 32 33
+f 29 33 34
+f 30 35 36
+f 30 36 31
+f 33 37 34
+f 34 38 41
+f 34 41 39
+f 34 37 38
+f 35 40 36
+f 36 40 41
+f 39 41 40
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_79.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f69feeface2dd80bcd757e48eeb0ff721a34d98a
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_79.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v -0.05446876 -0.00359143 0.03180274
+v -0.05394084 -0.00359143 0.02826935
+v -0.05438755 -0.02482875 0.03180274
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_80.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32559ff1433df69621ab4b94e64112f2d5892fa0
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_80.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.06538008 -0.00019506 -0.10675407
+v -0.06511526 -0.00019506 -0.10406809
+v -0.06158034 -0.00019506 -0.10675407
+v -0.06537971 -0.00360104 -0.10675407
+v -0.06511526 -0.00360104 -0.10406809
+v -0.06158034 -0.00019506 -0.10406809
+v -0.06158034 -0.05998121 -0.10675407
+v -0.06537785 -0.00413944 -0.10675407
+v -0.06532578 -0.01775753 -0.10675407
+v -0.06508513 -0.01147811 -0.10406809
+v -0.06158034 -0.05932576 -0.10406809
+v -0.06158034 -0.05987587 -0.10621745
+v -0.06402138 -0.05734186 -0.10675407
+v -0.06529862 -0.02483285 -0.10675407
+v -0.06501521 -0.02976041 -0.10406809
+v -0.06383429 -0.05699658 -0.10406809
+v -0.06398605 -0.05727164 -0.10621745
+v -0.06466781 -0.05313998 -0.10675407
+v -0.06527147 -0.03190232 -0.10675407
+v -0.06500665 -0.03190232 -0.10406809
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+v -0.06460384 -0.05313998 -0.10621745
+v -0.06446883 -0.05121460 -0.10406809
+v -0.06470166 -0.04708294 -0.10406809
+v -0.06503641 -0.04659721 -0.10675407
+v -0.06526738 -0.03244072 -0.10675407
+v -0.06500553 -0.03206033 -0.10406809
+v -0.06473774 -0.04643920 -0.10406809
+v -0.06475410 -0.04614659 -0.10406809
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_82.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22d2583ce57c27d587c96cb79e1ff0d91eddb67a
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_82.obj
@@ -0,0 +1,204 @@
+# https://github.com/mikedh/trimesh
+v -0.00352372 0.06336658 0.08533867
+v -0.00352372 0.06293941 0.08307162
+v -0.03178500 0.06325470 0.08533867
+v 0.00355255 0.06335641 0.08533867
+v 0.00355255 0.06293941 0.08307162
+v -0.03178500 0.06282753 0.08307162
+v -0.03366909 0.06323436 0.08533867
+v 0.00818609 0.06334624 0.08533867
+v 0.03187955 0.06325470 0.08533867
+v 0.03187955 0.06282753 0.08307162
+v -0.03732772 0.06276651 0.08307162
+v -0.03978141 0.06316316 0.08533867
+v 0.03895583 0.06317334 0.08533867
+v 0.03895583 0.06274617 0.08307162
+v -0.03886128 0.06274617 0.08307162
+v -0.04577324 0.06258344 0.08307162
+v -0.04555416 0.06302078 0.08533867
+v 0.04579112 0.06301060 0.08533867
+v 0.04586779 0.06258344 0.08307162
+v -0.05121737 0.06198336 0.08307162
+v -0.04569656 0.06301060 0.08533867
+v 0.04803668 0.06276651 0.08533867
+v 0.04803668 0.06222746 0.08307162
+v -0.05302478 0.06168841 0.08307162
+v -0.05302478 0.06211558 0.08487687
+v -0.05305764 0.06219695 0.08533867
+v 0.04803668 0.03620065 0.08533867
+v 0.04803668 0.03620065 0.08307162
+v -0.05877562 0.05873891 0.08307162
+v -0.05902756 0.05899318 0.08487687
+v -0.05908233 0.05904403 0.08533867
+v 0.04802573 -0.04053725 0.08533845
+v -0.06368301 0.03620065 0.08533867
+v 0.04802573 -0.04053725 0.08307184
+v -0.06326675 0.03620065 0.08307162
+v -0.06152507 0.05365356 0.08307162
+v -0.06188655 0.05301281 0.08307184
+v -0.06195228 0.05365356 0.08487687
+v -0.06236853 0.05306366 0.08533845
+v -0.06202895 0.05365356 0.08533867
+v -0.06358442 -0.04053725 0.08533845
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+v -0.06375969 0.03177640 0.08533845
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+v -0.06386922 -0.00357694 0.08533845
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+v -0.06372682 -0.03458740 0.08533845
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+v -0.06316817 -0.04053725 0.08307184
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+v -0.06333248 -0.03189216 0.08307184
+v -0.06344202 -0.00357694 0.08307184
+v -0.06344202 -0.00294636 0.08307184
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+v -0.06333248 0.03177640 0.08307184
+v -0.06323390 0.03848906 0.08307162
+v -0.06298195 0.04444908 0.08307162
+v -0.06221517 0.05121260 0.08307184
+v -0.06229185 0.05301281 0.08487687
+v -0.06328866 0.04673749 0.08533845
+v -0.06339820 0.04444908 0.08533867
+v -0.06328866 -0.03898114 0.08334235
+v -0.06339820 0.04445925 0.08533845
+v -0.06337629 0.04444908 0.08519442
+v -0.06291623 0.04637135 0.08307184
+v -0.06327771 0.03886537 0.08336232
+v -0.06322294 0.03886537 0.08307162
+v -0.06331057 0.04634083 0.08533845
+v -0.06326675 0.04653407 0.08509168
+f 1 2 6
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_83.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60076b4160607cb25e8ee7476426ce6b50172b82
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_83.obj
@@ -0,0 +1,396 @@
+# https://github.com/mikedh/trimesh
+v -0.00882322 -0.06029293 -0.12846599
+v -0.00882322 -0.06021038 -0.12852730
+v -0.00348789 -0.06031651 -0.12846599
+v -0.00882322 0.05545135 -0.12846599
+v -0.00348789 -0.06021038 -0.12853836
+v -0.00882322 -0.05673156 -0.13020348
+v 0.00256423 -0.06030472 -0.12846599
+v 0.00256423 -0.06021038 -0.12853693
+v 0.00256423 -0.06029293 -0.12847740
+v -0.00357580 0.06014480 -0.12846599
+v -0.00882322 0.06012121 -0.12847633
+v -0.00348789 -0.05559948 -0.13075175
+v 0.00256423 -0.05954999 -0.12885741
+v -0.00882322 -0.05558768 -0.13075032
+v 0.00802127 -0.06029293 -0.12846599
+v 0.00802127 -0.06021038 -0.12852588
+v -0.00348789 0.06015659 -0.12846599
+v -0.00882322 0.06009763 -0.12849593
+v 0.00256423 -0.05558768 -0.13075032
+v -0.00571264 -0.05017488 -0.13210780
+v 0.00256423 -0.05017488 -0.13210780
+v 0.00802127 -0.05557589 -0.13074890
+v 0.01773171 -0.05555230 -0.13074462
+v 0.02481167 -0.05552872 -0.13074069
+v 0.03074884 -0.05550513 -0.13073891
+v -0.00882322 -0.05016309 -0.13210780
+v 0.02484549 -0.06023396 -0.12846599
+v 0.01773171 -0.06021038 -0.12850164
+v 0.03074884 -0.06021038 -0.12846884
+v 0.03074884 -0.05965613 -0.12873692
+v 0.00256423 0.06014480 -0.12846599
+v 0.00256423 0.06009763 -0.12850592
+v -0.00348789 0.06009763 -0.12850734
+v -0.00882322 0.05540418 -0.13073464
+v 0.01066527 -0.05012771 -0.13210780
+v 0.03188488 -0.05549334 -0.13073784
+v 0.03155353 -0.06021038 -0.12846599
+v 0.02481167 -0.05004516 -0.13210780
+v 0.03074884 -0.04996262 -0.13210780
+v -0.00882322 0.04994421 -0.13210780
+v 0.00802127 0.06013301 -0.12846599
+v 0.00256423 0.05608815 -0.13041166
+v -0.00348789 0.05541597 -0.13073499
+v 0.01772495 0.06009763 -0.12846599
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+v 0.03895807 -0.05535183 -0.13072893
+v 0.03895807 -0.06011604 -0.12846599
+v 0.03188488 -0.04993903 -0.13210780
+v -0.00348789 0.04995600 -0.13210780
+v 0.00802127 0.05539238 -0.13073214
+v 0.00256423 0.05540418 -0.13073499
+v -0.00119552 0.04995600 -0.13210780
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+v 0.03074884 0.05607635 -0.13035748
+v 0.03074884 0.05530984 -0.13072216
+v 0.02481167 0.04982628 -0.13210780
+v 0.00256423 0.04994421 -0.13210780
+v 0.04006031 -0.05526928 -0.13072608
+v 0.04006031 -0.05605939 -0.13037851
+v 0.03635465 -0.04970318 -0.13210780
+v 0.03895807 -0.04954988 -0.13210780
+v 0.04561879 -0.05991556 -0.12846599
+v 0.03895807 0.05993253 -0.12846599
+v 0.03188488 0.05529804 -0.13072216
+v 0.02722576 0.04979090 -0.13210780
+v 0.04604480 -0.05988019 -0.12846599
+v 0.04604480 -0.05476220 -0.13071111
+v 0.04006031 -0.04936119 -0.13210780
+v 0.04604480 0.05969668 -0.12846599
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+v 0.03188488 0.04972015 -0.13210780
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_84.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8560d5bbdf1243fbe80a37848c384274b0423757
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_84.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.03280332 -0.01693890 -0.00251477
+v 0.05130677 -0.01693890 -0.00251477
+v 0.03280332 -0.01693890 -0.00003561
+v 0.03280332 0.05055469 -0.00251477
+v 0.05133037 -0.01067579 -0.00251477
+v 0.05132673 -0.01068901 -0.00003561
+v 0.05130314 -0.01693890 -0.00003561
+v 0.03280332 0.04968261 -0.00003561
+v 0.03280332 0.05054809 -0.00003804
+v 0.03896871 0.05036971 -0.00003561
+v 0.03896509 0.05037631 -0.00251477
+v 0.05133581 -0.00821151 -0.00251477
+v 0.05133943 -0.00361328 -0.00003561
+v 0.03895057 0.05036971 -0.00003561
+v 0.04324837 0.04986099 -0.00003561
+v 0.04325927 0.04986099 -0.00005381
+v 0.04326834 0.04986099 -0.00251477
+v 0.05134307 -0.00360006 -0.00251477
+v 0.05133943 0.00348227 -0.00003561
+v 0.04327015 0.04985439 -0.00003561
+v 0.04680568 0.04708620 -0.00251477
+v 0.05134307 0.00348227 -0.00251477
+v 0.05133943 0.00594655 -0.00251477
+v 0.05132673 0.01055800 -0.00003561
+v 0.04680024 0.04707959 -0.00003561
+v 0.05023413 0.04355164 -0.00003561
+v 0.05024502 0.04354503 -0.00251477
+v 0.05133037 0.01055800 -0.00251477
+v 0.05132129 0.01302228 -0.00251477
+v 0.05129951 0.01763373 -0.00003561
+v 0.05024502 0.04353182 -0.00003561
+v 0.05100730 0.03886091 -0.00251477
+v 0.05130314 0.01762712 -0.00251477
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+v 0.05125050 0.02470946 -0.00003561
+v 0.05100186 0.03886752 -0.00003561
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_9.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..386ce51f863f8cf31ac7491da4ecf99dc5a8d819
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,195 @@
+# https://github.com/mikedh/trimesh
+v -0.00350279 0.05403646 0.13733157
+v -0.01057950 0.05362717 0.13733157
+v -0.00350279 0.05401251 0.14149940
+v 0.00080807 0.05401251 0.14149940
+v 0.00080807 0.05403428 0.13733157
+v -0.01057950 0.05360322 0.14149940
+v -0.01765621 0.05291092 0.13733157
+v -0.01057950 0.05304807 0.14857452
+v -0.00350279 0.05344212 0.14857452
+v 0.00080807 0.05378827 0.14427058
+v 0.00080807 0.03179788 0.13733157
+v -0.01765621 0.05288044 0.14149940
+v -0.01765621 0.05234488 0.14857452
+v -0.02473292 0.05195519 0.13733157
+v -0.02473292 0.05018743 0.15299242
+v -0.01765621 0.05066638 0.15346024
+v -0.01057950 0.05101036 0.15372221
+v -0.00350279 0.05119758 0.15383620
+v 0.00080807 0.05343994 0.14857452
+v 0.00080807 0.03179788 0.15225073
+v -0.05094258 0.03179788 0.13733157
+v -0.02473292 0.05191165 0.14149940
+v -0.02473292 0.05138045 0.14857452
+v -0.02994547 0.04977379 0.15250590
+v -0.03180456 0.05080571 0.13733157
+v -0.03888127 0.04518021 0.15387533
+v -0.02473292 0.04594436 0.15418324
+v -0.01765621 0.04594436 0.15426830
+v -0.00350279 0.04594436 0.15430573
+v 0.00080807 0.04594436 0.15430741
+v 0.00080807 0.05119540 0.15383620
+v -0.03888127 0.03886894 0.15470889
+v -0.03888127 0.03179788 0.15366439
+v -0.05089192 0.03179788 0.14149940
+v -0.04992945 0.03732106 0.14149940
+v -0.05054239 0.03406637 0.13733157
+v -0.03180456 0.05076217 0.14149940
+v -0.03624714 0.04969106 0.14656204
+v -0.03210344 0.05015259 0.14878376
+v -0.03466159 0.04923606 0.15128106
+v -0.04408875 0.04399372 0.15338200
+v -0.03385615 0.05041820 0.13733157
+v -0.04535517 0.03886894 0.15386342
+v -0.04655573 0.03179788 0.15358444
+v -0.05088685 0.03179788 0.14157765
+v -0.04977241 0.03659610 0.14702987
+v -0.04994971 0.03736678 0.13733157
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+v -0.04033004 0.04895740 0.14149940
+v -0.03871917 0.04865261 0.14878376
+v -0.04523866 0.04509096 0.14857452
+v -0.04885046 0.03892119 0.14906445
+v -0.04938236 0.03498726 0.15174888
+v -0.03683981 0.04983475 0.13733157
+v -0.04966603 0.03179788 0.15227283
+v -0.04738649 0.03179788 0.15329352
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+v -0.04912401 0.04090448 0.13733157
+v -0.04557806 0.04541751 0.14149940
+v -0.04767017 0.04278110 0.13733157
+v -0.04037563 0.04896828 0.13733157
+v -0.04253360 0.04751183 0.13733157
+v -0.04558818 0.04542840 0.13733157
+f 1 2 6
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+f 1 5 11
+f 1 11 21
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_90.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b88901387f1430f95d2e37e63477fd66cc88efe8
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_90.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.04741012 0.02864989 -0.10105600
+v 0.04741012 0.02438227 -0.10105600
+v 0.04741012 0.02864989 -0.10406780
+v -0.06471723 0.02864989 -0.10105600
+v 0.04741012 0.02438227 -0.10406780
+v 0.04739910 -0.04235658 -0.10105600
+v -0.06501463 0.02864989 -0.10406780
+v -0.06473926 0.02470895 -0.10105600
+v -0.06483839 0.02864989 -0.10228094
+v -0.06502564 0.02685666 -0.10406780
+v 0.04739910 -0.04235658 -0.10406780
+v -0.06452999 -0.04235658 -0.10105600
+v -0.06480535 0.02438227 -0.10170783
+v -0.06479433 0.01016847 -0.10105600
+v -0.06503665 0.02438227 -0.10406780
+v -0.06484941 -0.04235658 -0.10406780
+v -0.06458506 -0.04089002 -0.10105600
+v -0.06469520 -0.04235658 -0.10251267
+v -0.06510274 0.00562283 -0.10406780
+v -0.06480535 0.00348207 -0.10105600
+v -0.06460709 -0.04028533 -0.10105600
+v -0.06491550 -0.03977099 -0.10406780
+v -0.06511375 -0.00400363 -0.10406780
+v -0.06480535 -0.00551190 -0.10105600
+v -0.06462912 -0.03897863 -0.10105600
+v -0.06492651 -0.03913154 -0.10406780
+v -0.06499260 -0.03204897 -0.10406780
+v -0.06471723 -0.02519576 -0.10105600
+v -0.06468419 -0.03227833 -0.10105600
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 9
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+f 1 29 25
+f 1 25 21
+f 1 21 17
+f 1 17 12
+f 1 12 6
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+f 3 23 19
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+f 3 15 10
+f 3 10 7
+f 4 9 10
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+f 6 18 16
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+f 7 10 9
+f 8 10 13
+f 8 13 14
+f 10 15 13
+f 12 17 18
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+f 14 15 19
+f 14 19 20
+f 16 18 21
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+f 17 21 18
+f 19 23 20
+f 20 23 24
+f 21 25 26
+f 21 26 22
+f 23 27 24
+f 24 27 28
+f 25 29 27
+f 25 27 26
+f 27 29 28
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_91.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b525e30abc85b8741197ed4d8cebe7e14a19651c
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_91.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
+v 0.06522703 0.01406167 0.10038976
+v 0.06523982 0.01262657 0.10038976
+v 0.06511189 0.01406167 0.09903261
+v -0.06533910 0.01406167 0.10038976
+v 0.06526541 0.00835106 0.10038976
+v 0.06515027 0.01044118 0.09914727
+v 0.06507351 0.01406167 0.09863503
+v -0.06531351 0.01406167 0.10000087
+v -0.06535189 0.01262657 0.10038976
+v 0.06527820 0.00347411 0.10038976
+v 0.06516307 0.00347411 0.09903261
+v 0.06515027 0.00831533 0.09903261
+v 0.06508631 0.00831533 0.09832380
+v 0.06506072 0.01406167 0.09852705
+v -0.06524954 0.01406167 0.09903261
+v -0.06537747 0.00831533 0.10038976
+v 0.06529100 -0.00360015 0.10038976
+v 0.06509910 0.00418272 0.09832380
+v 0.06506072 0.01126293 0.09832380
+v 0.06503513 0.01406167 0.09832380
+v -0.06526234 0.01044118 0.09891835
+v -0.06518558 0.01406167 0.09832380
+v -0.06519837 0.01262657 0.09832380
+v -0.06539027 0.00545704 0.10038976
+v 0.06525262 -0.01190704 0.10038976
+v 0.06516307 -0.00493401 0.09903261
+v 0.06509910 -0.00493401 0.09832380
+v -0.06521116 0.01055432 0.09832380
+v -0.06522396 0.00831533 0.09832380
+v -0.06523675 0.00545704 0.09832380
+v -0.06530072 0.00347411 0.09903261
+v -0.06540306 -0.00349892 0.10038976
+v 0.06515027 -0.03131955 0.10038976
+v 0.06511189 -0.01585504 0.09903261
+v 0.06495838 -0.03131955 0.09832380
+v -0.06523675 -0.00493997 0.09832380
+v -0.06530072 -0.00360015 0.09903261
+v -0.06540306 -0.00360015 0.10038976
+v 0.06513748 -0.03325485 0.10038976
+v 0.06502234 -0.03190312 0.09903261
+v 0.06500955 -0.03379673 0.09903261
+v 0.06493279 -0.03666097 0.09850277
+v 0.06489441 -0.03897737 0.09832380
+v -0.06527513 -0.00493401 0.09875900
+v -0.06513441 -0.02875305 0.09832380
+v -0.06527513 -0.03131955 0.10038976
+v -0.06539027 -0.00493401 0.10028966
+v 0.06511189 -0.03666097 0.10038976
+v 0.06504793 -0.03666097 0.09967711
+v 0.06493279 -0.04605162 0.10038976
+v 0.06474089 -0.04603972 0.09832380
+v 0.06508631 -0.03897737 0.10038976
+v -0.06515999 -0.02875305 0.09863887
+v -0.06512161 -0.03131955 0.09832380
+v -0.06523675 -0.03379673 0.10038976
+v 0.06490721 -0.04677215 0.10038976
+v 0.06468972 -0.04677215 0.09832380
+v 0.06481765 -0.04677215 0.09945809
+v -0.06498089 -0.03897737 0.09832380
+v -0.06504486 -0.03897737 0.09903261
+v -0.06514720 -0.03897737 0.10038976
+v -0.06490413 -0.04677215 0.10038976
+v -0.06411096 -0.04677215 0.09832380
+v -0.06475061 -0.04612308 0.09832380
+v -0.06482737 -0.04605162 0.09903261
+v -0.06494251 -0.04605162 0.10038976
+v -0.06471223 -0.04677215 0.09832845
+f 1 2 3
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+f 1 7 14
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+f 1 20 22
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+f 1 15 8
+f 1 8 4
+f 1 4 9
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+f 1 16 24
+f 1 24 32
+f 1 32 38
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+f 1 46 55
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+f 54 59 60
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+f 59 64 65
+f 59 65 60
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+f 62 66 65
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\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_93.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92eb2ceeabfb178976b02011e4c4608cd79f2d50
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_93.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01789203 0.03853518 0.13000279
+v 0.01789203 0.03853518 0.13190586
+v 0.01789203 0.05360755 0.13000279
+v 0.01789366 -0.05382379 0.13000279
+v 0.01789366 -0.05356084 0.13190568
+v 0.03459206 0.03853518 0.13190586
+v 0.01789203 0.05332356 0.13190586
+v 0.02024925 0.05315526 0.13190586
+v 0.02215531 0.05329200 0.13000279
+v 0.02481332 -0.05318219 0.13000279
+v 0.02481332 -0.05280354 0.13190568
+v 0.03459206 0.04893753 0.13190586
+v 0.03188827 -0.05186744 0.13190568
+v 0.03459042 -0.05134153 0.13190568
+v 0.03459042 -0.05187795 0.13000279
+v 0.03459206 0.03853518 0.13000279
+v 0.02732421 0.05234537 0.13190586
+v 0.02922863 0.05256626 0.13000279
+v 0.03188827 -0.05237230 0.13000279
+v 0.03459206 0.05124099 0.13189935
+v 0.03458388 0.05123046 0.13190586
+v 0.03459206 0.05175637 0.13000279
+f 1 2 7
+f 1 7 3
+f 1 3 9
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+f 1 22 16
+f 1 16 15
+f 1 15 19
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+f 1 10 4
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+f 2 4 5
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+f 2 6 12
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+f 2 21 17
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+f 2 8 7
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+f 6 11 13
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+f 8 18 9
+f 10 19 11
+f 11 19 13
+f 12 20 21
+f 13 19 15
+f 13 15 14
+f 17 22 18
+f 17 21 20
+f 17 20 22
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_95.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55dc88155b0b0af2872d9f2d1a6784a59e2a682b
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_95.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.02166657 -0.06013765 -0.07567317
+v 0.02712225 -0.06011413 -0.07567317
+v 0.02980468 -0.05917334 -0.07082998
+v 0.02418647 -0.05919686 -0.07082998
+v 0.02166657 -0.05964373 -0.07310472
+v 0.02166657 0.06000155 -0.07567317
+v 0.02980468 -0.06010237 -0.07567317
+v 0.02980468 -0.05422242 -0.07082571
+v 0.02712225 -0.05689192 -0.07082571
+v 0.02481267 -0.05918510 -0.07082571
+v 0.02166657 -0.05919686 -0.07082998
+v 0.02166657 -0.05962021 -0.07298372
+v 0.02166657 0.05982515 -0.07475977
+v 0.02712225 0.05967227 -0.07408883
+v 0.02712225 0.05997803 -0.07567317
+v 0.02980468 0.05996627 -0.07567317
+v 0.02980468 0.05408631 -0.07082571
+v 0.02166657 -0.05804439 -0.07082571
+v 0.02166657 0.05906076 -0.07082998
+v 0.02480868 0.05904899 -0.07082571
+v 0.02980468 0.05902548 -0.07082998
+v 0.02712225 0.05675581 -0.07082571
+v 0.02166657 0.05516823 -0.07082571
+f 1 2 3
+f 1 3 4
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+f 1 5 12
+f 1 12 11
+f 1 11 18
+f 1 18 23
+f 1 23 19
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+f 1 13 6
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+f 1 7 2
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+f 4 10 11
+f 4 11 12
+f 4 12 5
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+f 6 14 15
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+f 8 23 18
+f 8 18 10
+f 8 10 9
+f 10 18 11
+f 13 19 20
+f 13 20 14
+f 14 20 21
+f 14 21 16
+f 14 16 15
+f 17 21 22
+f 19 23 20
+f 20 22 21
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_96.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfa3281a26004e03ac83d657e398640a844308c6
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_96.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.01732920 -0.05322427 0.13443894
+v -0.01581926 -0.05338013 0.13443894
+v -0.01732920 -0.05322427 0.13476063
+v -0.01732920 0.01806197 0.13443894
+v -0.01473947 -0.05347223 0.13733155
+v -0.01052861 -0.05391149 0.13443894
+v -0.01732920 -0.05320302 0.13733155
+v -0.01732920 0.01806197 0.13733155
+v 0.00007025 0.01806197 0.13443894
+v -0.01057250 -0.05389023 0.13733155
+v -0.00349977 -0.05431531 0.13443894
+v -0.00349977 -0.05430114 0.13733155
+v -0.00766381 -0.05406026 0.13733155
+v 0.00007025 0.01806197 0.13733155
+v 0.01256532 0.01805489 0.13443894
+v 0.00007025 -0.05430823 0.13443894
+v 0.00007025 -0.05430114 0.13588850
+v 0.00007025 -0.05429406 0.13733155
+v 0.01256532 0.01805489 0.13733155
+v 0.01256532 -0.05372020 0.13443894
+v 0.00362271 -0.05430114 0.13443894
+v 0.00357882 -0.05428697 0.13733155
+v 0.01256532 -0.05369895 0.13733155
+v 0.01065448 -0.05390440 0.13443894
+v 0.01065448 -0.05389023 0.13733155
+v 0.00648751 -0.05412403 0.13733155
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 20
+f 1 20 24
+f 1 24 21
+f 1 21 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 4 8 14
+f 4 14 9
+f 5 6 10
+f 5 10 13
+f 5 13 12
+f 5 12 18
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+f 5 22 26
+f 5 26 25
+f 5 25 23
+f 5 23 19
+f 5 19 14
+f 5 14 8
+f 5 8 7
+f 6 11 12
+f 6 12 13
+f 6 13 10
+f 9 14 19
+f 9 19 15
+f 11 16 17
+f 11 17 12
+f 12 17 18
+f 15 19 23
+f 15 23 20
+f 16 21 17
+f 17 21 18
+f 18 21 22
+f 20 23 25
+f 20 25 24
+f 21 24 25
+f 21 25 26
+f 21 26 22
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_98.obj b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b97238f3ca543e5b7c29457ec21ef181d8ce41c
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/collision/model_normalized_collision_98.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.05452086 -0.03913495 0.03532227
+v 0.05344165 -0.04606328 0.03532227
+v 0.05347371 -0.04253799 0.03180274
+v 0.05399728 -0.03913495 0.03180274
+v -0.05463937 -0.03913495 0.03532227
+v 0.05101610 -0.05101885 0.03532227
+v 0.05058869 -0.05059862 0.03180274
+v 0.05275779 -0.04606786 0.03180274
+v -0.05410511 -0.03913495 0.03180274
+v -0.05349605 -0.04607092 0.03532227
+v 0.04603679 -0.05339196 0.03532227
+v 0.04603679 -0.05270279 0.03180274
+v -0.05280151 -0.04606633 0.03180274
+v -0.05098502 -0.05104483 0.03532227
+v -0.05180778 -0.04812924 0.03180274
+v -0.05055761 -0.05062307 0.03180274
+v 0.03896317 -0.05445397 0.03532227
+v 0.03896317 -0.05391762 0.03180274
+v 0.04251067 -0.05338432 0.03180274
+v -0.04596297 -0.05341488 0.03532227
+v -0.04803590 -0.05181039 0.03180274
+v 0.03188956 -0.05460526 0.03532227
+v 0.03188956 -0.05407348 0.03180274
+v 0.03542637 -0.05399708 0.03180274
+v -0.04596297 -0.05272877 0.03180274
+v -0.03887867 -0.05391456 0.03180274
+v -0.03887867 -0.05445245 0.03532227
+v 0.02480526 -0.05466332 0.03532227
+v 0.02835275 -0.05410557 0.03180274
+v -0.03180505 -0.05407348 0.03180274
+v -0.03180505 -0.05460678 0.03532227
+v 0.02480526 -0.05413461 0.03180274
+v 0.01064734 -0.05471680 0.03532227
+v 0.01773164 -0.05416211 0.03180274
+v 0.02127913 -0.05414836 0.03180274
+v -0.02472075 -0.05413461 0.03180274
+v -0.02472075 -0.05466332 0.03532227
+v 0.00357372 -0.05474278 0.03532227
+v 0.00357372 -0.05421560 0.03180274
+v -0.01764713 -0.05416211 0.03180274
+v -0.00348921 -0.05474431 0.03532227
+v -0.00348921 -0.05421560 0.03180274
+f 1 2 3
+f 1 3 4
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+f 1 10 14
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+f 1 20 27
+f 1 27 31
+f 1 31 37
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+f 1 38 33
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+f 1 17 11
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+f 7 11 12
+f 9 13 10
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+f 10 15 16
+f 10 16 14
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 14 16 20
+f 16 21 20
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 20 25 26
+f 20 26 27
+f 20 21 25
+f 22 28 29
+f 22 29 23
+f 26 30 27
+f 27 30 31
+f 28 32 29
+f 28 33 39
+f 28 39 34
+f 28 34 35
+f 28 35 32
+f 30 36 31
+f 31 36 37
+f 33 38 39
+f 36 40 37
+f 37 40 41
+f 38 41 39
+f 39 41 42
+f 40 42 41
\ No newline at end of file
diff --git a/new_bottle_of_coffee/new_bottle_of_coffee_0/model.xml b/new_bottle_of_coffee/new_bottle_of_coffee_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8ed54b60a15991683759aa9d499b9d518b9b2864
--- /dev/null
+++ b/new_bottle_of_coffee/new_bottle_of_coffee_0/model.xml
@@ -0,0 +1,946 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="new_bottle_of_coffee_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_285.obj" name="model_normalized_collision_285._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_bottle_of_coffee/new_bottle_of_coffee_0/visual/zywanc__base_link__reflection.png b/new_bottle_of_coffee/new_bottle_of_coffee_0/visual/zywanc__base_link__reflection.png
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diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_0.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_0.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_1.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..445d95d1cfbe880894e0d28ffb916439bb16b911
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_1.obj
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+# https://github.com/mikedh/trimesh
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+f 5 20 13
+f 5 13 6
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 10 17 11
+f 10 16 17
+f 11 17 28
+f 11 28 18
+f 11 18 12
+f 12 18 19
+f 13 20 21
+f 14 22 15
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 15 22 23
+f 16 26 27
+f 16 27 17
+f 17 27 28
+f 18 28 19
+f 19 28 29
+f 20 30 34
+f 20 34 33
+f 20 33 25
+f 20 25 24
+f 20 24 23
+f 20 23 32
+f 20 32 31
+f 20 31 21
+f 21 31 32
+f 22 32 23
+f 25 33 27
+f 25 27 26
+f 27 33 34
+f 27 34 35
+f 27 35 36
+f 27 36 28
+f 28 36 37
+f 28 37 29
+f 29 37 38
+f 30 39 34
+f 34 39 35
+f 35 39 36
+f 36 38 37
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_10.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3fe98ff29eb7fb5f5adb82bbf6296f0cb364fb8
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.00000274 -0.02428223 0.07057781
+v 0.01678625 -0.02428280 0.07057684
+v -0.00000274 -0.02428223 0.06647491
+v -0.00185064 -0.02428223 0.07057829
+v 0.01678625 -0.02428280 0.06641481
+v 0.01306742 -0.02428280 0.07057732
+v 0.01678625 -0.02800200 0.07057684
+v -0.01678515 -0.02428223 0.06641432
+v -0.00933105 -0.02428223 0.07057926
+v 0.01678625 -0.03010648 0.06562913
+v -0.01680488 -0.03010420 0.06562767
+v 0.01678625 -0.02801682 0.07057635
+v -0.01306632 -0.02800143 0.07057926
+v -0.01679830 -0.02428223 0.06641432
+v -0.01680488 -0.02428223 0.07057926
+v 0.01678625 -0.03010648 0.07049976
+v -0.00000274 -0.03010705 0.06564512
+v -0.01679830 -0.03010705 0.06562816
+v -0.01680488 -0.03010705 0.07047553
+v -0.01680488 -0.02428223 0.06642935
+v 0.01095975 -0.03010648 0.07050025
+v -0.01680488 -0.02800428 0.07057926
+v -0.01679830 -0.03010705 0.07050171
+v 0.00186490 -0.03010648 0.07050073
+v -0.00000274 -0.03010705 0.07050073
+v -0.01680488 -0.03010705 0.07050171
+v -0.00770344 -0.03010705 0.07050122
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 14
+f 1 14 20
+f 1 20 15
+f 1 15 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 12
+f 2 12 16
+f 2 16 10
+f 2 10 5
+f 3 5 8
+f 4 9 6
+f 5 10 11
+f 5 11 8
+f 6 9 7
+f 7 9 13
+f 7 13 12
+f 8 11 14
+f 9 15 22
+f 9 22 13
+f 10 16 25
+f 10 25 17
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 11 19 26
+f 11 26 22
+f 11 22 15
+f 11 15 20
+f 11 20 14
+f 12 21 16
+f 12 13 21
+f 13 22 23
+f 13 23 24
+f 13 24 21
+f 16 21 25
+f 17 25 27
+f 17 27 23
+f 17 23 26
+f 17 26 19
+f 17 19 18
+f 21 24 23
+f 21 23 27
+f 21 27 25
+f 22 26 23
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_11.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ae8cf0a8b57a7722d42a8749c07475cf1aabbcf
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01679393 -0.03515905 0.05585894
+v 0.01679393 -0.03515905 0.06296521
+v 0.01679393 -0.03508486 0.05585894
+v 0.02053535 -0.03515905 0.05585894
+v 0.01679393 -0.03144537 0.06296521
+v 0.02053535 -0.03515905 0.06296521
+v 0.01679393 -0.03147159 0.05586589
+v 0.01680139 -0.03147159 0.05585894
+v 0.02331361 -0.03438060 0.05585894
+v 0.02331361 -0.03438110 0.06292973
+v 0.02056148 -0.03515212 0.06296521
+v 0.01949229 -0.03010709 0.06296521
+v 0.01952365 -0.03010709 0.05585894
+v 0.02436563 -0.03173618 0.05585894
+v 0.02435592 -0.03176140 0.06296521
+v 0.02331361 -0.03438110 0.06296521
+v 0.02442013 -0.03010709 0.06296521
+v 0.02441714 -0.03010709 0.05585894
+v 0.02441192 -0.03028018 0.05585894
+v 0.02442088 -0.03010709 0.06292973
+v 0.02436563 -0.03173618 0.06296521
+v 0.02442013 -0.03012291 0.06296521
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 18
+f 1 18 19
+f 1 19 14
+f 1 14 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 11
+f 2 11 16
+f 2 16 15
+f 2 15 21
+f 2 21 22
+f 2 22 17
+f 2 17 12
+f 2 12 5
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 6
+f 5 12 13
+f 5 13 7
+f 7 13 8
+f 9 14 15
+f 9 15 10
+f 10 15 16
+f 10 16 11
+f 12 17 20
+f 12 20 18
+f 12 18 13
+f 14 19 20
+f 14 20 21
+f 14 21 15
+f 17 22 20
+f 18 20 19
+f 20 22 21
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_12.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5d267aa022bd5a0cb90fc0fad59884561c3ca0c
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01933266 0.03146505 0.06075904
+v 0.01677721 0.03146505 0.06075904
+v 0.01933266 0.03120267 0.06075904
+v 0.01933266 0.03146505 -0.08077096
+v 0.01933266 0.03066204 0.06074518
+v 0.01787008 0.03112658 0.06075904
+v 0.01682323 0.03146505 -0.07894227
+v 0.01933266 0.03066801 -0.07521560
+v 0.01933266 0.03067076 -0.07894227
+v 0.01826055 0.03146505 -0.08011984
+f 1 2 6
+f 1 6 3
+f 1 3 5
+f 1 5 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 7
+f 1 7 2
+f 2 5 6
+f 2 7 8
+f 2 8 5
+f 3 6 5
+f 4 9 10
+f 7 10 9
+f 7 9 8
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_13.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66f79bea751837759c1eff128bf3535df5c4be8a
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.02448784 -0.02799874 0.06285047
+v -0.02448191 -0.02799874 0.05908952
+v -0.02448191 -0.02800386 0.05919646
+v -0.02448741 -0.02800386 0.06285047
+v -0.02447428 0.00000359 0.06292289
+v -0.02447428 0.02426580 0.06292289
+v -0.02446497 -0.02445304 0.05908952
+v -0.02435995 -0.02800386 0.05908952
+v -0.02446328 0.02426580 0.05916044
+v -0.02016181 -0.02800386 0.06285047
+v -0.02033161 0.00000359 0.06292289
+v -0.02033034 0.02426580 0.06292289
+v -0.02446455 -0.02437118 0.05908952
+v -0.02021643 -0.02799874 0.05908952
+v -0.02021643 -0.02800386 0.05919646
+v -0.02042266 0.02426580 0.05916044
+v -0.02446370 -0.02435071 0.05908952
+v -0.02041800 -0.02435071 0.05908952
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 13
+f 2 13 17
+f 2 17 18
+f 2 18 14
+f 2 14 8
+f 2 8 3
+f 2 6 9
+f 2 9 7
+f 3 8 15
+f 3 15 10
+f 3 10 4
+f 4 10 11
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 6 12 16
+f 6 16 9
+f 7 9 13
+f 8 14 15
+f 9 16 18
+f 9 18 17
+f 9 17 13
+f 10 15 14
+f 10 14 12
+f 10 12 11
+f 12 14 16
+f 14 18 16
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_14.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d484222da4ffe9ab0b7bd0d74252114069e95f51
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01874983 -0.03010709 0.06536719
+v 0.01950312 -0.03010709 0.06284928
+v 0.02442063 -0.03010709 0.06536719
+v 0.01952225 0.00000574 0.06536719
+v 0.02442063 -0.03010709 0.06284928
+v 0.02033743 0.00000574 0.06284928
+v 0.02444708 -0.02937608 0.06536719
+v 0.02448871 0.00000574 0.06536719
+v 0.02449096 -0.02799954 0.06284928
+v 0.02449152 -0.02799954 0.06292987
+v 0.02449659 -0.02799954 0.06536719
+v 0.02447633 0.00000574 0.06284928
+v 0.02447689 0.00000574 0.06292987
+v 0.02449096 -0.02791995 0.06284928
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 12
+f 2 12 14
+f 2 14 9
+f 2 9 5
+f 3 5 7
+f 4 8 13
+f 4 13 12
+f 4 12 6
+f 5 9 10
+f 5 10 11
+f 5 11 7
+f 8 11 10
+f 8 10 13
+f 9 14 10
+f 10 14 13
+f 12 13 14
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_15.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cf2d63218f04c412a99f0b40cb6cf3d7af728e9
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01439074 0.03101710 0.06434295
+v 0.01439074 0.03069278 0.06536451
+v 0.01439074 0.03146505 0.06434295
+v 0.01774806 0.03086947 0.06434295
+v 0.01439074 0.03146505 0.06536451
+v 0.01774806 0.03054595 0.06536451
+v 0.01774806 0.03146505 0.06434295
+v 0.01774806 0.03146505 0.06536451
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 2
+f 2 4 6
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_16.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..348116dbc797dacbd155b162b5a1724296a7d61f
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.01681021 -0.03515912 0.05881478
+v -0.01681021 -0.03515912 0.06282699
+v -0.01681021 -0.03478805 0.05881478
+v -0.00000190 -0.03515912 0.05881478
+v -0.00000190 -0.03515948 0.06282699
+v -0.01681021 -0.03145382 0.06282699
+v -0.01681021 -0.03146869 0.05919613
+v -0.01680198 -0.03147087 0.05881478
+v -0.00000190 -0.03148175 0.05881478
+v -0.00000190 -0.03147051 0.06282699
+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 6
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 6 10 9
+f 6 9 7
+f 7 9 8
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_17.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd42fc07329172d4472f4dd2ead346d6a5a7dd55
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.01950502 -0.03010705 0.06285056
+v -0.01951867 -0.03006237 0.06285056
+v -0.02441608 -0.03010705 0.06285056
+v -0.01952209 -0.03010705 -0.07521036
+v -0.02016207 -0.02800406 0.06285056
+v -0.02448632 -0.02804709 0.06285056
+v -0.02441706 -0.03010705 -0.07147018
+v -0.01953184 -0.03010705 -0.07895055
+v -0.02021719 -0.02800406 -0.07521036
+v -0.02448778 -0.02800406 0.06285056
+v -0.02441706 -0.03010705 -0.07521036
+v -0.01976110 -0.03010705 -0.07954557
+v -0.02132008 -0.02800406 -0.08181235
+v -0.02022743 -0.02800406 -0.07895055
+v -0.02448583 -0.02800406 -0.07521036
+v -0.02441120 -0.03010705 -0.07732130
+v -0.02081522 -0.03010705 -0.08188319
+v -0.02343367 -0.02800406 -0.08181235
+v -0.02447510 -0.02800406 -0.07895055
+v -0.02440632 -0.03010705 -0.07895055
+v -0.02172007 -0.03010705 -0.08188319
+v -0.02339904 -0.03010705 -0.08178401
+v -0.02385366 -0.03010705 -0.08052312
+f 1 2 5
+f 1 5 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 16
+f 1 16 20
+f 1 20 23
+f 1 23 22
+f 1 22 21
+f 1 21 17
+f 1 17 12
+f 1 12 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 14
+f 5 14 13
+f 5 13 18
+f 5 18 19
+f 5 19 15
+f 5 15 10
+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 13
+f 13 17 21
+f 13 21 18
+f 15 19 16
+f 16 19 20
+f 18 21 22
+f 18 22 19
+f 19 22 23
+f 19 23 20
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_18.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3ef265127bbd8b033f4bd515e0f2d6dc150d589
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.01932439 -0.03515901 0.05666623
+v -0.01681021 -0.03515768 0.03678185
+v -0.01681021 -0.03515856 0.05170930
+v -0.01681021 -0.03515901 0.05918719
+v -0.01932439 -0.03515901 0.06282699
+v -0.01932439 -0.03515680 0.02305823
+v -0.01681021 -0.03515548 0.00317385
+v -0.01681021 -0.03515901 0.06282699
+v -0.01932439 -0.03065872 0.06282699
+v -0.01932439 -0.03515284 -0.03666573
+v -0.01681021 -0.03515151 -0.05655011
+v -0.01681021 -0.03145400 0.06282699
+v -0.01932439 -0.03065872 0.06281283
+v -0.01926212 -0.03067810 0.06282699
+v -0.01932439 -0.03515151 -0.05653594
+v -0.01932439 -0.03515107 -0.06279584
+v -0.01681021 -0.03515019 -0.07521650
+v -0.01681021 -0.03146766 -0.07892712
+v -0.01932439 -0.03066929 -0.07523067
+v -0.01932439 -0.03515019 -0.07521650
+v -0.01932439 -0.03514975 -0.07773745
+v -0.01932439 -0.03514931 -0.07894128
+v -0.01681021 -0.03514799 -0.07895545
+v -0.01681021 -0.03146810 -0.07894128
+v -0.01932439 -0.03067237 -0.07894128
+v -0.01932439 -0.03462720 -0.08079659
+v -0.01932439 -0.03437606 -0.08168884
+v -0.01681021 -0.03437606 -0.08168884
+v -0.01681021 -0.03253082 -0.08168884
+v -0.01932439 -0.03068207 -0.07896961
+v -0.01932439 -0.03250835 -0.08184463
+v -0.01932439 -0.03194306 -0.08185879
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 13
+f 1 13 19
+f 1 19 25
+f 1 25 30
+f 1 30 32
+f 1 32 31
+f 1 31 27
+f 1 27 26
+f 1 26 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 7
+f 1 7 2
+f 2 7 11
+f 2 11 17
+f 2 17 23
+f 2 23 28
+f 2 28 29
+f 2 29 24
+f 2 24 18
+f 2 18 12
+f 2 12 8
+f 2 8 4
+f 2 4 3
+f 5 8 12
+f 5 12 14
+f 5 14 9
+f 6 10 11
+f 6 11 7
+f 9 14 13
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 12 18 19
+f 12 19 14
+f 13 14 19
+f 16 20 17
+f 17 20 21
+f 17 21 22
+f 17 22 23
+f 18 24 25
+f 18 25 19
+f 22 26 23
+f 23 26 27
+f 23 27 28
+f 24 29 30
+f 24 30 25
+f 27 31 28
+f 28 31 32
+f 28 32 29
+f 29 32 30
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_19.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e373f9f23ad700392035ace45416f52b7cb10d1c
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.02190182 -0.03371254 0.05585824
+v 0.02167360 -0.03288118 0.05585824
+v 0.02190182 -0.03477599 0.05585824
+v 0.02190182 -0.03371254 -0.08155917
+v 0.01933689 -0.03288118 0.05585824
+v 0.02167360 -0.03288118 -0.08166700
+v 0.02053525 -0.03515879 0.05585824
+v 0.02190182 -0.03477599 0.05545391
+v 0.02190182 -0.03423379 -0.08151874
+v 0.01933689 -0.03371232 0.05585824
+v 0.01933689 -0.03288118 -0.08176134
+v 0.02167360 -0.03371232 -0.08159961
+v 0.02048026 -0.03288118 -0.08182873
+v 0.01933739 -0.03515879 0.05585824
+v 0.02053525 -0.03515879 0.05545391
+v 0.02190182 -0.03476863 -0.07893105
+v 0.02053525 -0.03514965 -0.07893105
+v 0.02053525 -0.03437647 -0.08168048
+v 0.01933689 -0.03371232 -0.08169395
+v 0.01933739 -0.03437647 -0.08168048
+v 0.02051089 -0.03371254 -0.08174786
+v 0.01933739 -0.03515879 0.05425441
+v 0.02053525 -0.03515767 0.03676051
+v 0.02053525 -0.03515031 -0.07147794
+v 0.01933739 -0.03515009 -0.07639726
+v 0.01933739 -0.03514965 -0.07893105
+v 0.01933739 -0.03490173 -0.07982057
+v 0.01933739 -0.03515410 -0.01665114
+f 1 2 5
+f 1 5 10
+f 1 10 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 6 13
+f 2 13 11
+f 2 11 5
+f 3 7 15
+f 3 15 8
+f 4 9 6
+f 5 11 19
+f 5 19 10
+f 6 9 12
+f 6 12 13
+f 7 14 22
+f 7 22 15
+f 8 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 12
+f 10 19 22
+f 10 22 14
+f 11 13 20
+f 11 20 19
+f 12 18 21
+f 12 21 13
+f 13 21 20
+f 15 22 23
+f 15 23 16
+f 16 24 17
+f 16 23 24
+f 17 25 26
+f 17 26 27
+f 17 27 18
+f 17 24 25
+f 18 20 21
+f 18 27 20
+f 19 25 28
+f 19 28 22
+f 19 20 27
+f 19 27 26
+f 19 26 25
+f 22 28 23
+f 23 28 25
+f 23 25 24
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_2.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd0cfcf0f6e6ebd7366b3374f95ab4484e9a82c7
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.01675369 -0.03341354 0.06282699
+v -0.01675369 -0.03145714 0.06282699
+v -0.01316783 -0.03515877 0.06282699
+v -0.01675369 -0.03515877 0.06282924
+v -0.01675369 -0.03011447 0.06562707
+v -0.01384756 -0.03010755 0.06563759
+v 0.01679318 -0.03010755 0.06562858
+v -0.01669787 -0.03145714 0.06282699
+v 0.00000004 -0.03515877 0.06282699
+v -0.01675369 -0.03515877 0.06666386
+v -0.01675369 -0.03010755 0.06577358
+v 0.01679318 -0.03010755 0.07044965
+v 0.01679318 -0.03145665 0.06292391
+v 0.00000004 -0.03147099 0.06282699
+v 0.01679318 -0.03515877 0.06292391
+v -0.01675369 -0.03514888 0.06669918
+v 0.00000004 -0.03515877 0.06666461
+v -0.01675369 -0.03010755 0.07050224
+v 0.01679318 -0.03011150 0.07049923
+v 0.01469486 -0.03010755 0.07049923
+v 0.01679318 -0.03515877 0.06666461
+v -0.01675369 -0.03438086 0.06941662
+v 0.00000004 -0.03438086 0.06941737
+v -0.00397330 -0.03010755 0.07050149
+v -0.01675369 -0.03173656 0.07044139
+v 0.00000004 -0.03173656 0.07044139
+v 0.01306611 -0.03010755 0.07049999
+v 0.01306611 -0.03173656 0.07043988
+v 0.01679318 -0.03174200 0.07043763
+v 0.01679318 -0.03438235 0.06941061
+v 0.01306611 -0.03438086 0.06941662
+v 0.00186522 -0.03438086 0.06941737
+v -0.01675369 -0.03434624 0.06943014
+f 1 2 8
+f 1 8 14
+f 1 14 9
+f 1 9 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 22
+f 1 22 33
+f 1 33 25
+f 1 25 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 15
+f 3 15 21
+f 3 21 17
+f 3 17 10
+f 3 10 4
+f 5 11 6
+f 6 11 18
+f 6 18 24
+f 6 24 27
+f 6 27 20
+f 6 20 12
+f 6 12 7
+f 7 12 19
+f 7 19 29
+f 7 29 30
+f 7 30 21
+f 7 21 15
+f 7 15 13
+f 7 13 14
+f 7 14 8
+f 9 14 13
+f 9 13 15
+f 10 17 16
+f 12 20 19
+f 16 17 23
+f 16 23 22
+f 17 21 32
+f 17 32 23
+f 18 25 26
+f 18 26 24
+f 19 20 27
+f 19 27 28
+f 19 28 29
+f 21 30 31
+f 21 31 32
+f 22 23 33
+f 23 32 26
+f 23 26 25
+f 23 25 33
+f 24 26 27
+f 26 32 31
+f 26 31 29
+f 26 29 28
+f 26 28 27
+f 29 31 30
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_20.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd5f9bacb5d910b0087ddc273117e42dec3c1661
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.01938448 0.02799246 0.07058331
+v -0.01681321 0.02799246 0.07058231
+v -0.01938448 0.02799246 0.06553775
+v -0.01938448 0.00559993 0.07058182
+v -0.01680816 0.00000690 0.07058132
+v -0.01680816 0.02425526 0.07058231
+v -0.01680816 0.02798224 0.07058231
+v -0.01680816 0.02799246 0.06960308
+v -0.01937943 0.02799246 0.06551492
+v -0.01938448 0.02798224 0.06551294
+v -0.01938448 0.00000690 0.07058132
+v -0.01927691 -0.02052981 0.07057984
+v -0.01680488 -0.02423634 0.07057934
+v -0.01680488 -0.01679772 0.07057984
+v -0.01680488 -0.00186936 0.07058082
+v -0.01680488 0.00000690 0.07058082
+v -0.01680816 0.02799246 0.06626486
+v -0.01927691 -0.02423634 0.06563057
+v -0.01938448 0.00000690 0.06559781
+v -0.01927691 -0.02423634 0.07057934
+v -0.01680488 -0.02423634 0.06641375
+v -0.01680488 0.00000690 0.06641475
+f 1 2 8
+f 1 8 17
+f 1 17 9
+f 1 9 3
+f 1 3 10
+f 1 10 19
+f 1 19 11
+f 1 11 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 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 7
+f 7 16 8
+f 8 16 22
+f 8 22 17
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 11 19 18
+f 11 18 20
+f 11 20 12
+f 12 20 13
+f 13 20 18
+f 13 18 21
+f 13 21 22
+f 13 22 16
+f 13 16 15
+f 13 15 14
+f 17 22 21
+f 17 21 18
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_21.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f720e4daa67a6137d2bbf7e556312c940beadacd
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.02016269 -0.02800389 0.06284928
+v 0.02021904 -0.02800115 0.05911960
+v 0.02021904 -0.02800389 0.05919627
+v 0.02449108 -0.02800389 0.06284928
+v 0.02033726 0.00000573 0.06284928
+v 0.02030591 -0.02800389 0.05911960
+v 0.02043303 0.00000573 0.05911960
+v 0.02448472 -0.02800389 0.05919627
+v 0.02449150 -0.02800115 0.06284928
+v 0.02447625 0.00000573 0.06284928
+v 0.02448472 -0.02800115 0.05911960
+v 0.02446353 0.00000573 0.05911960
+f 1 2 3
+f 1 3 6
+f 1 6 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 12
+f 2 12 11
+f 2 11 6
+f 4 8 9
+f 5 10 12
+f 5 12 7
+f 6 11 8
+f 8 11 9
+f 9 11 10
+f 10 11 12
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_22.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d03268cca1fe7f4dcaf9728965f1a026c8520e7
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.02343380 -0.02435309 -0.08182345
+v -0.02343380 -0.02426503 -0.08182345
+v -0.02141544 -0.02435309 -0.08182345
+v -0.02444101 -0.02435309 -0.07900735
+v -0.02446478 0.00000491 -0.07893833
+v -0.02395088 0.00000491 -0.08037399
+v -0.02343380 0.00000491 -0.08180964
+v -0.02343301 0.00210554 -0.08180964
+v -0.02141782 -0.02426503 -0.08182345
+v -0.02141980 0.00210554 -0.08180964
+v -0.02141900 0.00000491 -0.08180964
+v -0.02139087 -0.02435309 -0.08175442
+v -0.02446518 -0.02435309 -0.07893833
+v -0.02446399 0.00210554 -0.07892453
+v -0.02446557 -0.02435309 -0.07521115
+v -0.02446478 0.00000491 -0.03414310
+v -0.02049818 0.00210554 -0.07911779
+v -0.02043478 0.00000491 -0.07893833
+v -0.02042725 -0.02435309 -0.07893833
+v -0.02446399 0.00210554 -0.00777673
+v -0.02446478 -0.02435309 0.02557467
+v -0.02446438 0.00000491 0.01998389
+v -0.02446359 0.00210554 0.04822766
+v -0.02043518 0.00210554 -0.07892453
+v -0.02042686 -0.02435309 -0.07885551
+v -0.02446438 -0.02435309 0.05918834
+v -0.02446438 -0.02435050 0.05920215
+v -0.02446399 0.00000491 0.05920215
+v -0.02446320 0.00210554 0.05914693
+v -0.02043399 0.00210554 -0.06425046
+v -0.02043003 0.00210554 -0.01195946
+v -0.02042607 0.00210554 0.04797918
+v -0.02041774 -0.02435309 0.05920215
+v -0.02416603 -0.02435309 0.05920215
+v -0.02043835 0.00000491 0.05920215
+v -0.02042607 0.00210554 0.05914693
+v -0.02042527 -0.00000027 0.05920215
+f 1 2 9
+f 1 9 3
+f 1 3 12
+f 1 12 19
+f 1 19 25
+f 1 25 33
+f 1 33 34
+f 1 34 26
+f 1 26 21
+f 1 21 15
+f 1 15 13
+f 1 13 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 10
+f 2 10 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 4 13 5
+f 5 14 8
+f 5 8 6
+f 5 13 15
+f 5 15 16
+f 5 16 20
+f 5 20 14
+f 6 8 7
+f 8 14 20
+f 8 20 23
+f 8 23 29
+f 8 29 36
+f 8 36 32
+f 8 32 31
+f 8 31 30
+f 8 30 24
+f 8 24 17
+f 8 17 10
+f 10 12 11
+f 10 17 18
+f 10 18 12
+f 12 18 19
+f 15 21 22
+f 15 22 16
+f 16 22 23
+f 16 23 20
+f 17 24 18
+f 18 24 19
+f 19 24 25
+f 21 26 27
+f 21 27 28
+f 21 28 22
+f 22 28 23
+f 23 28 29
+f 24 30 25
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 26 34 27
+f 27 34 33
+f 27 33 37
+f 27 37 35
+f 27 35 28
+f 28 35 36
+f 28 36 29
+f 32 36 37
+f 32 37 33
+f 35 37 36
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_23.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1899c2569c251fcb007d9634b13a7a3300b8a6d1
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.00159939 0.03515122 0.05908550
+v -0.01300674 0.03515122 0.05916823
+v -0.00345963 0.03515085 0.05916823
+v 0.00159939 0.03148109 0.05908550
+v 0.00159939 0.03515158 0.05572087
+v -0.01679965 0.03515122 0.05916823
+v -0.00345963 0.03148182 0.05916823
+v -0.01679965 0.03147134 0.05916823
+v -0.01679965 0.03147134 0.01811701
+v 0.00159939 0.03148254 -0.05680112
+v 0.00159939 0.03515266 0.04051110
+v -0.00345783 0.03515230 0.04583383
+v -0.00345783 0.03515158 0.05545887
+v -0.01679965 0.03515591 -0.00791749
+v -0.01679965 0.03147279 -0.07891942
+v 0.00159939 0.03148290 -0.07894699
+v -0.01300674 0.03515591 -0.00802780
+v -0.00345783 0.03515266 0.04051110
+v 0.00159939 0.03515988 -0.07493426
+v -0.01300674 0.03516060 -0.07891942
+v -0.01306797 0.03516060 -0.07891942
+v -0.01679965 0.03516024 -0.07519626
+v -0.01679965 0.03253811 -0.08167731
+v 0.00159939 0.03254352 -0.08170489
+v -0.00345783 0.03148290 -0.07894699
+v 0.00159939 0.03515988 -0.07894699
+v -0.00345783 0.03516024 -0.07894699
+v -0.01679965 0.03515916 -0.07891942
+v -0.01679965 0.03438093 -0.08167731
+v -0.01306797 0.03254352 -0.08169110
+v 0.00159939 0.03438166 -0.08170489
+v -0.01306797 0.03438202 -0.08169110
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 16
+f 1 16 24
+f 1 24 31
+f 1 31 26
+f 1 26 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 8
+f 2 8 7
+f 2 7 3
+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 14
+f 6 14 22
+f 6 22 28
+f 6 28 29
+f 6 29 23
+f 6 23 15
+f 6 15 9
+f 6 9 8
+f 9 15 10
+f 10 15 16
+f 11 17 14
+f 11 14 18
+f 11 18 12
+f 11 19 20
+f 11 20 17
+f 12 18 14
+f 14 17 20
+f 14 20 21
+f 14 21 22
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 25 24
+f 19 26 27
+f 19 27 20
+f 20 27 21
+f 21 27 28
+f 21 28 22
+f 23 29 32
+f 23 32 30
+f 23 30 24
+f 24 30 32
+f 24 32 31
+f 26 31 27
+f 27 31 32
+f 27 32 28
+f 28 32 29
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_24.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84d2e5d5f4bce49ecb364736af06d468e81cd31d
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.01680665 0.00000925 0.06642897
+v -0.01680336 -0.02428223 0.06642939
+v -0.01680665 0.00000925 0.07058062
+v -0.01680665 0.00001437 0.06641373
+v -0.01680336 -0.02428223 0.07057935
+v -0.01680336 -0.02426687 0.06641416
+v -0.01679679 -0.02428223 0.06641416
+v -0.01680665 0.00932654 0.07058147
+v -0.01680665 0.02798670 0.06626442
+v -0.00559672 -0.02428223 0.07057850
+v 0.01678367 -0.02427711 0.07057724
+v -0.00559672 0.00000925 0.07058062
+v -0.01680665 0.02798158 0.07058316
+v 0.01679683 0.02801742 0.06626188
+v 0.01678367 -0.02427711 0.06641543
+v -0.00000491 -0.02428223 0.06647507
+v -0.01680665 0.02798670 0.06960267
+v -0.00345210 0.02801742 0.06629995
+v -0.00000491 -0.02428223 0.07057766
+v 0.01679683 0.00000925 0.07057893
+v 0.01679683 0.02425979 0.07058062
+v 0.00933012 0.02799694 0.07058147
+v -0.00345210 0.00186759 0.07058062
+v -0.01680007 0.02798670 0.07058316
+v 0.01679683 0.02801742 0.06965258
+v 0.01679683 0.00000925 0.06641628
+v -0.00345210 0.02801742 0.07058147
+v 0.01679683 0.02799694 0.07058062
+v 0.01307663 0.02801742 0.07058062
+v -0.00345210 0.02799694 0.07058231
+v -0.00345210 0.02798670 0.07058231
+v -0.00184692 0.02801742 0.07058147
+v 0.01679683 0.02801230 0.07057977
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 13
+f 1 13 17
+f 1 17 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 16
+f 2 16 19
+f 2 19 10
+f 2 10 5
+f 3 5 8
+f 4 9 6
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 8
+f 6 9 7
+f 7 9 14
+f 7 14 15
+f 7 15 16
+f 9 17 27
+f 9 27 18
+f 9 18 14
+f 10 19 11
+f 11 19 16
+f 11 16 15
+f 11 15 26
+f 11 26 20
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 11 23 12
+f 12 23 24
+f 12 24 13
+f 13 24 17
+f 14 18 27
+f 14 27 32
+f 14 32 29
+f 14 29 25
+f 14 25 33
+f 14 33 28
+f 14 28 21
+f 14 21 20
+f 14 20 26
+f 14 26 15
+f 17 24 27
+f 21 28 22
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 23
+f 23 31 24
+f 24 31 30
+f 24 30 32
+f 24 32 27
+f 25 29 33
+f 28 33 29
+f 29 32 30
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_25.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9c9371505c0afbcb2d851ca11670fee567616cc
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.01678625 -0.03010709 0.06562892
+v 0.01874997 -0.03010709 0.06536720
+v 0.01678625 -0.03010709 0.07050023
+v 0.01678625 0.00000574 0.06641615
+v 0.01952233 0.00000574 0.06536720
+v 0.02442069 -0.03010709 0.06536720
+v 0.02053552 -0.03010709 0.07050023
+v 0.01678625 -0.02801428 0.07057676
+v 0.01678625 0.00000574 0.07054614
+v 0.02448864 0.00000574 0.06536720
+v 0.02442296 -0.03010709 0.06666359
+v 0.02449619 -0.02799954 0.06536720
+v 0.02449921 -0.02799954 0.06666359
+v 0.02341203 -0.03010709 0.06951505
+v 0.02053552 -0.02799954 0.07057676
+v 0.01680135 -0.02799954 0.07057726
+v 0.01678625 -0.02799954 0.07057726
+v 0.01678625 -0.00000311 0.07057880
+v 0.01680135 0.00000574 0.07057880
+v 0.02449544 0.00000574 0.06666359
+v 0.02386955 -0.03010709 0.06825385
+v 0.02345053 -0.02426786 0.06955382
+v 0.02345053 -0.02799954 0.06955331
+v 0.02345129 0.00000574 0.06955433
+v 0.02345129 -0.00186895 0.06955433
+v 0.02053552 -0.02426786 0.07057726
+v 0.01678625 -0.02054797 0.07057777
+v 0.01680135 -0.01306988 0.07057829
+v 0.01678625 -0.01308462 0.07057829
+v 0.01678625 -0.00561536 0.07057880
+v 0.02053552 0.00000574 0.07057880
+v 0.02053552 -0.00186895 0.07057880
+v 0.01680135 -0.00560062 0.07057880
+f 1 2 6
+f 1 6 11
+f 1 11 21
+f 1 21 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 27
+f 1 27 29
+f 1 29 30
+f 1 30 18
+f 1 18 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 12
+f 2 12 6
+f 3 7 8
+f 4 9 19
+f 4 19 31
+f 4 31 24
+f 4 24 20
+f 4 20 10
+f 4 10 5
+f 6 12 13
+f 6 13 11
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 9 18 19
+f 10 20 12
+f 11 13 21
+f 12 20 13
+f 13 22 23
+f 13 23 14
+f 13 14 21
+f 13 20 24
+f 13 24 25
+f 13 25 22
+f 14 23 15
+f 15 23 22
+f 15 22 26
+f 15 26 16
+f 16 27 17
+f 16 26 28
+f 16 28 29
+f 16 29 27
+f 18 30 33
+f 18 33 32
+f 18 32 31
+f 18 31 19
+f 22 25 32
+f 22 32 26
+f 24 31 32
+f 24 32 25
+f 26 32 28
+f 28 32 33
+f 28 33 30
+f 28 30 29
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_26.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7443a079678a87ec965e37262ba448c1c624a2b1
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.02449144 -0.02800390 0.06284927
+v 0.02016284 -0.02800390 0.06284927
+v 0.02442063 -0.03010709 0.06284927
+v 0.02441136 -0.03010709 -0.06937569
+v 0.02448119 -0.02800390 -0.07147247
+v 0.02014429 -0.02805969 0.06284927
+v 0.02021216 -0.02800390 -0.07521269
+v 0.01950310 -0.03010709 0.06284927
+v 0.02441087 -0.03010709 -0.07521269
+v 0.02448070 -0.02800390 -0.07521269
+v 0.01952068 -0.03010709 -0.07521269
+v 0.02022047 -0.02800390 -0.07893873
+v 0.02440696 -0.03010709 -0.07684194
+v 0.02447191 -0.02800390 -0.07893873
+v 0.01952899 -0.03010709 -0.07893873
+v 0.02131531 -0.02800390 -0.08181472
+v 0.02440159 -0.03010709 -0.07893873
+v 0.02339709 -0.03010709 -0.08178639
+v 0.02343225 -0.02800390 -0.08181472
+v 0.02081233 -0.03010709 -0.08188557
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 14
+f 1 14 19
+f 1 19 16
+f 1 16 12
+f 1 12 7
+f 1 7 2
+f 2 7 6
+f 3 8 11
+f 3 11 15
+f 3 15 20
+f 3 20 18
+f 3 18 17
+f 3 17 13
+f 3 13 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 6 7 11
+f 6 11 8
+f 7 12 15
+f 7 15 11
+f 9 13 14
+f 9 14 10
+f 12 16 15
+f 13 17 14
+f 14 17 18
+f 14 18 19
+f 15 16 20
+f 16 19 20
+f 18 20 19
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_27.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89c31aa40ffef9f13ceb3cb3d27b0bac54a73026
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.02448269 0.02794204 -0.01162556
+v 0.02021948 0.02794204 -0.01162556
+v 0.02446349 0.02427494 -0.01162556
+v 0.02446349 0.02427494 -0.02295680
+v 0.02446308 0.02427494 -0.07522207
+v 0.02448102 0.02794204 -0.07521519
+v 0.02042441 0.02427494 -0.02668120
+v 0.02042525 0.02427494 -0.01548052
+v 0.02041899 0.02439305 -0.01162556
+v 0.02021906 0.02794204 -0.03788188
+v 0.02042107 0.02427494 -0.07894646
+v 0.02042567 0.02427494 -0.01162556
+v 0.02446141 0.02427494 -0.07895334
+v 0.02447184 0.02794204 -0.07894646
+v 0.02021864 0.02794204 -0.07527704
+v 0.02022741 0.02794204 -0.07894646
+v 0.02024327 0.02794204 -0.07899457
+v 0.02140987 0.02427494 -0.08181878
+v 0.02342920 0.02427494 -0.08182566
+v 0.02344882 0.02794204 -0.08177756
+v 0.02131888 0.02794204 -0.08181878
+v 0.02343212 0.02794204 -0.08181878
+f 1 2 9
+f 1 9 12
+f 1 12 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 20
+f 1 20 22
+f 1 22 21
+f 1 21 17
+f 1 17 16
+f 1 16 15
+f 1 15 10
+f 1 10 2
+f 2 7 8
+f 2 8 9
+f 2 10 11
+f 2 11 7
+f 3 12 8
+f 3 8 7
+f 3 7 11
+f 3 11 18
+f 3 18 19
+f 3 19 13
+f 3 13 5
+f 3 5 4
+f 5 13 6
+f 6 13 14
+f 8 12 9
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 13 19 14
+f 14 19 20
+f 17 21 18
+f 18 21 19
+f 19 21 22
+f 19 22 20
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_28.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57e0e94c8f7805ebe08a1de93658626dbbd9edf1
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.01679318 -0.03515927 0.06296522
+v 0.01679318 -0.03515927 0.06666352
+v 0.01679318 -0.03149143 0.06296522
+v 0.02053511 -0.03515927 0.06296522
+v 0.01680140 -0.03438129 0.06941696
+v 0.01679318 -0.03438278 0.06941106
+v 0.02053511 -0.03515927 0.06666352
+v 0.01679318 -0.03010758 0.06562867
+v 0.01679393 -0.03144494 0.06296522
+v 0.02331355 -0.03438080 0.06296522
+v 0.02331355 -0.03438129 0.06666352
+v 0.01680140 -0.03173625 0.07044075
+v 0.01679318 -0.03174169 0.07043853
+v 0.02053511 -0.03438129 0.06941696
+v 0.02300957 -0.03412163 0.06912118
+v 0.01679318 -0.03010758 0.07045033
+v 0.01949245 -0.03010758 0.06296522
+v 0.02436592 -0.03173625 0.06296522
+v 0.02436443 -0.03173625 0.06666352
+v 0.01679318 -0.03011104 0.07049975
+v 0.02053511 -0.03173625 0.07044075
+v 0.02338227 -0.03173625 0.06948482
+v 0.01680140 -0.03010758 0.07049975
+v 0.02442045 -0.03010758 0.06296522
+v 0.02442343 -0.03010758 0.06666352
+v 0.02053511 -0.03010758 0.07049975
+v 0.02386924 -0.03010758 0.06825377
+v 0.02341214 -0.03010758 0.06951506
+f 1 2 6
+f 1 6 13
+f 1 13 20
+f 1 20 16
+f 1 16 8
+f 1 8 3
+f 1 3 9
+f 1 9 17
+f 1 17 24
+f 1 24 18
+f 1 18 10
+f 1 10 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 7 14
+f 2 14 5
+f 3 8 9
+f 4 10 11
+f 4 11 7
+f 5 12 13
+f 5 13 6
+f 5 14 21
+f 5 21 12
+f 7 11 15
+f 7 15 14
+f 8 16 23
+f 8 23 26
+f 8 26 28
+f 8 28 27
+f 8 27 25
+f 8 25 24
+f 8 24 17
+f 8 17 9
+f 10 18 11
+f 11 18 19
+f 11 19 15
+f 12 20 13
+f 12 21 20
+f 14 15 21
+f 15 19 22
+f 15 22 21
+f 16 20 23
+f 18 24 25
+f 18 25 19
+f 19 25 22
+f 20 21 26
+f 20 26 23
+f 21 22 26
+f 22 25 27
+f 22 27 28
+f 22 28 26
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_29.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e8fe5d65e8cafafe86bb381565c120fc696ff59
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.02190217 -0.03477609 0.05585824
+v 0.02331339 -0.03438076 0.05545382
+v 0.02331339 -0.03438076 0.05585824
+v 0.02167417 -0.03371213 0.05585824
+v 0.02167417 -0.03371213 -0.08160311
+v 0.02190217 -0.03476924 -0.06399749
+v 0.02330802 -0.03437665 -0.07146572
+v 0.02436557 -0.03173594 0.05545382
+v 0.02331151 -0.03437893 0.00689682
+v 0.02436557 -0.03173594 0.05585824
+v 0.02167417 -0.03288125 0.05585824
+v 0.02167417 -0.03288125 -0.08167052
+v 0.02168948 -0.03170440 -0.08185924
+v 0.02336979 -0.03173594 -0.08175140
+v 0.02190217 -0.03423360 -0.08150874
+v 0.02190217 -0.03476832 -0.07893396
+v 0.02330776 -0.03437619 -0.07893396
+v 0.02441767 -0.03010709 0.05585824
+v 0.02357201 -0.03371213 -0.07312383
+v 0.02436208 -0.03173594 0.00317618
+v 0.02441095 -0.03010709 -0.07309687
+v 0.02441498 -0.03010709 0.00154503
+v 0.02168948 -0.03010709 0.05585824
+v 0.02168948 -0.03010709 -0.08183228
+v 0.02339718 -0.03010709 -0.08177836
+v 0.02306767 -0.03371213 -0.08145482
+v 0.02440155 -0.03010709 -0.07893396
+v 0.02434731 -0.03173594 -0.07893396
+v 0.02300591 -0.03411843 -0.08138742
+v 0.02356932 -0.03371213 -0.07893396
+v 0.02435671 -0.03173594 -0.07519984
+v 0.02435778 -0.03173594 -0.06027685
+v 0.02441068 -0.03010709 -0.07519984
+v 0.02440692 -0.03010709 -0.07683099
+f 1 2 3
+f 1 3 10
+f 1 10 18
+f 1 18 23
+f 1 23 11
+f 1 11 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 10
+f 2 10 3
+f 2 7 9
+f 2 9 8
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 6
+f 6 16 7
+f 7 8 9
+f 7 16 17
+f 7 17 8
+f 8 18 10
+f 8 17 19
+f 8 19 20
+f 8 20 21
+f 8 21 22
+f 8 22 18
+f 11 23 24
+f 11 24 12
+f 12 24 13
+f 13 24 25
+f 13 25 14
+f 14 26 15
+f 14 25 27
+f 14 27 28
+f 14 28 26
+f 15 26 29
+f 15 29 16
+f 16 29 17
+f 17 29 30
+f 17 30 31
+f 17 31 19
+f 18 22 21
+f 18 21 33
+f 18 33 34
+f 18 34 27
+f 18 27 25
+f 18 25 24
+f 18 24 23
+f 19 32 20
+f 19 31 32
+f 20 32 21
+f 21 32 31
+f 21 31 33
+f 26 28 29
+f 27 34 28
+f 28 30 29
+f 28 34 31
+f 28 31 30
+f 31 34 33
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_3.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b4c64ccfec31b1b15ca0c89a9bdb6acd7e12994
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.00345710 0.03148092 0.05909867
+v -0.00345710 0.03146541 0.06294494
+v -0.00345710 0.03515144 0.05909867
+v 0.01639847 0.03147226 0.05909867
+v -0.00345710 0.03146541 0.07045189
+v 0.01639847 0.03146685 0.06057672
+v 0.01639847 0.03146541 0.06101013
+v -0.00345710 0.03515108 0.06451968
+v 0.01639847 0.03515108 0.06333279
+v 0.01639847 0.03515108 0.05909867
+v -0.00345710 0.03173712 0.07044078
+v 0.01639847 0.03146541 0.07045078
+v 0.01306718 0.03173712 0.07044078
+v -0.00345710 0.03515072 0.06666341
+v 0.01639847 0.03515072 0.06666341
+v -0.00345710 0.03325304 0.06985177
+v 0.01639847 0.03173712 0.07043967
+v 0.01639847 0.03437707 0.06941503
+v -0.00345710 0.03437707 0.06941503
+v 0.01639847 0.03506737 0.06696013
+f 1 2 5
+f 1 5 11
+f 1 11 16
+f 1 16 19
+f 1 19 14
+f 1 14 8
+f 1 8 3
+f 1 3 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 12
+f 2 12 5
+f 3 8 9
+f 3 9 10
+f 4 10 9
+f 4 9 15
+f 4 15 20
+f 4 20 18
+f 4 18 17
+f 4 17 12
+f 4 12 7
+f 4 7 6
+f 5 12 13
+f 5 13 11
+f 8 14 15
+f 8 15 9
+f 11 13 16
+f 12 17 13
+f 13 17 18
+f 13 18 16
+f 14 19 20
+f 14 20 15
+f 16 18 19
+f 18 20 19
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_30.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98c4f58f3f4dbd8031805937d483765e7303225b
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.02448453 0.02794204 0.05908737
+v 0.02022016 0.02794204 0.05908737
+v 0.02446408 0.02427494 0.05908737
+v 0.02446408 0.02427494 0.05545343
+v 0.02446366 0.02427494 -0.00054379
+v 0.02448286 0.02794204 -0.00427463
+v 0.02042849 0.02427494 0.03679231
+v 0.02042974 0.02427494 0.05546036
+v 0.02043016 0.02427494 0.05908737
+v 0.02021974 0.02794204 0.02558594
+v 0.02041889 0.02439305 -0.01162556
+v 0.02042557 0.02427494 -0.01162556
+v 0.02042682 0.02427494 0.01066258
+v 0.02446324 0.02427494 -0.01162556
+v 0.02448203 0.02782537 -0.01162556
+v 0.02448244 0.02794204 -0.01162556
+v 0.02021974 0.02794204 -0.01162556
+f 1 2 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 17
+f 1 17 10
+f 1 10 2
+f 2 7 8
+f 2 8 9
+f 2 10 11
+f 2 11 12
+f 2 12 13
+f 2 13 7
+f 3 9 8
+f 3 8 7
+f 3 7 13
+f 3 13 12
+f 3 12 14
+f 3 14 5
+f 3 5 4
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 10 17 11
+f 11 17 16
+f 11 16 15
+f 11 15 14
+f 11 14 12
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_31.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2668e0b87bb5bbdcd39e95a349d98d3c114ec8af
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.02440416 0.03039318 -0.06165910
+v 0.02439026 0.03081958 -0.06165910
+v 0.01942946 0.03039318 -0.06165910
+v 0.02440366 0.03039318 -0.07521576
+v 0.02436891 0.03146505 -0.07521576
+v 0.02436891 0.03146505 -0.06165910
+v 0.01933961 0.03066576 -0.06165910
+v 0.01933266 0.03066796 -0.06401773
+v 0.01942946 0.03039318 -0.07521576
+v 0.02439771 0.03039318 -0.07760613
+v 0.02436047 0.03146505 -0.07867733
+v 0.01933266 0.03146505 -0.06165910
+v 0.01933266 0.03139538 -0.06165910
+v 0.01933266 0.03066796 -0.07149432
+v 0.01933266 0.03066807 -0.07522568
+v 0.01933266 0.03067080 -0.07894909
+v 0.01943095 0.03039318 -0.07584459
+v 0.02439423 0.03039318 -0.07894909
+v 0.02435948 0.03146505 -0.07894909
+v 0.01933266 0.03146505 -0.08077014
+v 0.01933266 0.03067730 -0.07896695
+v 0.01943840 0.03039318 -0.07894909
+v 0.02376774 0.03039318 -0.08075228
+v 0.02345152 0.03146505 -0.08155965
+v 0.02048933 0.03146505 -0.08192267
+v 0.02074549 0.03039318 -0.08189292
+v 0.01955009 0.03039318 -0.07924467
+v 0.02339343 0.03039318 -0.08178579
+v 0.02337606 0.03146505 -0.08176795
+v 0.02061394 0.03146505 -0.08192267
+v 0.02148666 0.03039318 -0.08189292
+v 0.02185451 0.03039318 -0.08187308
+f 1 2 6
+f 1 6 12
+f 1 12 13
+f 1 13 7
+f 1 7 3
+f 1 3 9
+f 1 9 17
+f 1 17 22
+f 1 22 27
+f 1 27 26
+f 1 26 31
+f 1 31 32
+f 1 32 28
+f 1 28 23
+f 1 23 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 14
+f 3 14 9
+f 4 10 11
+f 4 11 5
+f 5 11 19
+f 5 19 24
+f 5 24 29
+f 5 29 30
+f 5 30 25
+f 5 25 20
+f 5 20 12
+f 5 12 6
+f 7 13 8
+f 8 13 12
+f 8 12 20
+f 8 20 21
+f 8 21 16
+f 8 16 15
+f 8 15 14
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 10 18 11
+f 11 18 19
+f 16 21 22
+f 16 22 17
+f 18 23 19
+f 19 23 24
+f 20 25 26
+f 20 26 27
+f 20 27 22
+f 20 22 21
+f 23 28 24
+f 24 28 29
+f 25 30 31
+f 25 31 26
+f 28 32 29
+f 29 32 30
+f 30 32 31
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_32.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bedf3a1167129fd13ddc3134919fedc8148a8632
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_32.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.02141165 -0.02426920 -0.08182658
+v 0.02141165 -0.02426682 -0.08182658
+v 0.02343235 -0.02426920 -0.08182658
+v 0.02042109 -0.02426920 -0.07894309
+v 0.02343235 -0.02426682 -0.08182658
+v 0.02042386 0.00000574 -0.07894309
+v 0.02091697 0.00000574 -0.08037794
+v 0.02141284 0.00000574 -0.08181279
+v 0.02394604 0.00000574 -0.08039174
+v 0.02446289 -0.02426920 -0.07894309
+v 0.02042545 0.00000574 -0.05281231
+v 0.02042386 0.00000574 -0.07706675
+v 0.02042822 -0.02426920 0.02931892
+v 0.02042901 0.00000574 0.00132559
+v 0.02343235 0.00000574 -0.08181279
+v 0.02446289 0.00000574 -0.07894309
+v 0.02446328 -0.02426920 -0.04907343
+v 0.02042980 -0.02426920 0.05172462
+v 0.02043020 -0.02426682 0.05911960
+v 0.02043257 0.00000574 0.05544970
+v 0.02446328 0.00000574 -0.04907343
+v 0.02446368 0.00000574 0.00505068
+v 0.02446368 -0.02426920 0.00691322
+v 0.02043020 -0.02426920 0.05544970
+v 0.02051291 -0.02426920 0.05911960
+v 0.02043297 0.00000574 0.05911960
+v 0.02446368 0.00000574 0.05911960
+v 0.02446368 -0.02426920 0.05544970
+v 0.02446368 -0.02426682 0.05911960
+f 1 2 5
+f 1 5 3
+f 1 3 10
+f 1 10 17
+f 1 17 23
+f 1 23 28
+f 1 28 25
+f 1 25 24
+f 1 24 18
+f 1 18 13
+f 1 13 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 8
+f 2 8 15
+f 2 15 5
+f 3 5 9
+f 3 9 10
+f 4 11 12
+f 4 12 6
+f 4 13 14
+f 4 14 11
+f 5 15 9
+f 6 12 11
+f 6 11 14
+f 6 14 20
+f 6 20 26
+f 6 26 27
+f 6 27 22
+f 6 22 21
+f 6 21 16
+f 6 16 9
+f 6 9 15
+f 6 15 8
+f 6 8 7
+f 9 16 10
+f 10 16 21
+f 10 21 17
+f 13 18 19
+f 13 19 20
+f 13 20 14
+f 17 21 22
+f 17 22 23
+f 18 24 19
+f 19 24 25
+f 19 25 29
+f 19 29 27
+f 19 27 26
+f 19 26 20
+f 22 27 29
+f 22 29 28
+f 22 28 23
+f 25 28 29
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_33.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4da2e50e7c7a0eadea89896127c942e36cbaf0b
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_33.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01680230 0.03515068 0.06545260
+v -0.01680230 0.03515068 0.06292290
+v -0.01878934 0.03515122 0.06292661
+v -0.01878934 0.03515068 0.06545260
+v -0.01680230 0.03065784 0.06545260
+v -0.01680230 0.03145683 0.06292983
+v -0.01878934 0.03082764 0.06292438
+v -0.01878934 0.02953793 0.06545260
+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 8
+f 3 8 4
+f 5 8 6
+f 6 8 7
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_34.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a401176e76a4f0035fc5c8e8de3ece2a28bb4b60
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_34.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.01927709 -0.03010648 0.06460607
+v -0.01927709 -0.02423634 0.06563056
+v -0.01680488 -0.02423634 0.06641354
+v -0.01680488 -0.03010475 0.06562822
+v -0.01733635 -0.03010648 0.06547209
+v -0.01927709 -0.03010648 0.07050211
+v -0.01927709 -0.02423634 0.07057989
+v -0.01680488 -0.02423634 0.07057930
+v -0.01680488 -0.03010648 0.07047580
+v -0.01680488 -0.03010648 0.07050211
+v -0.01680488 -0.02800495 0.07057930
+v -0.01927709 -0.02800265 0.07057930
+v -0.01927709 -0.02426967 0.07057989
+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 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 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 11
+f 7 11 8
+f 11 13 12
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_35.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cf58e1762b1b72c0e9b1d07e28d2a71566df00a
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_35.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01939123 0.02800096 0.07058063
+v 0.01939123 0.02801193 0.07058013
+v 0.01681562 0.02801742 0.07058013
+v 0.01680114 0.02800096 0.07058063
+v 0.01939123 0.02312579 0.07058063
+v 0.01939123 0.02801742 0.06925727
+v 0.01680114 0.02801742 0.07058013
+v 0.01679683 0.02799822 0.07058063
+v 0.01679683 0.02052917 0.07058063
+v 0.01939123 0.00000848 0.07057913
+v 0.01939123 0.02801742 0.06551258
+v 0.01679683 0.02801742 0.06965368
+v 0.01679683 0.02801467 0.07058013
+v 0.01679683 0.00559930 0.07057963
+v 0.01680114 0.00560204 0.07057963
+v 0.01679683 0.00000848 0.07057913
+v 0.01939123 0.00000848 0.06559535
+v 0.01939123 0.02801467 0.06548715
+v 0.01938412 0.02801742 0.06551108
+v 0.01679683 0.02801742 0.06626201
+v 0.01679683 0.00000848 0.06641559
+v 0.01937193 0.02801742 0.06551208
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 10
+f 1 10 17
+f 1 17 18
+f 1 18 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 11
+f 3 11 19
+f 3 19 22
+f 3 22 20
+f 3 20 12
+f 3 12 7
+f 4 7 13
+f 4 13 8
+f 5 9 10
+f 7 12 13
+f 8 13 12
+f 8 12 20
+f 8 20 21
+f 8 21 16
+f 8 16 14
+f 8 14 9
+f 9 14 15
+f 9 15 10
+f 10 15 14
+f 10 14 16
+f 10 16 21
+f 10 21 17
+f 11 18 19
+f 17 21 20
+f 17 20 18
+f 18 20 22
+f 18 22 19
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_36.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..024d57a3b9aa2fba94a7271cd7b22411d803e5bc
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_36.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.02336542 0.03424315 -0.01148359
+v 0.02331086 0.03437979 -0.01148359
+v 0.02336542 0.03146505 -0.01148359
+v 0.02336542 0.03424351 -0.01901991
+v 0.02311718 0.03443402 -0.01148359
+v 0.02331086 0.03438088 -0.04188782
+v 0.01896811 0.03146505 -0.01148359
+v 0.02336542 0.03146505 -0.04188782
+v 0.02336542 0.03424387 -0.03021724
+v 0.02053458 0.03515629 -0.01547796
+v 0.02053458 0.03515593 -0.01148359
+v 0.02074054 0.03510026 -0.04188782
+v 0.02053458 0.03515774 -0.03787857
+v 0.02336542 0.03424423 -0.04142052
+v 0.02336542 0.03424423 -0.04188782
+v 0.01682060 0.03146577 -0.01148359
+v 0.01682197 0.03146505 -0.01171575
+v 0.01682265 0.03146505 -0.04188782
+v 0.01639915 0.03515629 -0.01507614
+v 0.01639915 0.03515810 -0.04188782
+v 0.01639915 0.03515593 -0.01148359
+v 0.02053458 0.03515774 -0.04188782
+v 0.01639915 0.03147300 -0.01148359
+v 0.01682197 0.03146505 -0.02668124
+v 0.01639915 0.03147300 -0.04188782
+f 1 2 5
+f 1 5 11
+f 1 11 21
+f 1 21 23
+f 1 23 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 14
+f 1 14 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 17
+f 3 17 24
+f 3 24 18
+f 3 18 8
+f 4 9 6
+f 5 10 11
+f 5 6 12
+f 5 12 13
+f 5 13 10
+f 6 9 14
+f 6 14 15
+f 6 15 8
+f 6 8 18
+f 6 18 25
+f 6 25 20
+f 6 20 22
+f 6 22 12
+f 7 16 17
+f 10 19 11
+f 10 13 20
+f 10 20 19
+f 11 19 21
+f 12 22 13
+f 13 22 20
+f 16 23 17
+f 17 23 25
+f 17 25 24
+f 18 24 25
+f 19 20 25
+f 19 25 23
+f 19 23 21
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_37.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f69d1b7095f7391fedf0c68b32e889f28f5fd1b
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_37.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.01939223 0.02799822 0.07058097
+v 0.02053524 0.02801742 0.07057985
+v 0.01939223 0.02800919 0.07057985
+v 0.01939223 0.00000848 0.07057871
+v 0.02053524 0.00000848 0.07057871
+v 0.02053524 0.01679849 0.07057985
+v 0.01939223 0.02801742 0.06925678
+v 0.02345127 0.02799822 0.06955492
+v 0.02345077 0.02801742 0.06955492
+v 0.01939223 0.00000848 0.06559584
+v 0.02345077 0.00000848 0.06955379
+v 0.02345077 0.01679849 0.06955492
+v 0.02345127 0.02426681 0.06955492
+v 0.01939223 0.02801742 0.06551145
+v 0.02449928 0.02799822 0.06666239
+v 0.02449878 0.02801742 0.06666239
+v 0.02043374 0.00001122 0.05910875
+v 0.02039224 0.00000848 0.06076033
+v 0.01939223 0.02801467 0.06548670
+v 0.02022124 0.02794065 0.05908737
+v 0.02449528 0.00000848 0.06666239
+v 0.02018924 0.02801742 0.06076033
+v 0.02448428 0.02794065 0.05908737
+v 0.02448678 0.02799822 0.06076033
+v 0.02449878 0.02801742 0.06664776
+v 0.02022674 0.02783098 0.05908737
+v 0.02043074 0.02427229 0.05908737
+v 0.02446378 0.00001122 0.05910875
+v 0.02446878 0.00000848 0.06076033
+v 0.02448628 0.02801742 0.06076033
+v 0.02446328 0.02427229 0.05908737
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 19
+f 1 19 10
+f 1 10 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 13
+f 2 13 8
+f 2 8 9
+f 2 9 16
+f 2 16 25
+f 2 25 30
+f 2 30 22
+f 2 22 14
+f 2 14 7
+f 4 10 18
+f 4 18 29
+f 4 29 21
+f 4 21 11
+f 4 11 5
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 8 15 16
+f 8 16 9
+f 8 13 15
+f 10 17 18
+f 10 19 20
+f 10 20 17
+f 11 21 15
+f 11 15 13
+f 11 13 12
+f 14 22 20
+f 14 20 19
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 15 21 23
+f 17 26 27
+f 17 27 31
+f 17 31 28
+f 17 28 29
+f 17 29 18
+f 17 20 26
+f 20 22 30
+f 20 30 23
+f 20 23 31
+f 20 31 27
+f 20 27 26
+f 21 29 28
+f 21 28 23
+f 23 30 24
+f 23 28 31
+f 24 30 25
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_38.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb69d32180bea6473146207afadecd96aa9a267a
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_38.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.02343289 0.00210813 -0.08180916
+v -0.02343329 0.00411193 -0.08182296
+v -0.02141914 0.00210813 -0.08180916
+v -0.02446429 0.00210813 -0.07893872
+v -0.02141874 0.00411193 -0.08182296
+v -0.02446429 0.02063195 -0.07893872
+v -0.02343329 0.02063195 -0.08180916
+v -0.02043480 0.00210813 -0.07893872
+v -0.02446429 0.00210813 -0.06146766
+v -0.02446469 0.00411193 -0.07521267
+v -0.02141874 0.02063195 -0.08180916
+v -0.02046011 0.02063195 -0.07902152
+v -0.02099875 0.00411193 -0.08059474
+v -0.02446429 0.02063195 -0.02284090
+v -0.02043440 0.00411193 -0.07893872
+v -0.02043401 0.00411193 -0.07521267
+v -0.02043282 0.00210813 -0.05302194
+v -0.02446390 0.00210813 -0.00800568
+v -0.02446390 0.00411193 0.03303612
+v -0.02446390 0.00560254 0.03303612
+v -0.02043440 0.02063195 -0.07893872
+v -0.02446390 0.02063195 0.02940667
+v -0.02043401 0.02063195 -0.07530926
+v -0.02043361 0.02063195 -0.07156941
+v -0.02042491 0.00411193 0.05915991
+v -0.02042531 0.00210813 0.05521305
+v -0.02446350 0.00210813 0.04449029
+v -0.02446350 0.00411193 0.05914610
+v -0.02446350 0.02063195 0.05914610
+v -0.02042570 0.02063195 0.04787134
+v -0.02042531 0.02063195 0.05533725
+v -0.02042531 0.02063195 0.05914610
+v -0.02446311 0.00411193 0.05915991
+v -0.02042531 0.00210813 0.05915991
+v -0.02446311 0.00210813 0.05915991
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 17
+f 1 17 26
+f 1 26 34
+f 1 34 35
+f 1 35 27
+f 1 27 18
+f 1 18 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 11
+f 2 11 5
+f 3 5 8
+f 4 9 10
+f 4 10 6
+f 5 11 12
+f 5 12 13
+f 5 13 8
+f 6 10 14
+f 6 14 22
+f 6 22 29
+f 6 29 32
+f 6 32 31
+f 6 31 30
+f 6 30 24
+f 6 24 23
+f 6 23 21
+f 6 21 12
+f 6 12 11
+f 6 11 7
+f 8 13 15
+f 8 15 16
+f 8 16 17
+f 9 18 19
+f 9 19 10
+f 10 19 20
+f 10 20 14
+f 12 21 15
+f 12 15 13
+f 14 20 22
+f 15 21 23
+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 18 27 19
+f 19 27 28
+f 19 28 29
+f 19 29 20
+f 20 29 22
+f 24 30 25
+f 25 30 31
+f 25 31 32
+f 25 32 29
+f 25 29 33
+f 25 33 35
+f 25 35 34
+f 25 34 26
+f 27 35 28
+f 28 35 33
+f 28 33 29
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_39.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b03b809cfbd11197acb8a31c900f1e20090180d9
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_39.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.02021609 -0.02800314 0.05908915
+v -0.02435974 -0.02800386 0.05908915
+v -0.02021651 -0.02800386 0.05544771
+v -0.02021651 -0.02800386 0.02184715
+v -0.02021693 -0.02800386 -0.01920182
+v -0.02041797 -0.02435309 0.05908915
+v -0.02448221 -0.02800172 0.05908915
+v -0.02448221 -0.02800386 0.05544771
+v -0.02021777 -0.02800386 -0.07520275
+v -0.02042131 -0.02435309 0.00692276
+v -0.02446423 -0.02435309 0.05908915
+v -0.02448262 -0.02800172 0.04424752
+v -0.02448346 -0.02800386 0.01066075
+v -0.02022780 -0.02800386 -0.07894075
+v -0.02042758 -0.02435309 -0.07885799
+v -0.02042382 -0.02435309 -0.03040200
+v -0.02446465 -0.02435309 0.02930934
+v -0.02448555 -0.02800172 -0.06027837
+v -0.02448513 -0.02800172 -0.04534018
+v -0.02448429 -0.02800386 -0.01920182
+v -0.02132034 -0.02800386 -0.08182356
+v -0.02141564 -0.02435309 -0.08180977
+v -0.02139098 -0.02435309 -0.08174080
+v -0.02042800 -0.02435309 -0.07894075
+v -0.02446507 -0.02435309 -0.02293981
+v -0.02448555 -0.02800172 -0.07520275
+v -0.02448555 -0.02800386 -0.06400257
+v -0.02343313 -0.02800386 -0.08180977
+v -0.02343313 -0.02435309 -0.08180977
+v -0.02446507 -0.02435309 -0.07520275
+v -0.02448555 -0.02800386 -0.07520275
+v -0.02446465 -0.02435309 -0.07894075
+v -0.02447510 -0.02800172 -0.07894075
+v -0.02447468 -0.02800386 -0.07894075
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 7
+f 1 7 2
+f 2 7 8
+f 2 8 13
+f 2 13 20
+f 2 20 27
+f 2 27 31
+f 2 31 34
+f 2 34 28
+f 2 28 21
+f 2 21 14
+f 2 14 9
+f 2 9 5
+f 2 5 4
+f 2 4 3
+f 5 9 6
+f 6 10 16
+f 6 16 15
+f 6 15 24
+f 6 24 23
+f 6 23 22
+f 6 22 29
+f 6 29 32
+f 6 32 30
+f 6 30 25
+f 6 25 17
+f 6 17 11
+f 6 9 10
+f 7 11 12
+f 7 12 8
+f 8 12 13
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 12 19 20
+f 12 20 13
+f 14 21 22
+f 14 22 23
+f 14 23 24
+f 14 24 15
+f 17 25 18
+f 18 26 31
+f 18 31 27
+f 18 27 19
+f 18 25 30
+f 18 30 26
+f 19 27 20
+f 21 28 29
+f 21 29 22
+f 26 30 32
+f 26 32 33
+f 26 33 31
+f 28 34 33
+f 28 33 29
+f 29 33 32
+f 31 33 34
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_4.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c6b1f50726c0f665f910e97742b459ca8d3b01f
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.02343379 0.02800345 -0.08181570
+v -0.02337429 0.03173616 -0.08175899
+v -0.02043896 0.03168152 -0.08192914
+v -0.02132193 0.02800345 -0.08181570
+v -0.02447510 0.02800345 -0.07893738
+v -0.02435660 0.03173616 -0.07893738
+v -0.02301071 0.03412235 -0.08140452
+v -0.02053629 0.03438157 -0.08170228
+v -0.01933563 0.03194143 -0.08185825
+v -0.01933563 0.03438157 -0.08170228
+v -0.02023070 0.02800345 -0.07893738
+v -0.02448569 0.02800345 -0.07520833
+v -0.02436668 0.03173616 -0.07520833
+v -0.02331479 0.03438157 -0.07893738
+v -0.02053629 0.03516062 -0.07893738
+v -0.01933563 0.03490981 -0.07983066
+v -0.01933563 0.03067057 -0.07893738
+v -0.02022011 0.02800345 -0.07520833
+v -0.02448720 0.02800345 0.06292289
+v -0.02436668 0.03173616 -0.07147926
+v -0.02331479 0.03438157 -0.07520833
+v -0.01933563 0.03515922 -0.05773987
+v -0.01933563 0.03515992 -0.06894123
+v -0.01933563 0.03515992 -0.07893738
+v -0.02331428 0.03438157 -0.06400696
+v -0.02331226 0.03438017 -0.01920152
+v -0.02330974 0.03437807 0.04424923
+v -0.02330924 0.03437736 0.05919384
+v -0.02053629 0.03515221 0.04799247
+v -0.01933563 0.03066777 -0.07520833
+v -0.02015960 0.02800345 0.06290872
+v -0.01933563 0.03065796 0.06292289
+v -0.02435760 0.03172986 0.06292289
+v -0.02435811 0.03173616 0.05545059
+v -0.02435861 0.03173616 0.04799247
+v -0.02436315 0.03173616 -0.01920152
+v -0.02436567 0.03173616 -0.05653466
+v -0.02331176 0.03437947 -0.00055621
+v -0.01933563 0.03515501 0.00571088
+v -0.02331075 0.03437246 0.06292289
+v -0.02053629 0.03515081 0.06292289
+v -0.01933563 0.03515151 0.05798863
+v -0.01933563 0.03515221 0.04799247
+v -0.01933563 0.03063765 0.06290872
+v -0.01933563 0.03515081 0.06292289
+v -0.02435760 0.03173616 0.05919384
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 18
+f 1 18 31
+f 1 31 19
+f 1 19 12
+f 1 12 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 10
+f 3 10 9
+f 4 9 11
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 16 10
+f 9 10 16
+f 9 16 24
+f 9 24 23
+f 9 23 22
+f 9 22 39
+f 9 39 43
+f 9 43 42
+f 9 42 45
+f 9 45 32
+f 9 32 44
+f 9 44 30
+f 9 30 17
+f 9 17 11
+f 11 17 18
+f 12 19 13
+f 13 20 21
+f 13 21 14
+f 13 19 20
+f 14 21 15
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 15 21 25
+f 15 25 26
+f 15 26 27
+f 15 27 28
+f 15 28 29
+f 15 29 22
+f 17 30 31
+f 17 31 18
+f 19 31 32
+f 19 32 45
+f 19 45 41
+f 19 41 40
+f 19 40 33
+f 19 33 34
+f 19 34 35
+f 19 35 36
+f 19 36 37
+f 19 37 20
+f 20 37 28
+f 20 28 38
+f 20 38 25
+f 20 25 21
+f 22 29 39
+f 25 38 27
+f 25 27 26
+f 27 38 28
+f 28 35 34
+f 28 34 40
+f 28 40 41
+f 28 41 29
+f 28 37 36
+f 28 36 35
+f 29 41 42
+f 29 42 43
+f 29 43 39
+f 30 44 31
+f 31 44 32
+f 33 40 46
+f 33 46 34
+f 34 46 40
+f 41 45 42
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_40.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c173b4ab7dda85cd958d0f4a63adfd17041f542d
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_40.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.01306741 -0.03515905 0.05585824
+v 0.01308508 -0.03515905 0.05585824
+v 0.01202358 -0.03515869 0.05585824
+v 0.01202358 -0.03515869 0.05067412
+v 0.01202358 -0.03515077 -0.06878973
+v 0.01308508 -0.03164654 0.05585824
+v 0.01308508 -0.03515257 -0.04160336
+v 0.01202358 -0.03148159 0.05585824
+v 0.01202358 -0.03515005 -0.07894255
+v 0.01308508 -0.03515005 -0.07894255
+v 0.01306741 -0.03148159 0.05585824
+v 0.01308508 -0.03148159 0.05584477
+v 0.01308508 -0.03148123 0.03679143
+v 0.01202358 -0.03148123 0.03304808
+v 0.01202358 -0.03437609 -0.08168946
+v 0.01308508 -0.03438005 -0.08168946
+v 0.01308508 -0.03147979 -0.07894255
+v 0.01202358 -0.03148087 0.00423241
+v 0.01202358 -0.03254150 -0.08168946
+v 0.01306741 -0.03437609 -0.08170293
+v 0.01308508 -0.03437609 -0.08170293
+v 0.01308508 -0.03254150 -0.08170293
+v 0.01306741 -0.03254150 -0.08170293
+v 0.01202358 -0.03148015 -0.07894255
+v 0.01202358 -0.03148015 -0.05549951
+v 0.01202358 -0.03224474 -0.08092193
+f 1 2 6
+f 1 6 11
+f 1 11 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 10
+f 2 10 16
+f 2 16 21
+f 2 21 22
+f 2 22 17
+f 2 17 13
+f 2 13 12
+f 2 12 6
+f 3 8 14
+f 3 14 18
+f 3 18 25
+f 3 25 24
+f 3 24 26
+f 3 26 19
+f 3 19 15
+f 3 15 9
+f 3 9 5
+f 3 5 4
+f 5 9 10
+f 5 10 7
+f 6 12 11
+f 8 13 14
+f 8 11 13
+f 9 15 16
+f 9 16 10
+f 11 12 13
+f 13 17 18
+f 13 18 14
+f 15 19 23
+f 15 23 20
+f 15 20 16
+f 16 20 21
+f 17 22 23
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 19 26 23
+f 20 23 22
+f 20 22 21
+f 23 26 24
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_41.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f674bbe34649ffaf819549e51ff8b8e1c2ca9de2
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_41.obj
@@ -0,0 +1,15 @@
+# https://github.com/mikedh/trimesh
+v 0.01439041 0.03146497 0.06292990
+v 0.01439041 0.03146497 0.06547240
+v 0.01439041 0.03063079 0.06547240
+v -0.00345710 0.03146497 0.06294483
+v -0.00345710 0.03146497 0.06547240
+v -0.00345710 0.03064311 0.06547240
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 4
+f 4 6 5
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_42.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..797aa0ff5d095fb89a9e82eda549960f5beb265d
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_42.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.01932488 -0.03362171 -0.05821706
+v -0.01932488 -0.03515142 -0.05821706
+v -0.01932488 -0.03066945 -0.06028270
+v -0.01933087 -0.03066748 -0.05821706
+v -0.01973466 -0.03515142 -0.05821706
+v -0.02053626 -0.03514993 -0.07895004
+v -0.01932488 -0.03515043 -0.07148125
+v -0.01952229 -0.03010754 -0.06028270
+v -0.01952279 -0.03010754 -0.05821706
+v -0.01932488 -0.03066945 -0.07523654
+v -0.02053626 -0.03515092 -0.05821706
+v -0.02053626 -0.03515092 -0.06401710
+v -0.02331146 -0.03437619 -0.07895004
+v -0.02300837 -0.03411845 -0.08140561
+v -0.02053626 -0.03437619 -0.08170036
+v -0.01932488 -0.03514944 -0.07895237
+v -0.01932488 -0.03514993 -0.07773851
+v -0.01952229 -0.03010754 -0.07521565
+v -0.02441665 -0.03010754 -0.05821706
+v -0.01932488 -0.03067242 -0.07895004
+v -0.02177655 -0.03480528 -0.05821706
+v -0.02436381 -0.03173600 -0.07521565
+v -0.02435334 -0.03173600 -0.07895004
+v -0.02331146 -0.03437669 -0.06775150
+v -0.02337278 -0.03173600 -0.08176071
+v -0.01932488 -0.03437619 -0.08170036
+v -0.01932488 -0.03462703 -0.08080912
+v -0.02043805 -0.03168119 -0.08192781
+v -0.01932488 -0.03250826 -0.08185818
+v -0.01952429 -0.03010754 -0.07599781
+v -0.02436331 -0.03173600 -0.05821706
+v -0.02441715 -0.03010754 -0.07521565
+v -0.02436381 -0.03173600 -0.07148125
+v -0.01932488 -0.03068229 -0.07897557
+v -0.01953226 -0.03010754 -0.07895004
+v -0.02331146 -0.03437669 -0.05821706
+v -0.02440668 -0.03010754 -0.07895004
+v -0.02385384 -0.03010754 -0.08053525
+v -0.02339920 -0.03010754 -0.08178856
+v -0.02171972 -0.03010754 -0.08188139
+v -0.02081543 -0.03010754 -0.08188139
+v -0.01932488 -0.03194338 -0.08185818
+v -0.01976108 -0.03010754 -0.07955117
+f 1 2 7
+f 1 7 17
+f 1 17 16
+f 1 16 27
+f 1 27 26
+f 1 26 29
+f 1 29 42
+f 1 42 34
+f 1 34 20
+f 1 20 10
+f 1 10 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 31
+f 1 31 36
+f 1 36 21
+f 1 21 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 3 10 18
+f 3 18 8
+f 5 11 12
+f 5 12 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 7
+f 6 12 13
+f 8 18 30
+f 8 30 35
+f 8 35 43
+f 8 43 41
+f 8 41 40
+f 8 40 39
+f 8 39 38
+f 8 38 37
+f 8 37 32
+f 8 32 19
+f 8 19 9
+f 10 20 18
+f 11 21 12
+f 12 21 13
+f 13 22 23
+f 13 23 14
+f 13 21 24
+f 13 24 22
+f 14 25 15
+f 14 23 25
+f 15 26 27
+f 15 27 16
+f 15 25 28
+f 15 28 29
+f 15 29 26
+f 18 20 30
+f 19 32 33
+f 19 33 31
+f 20 34 35
+f 20 35 30
+f 21 36 24
+f 22 33 32
+f 22 32 37
+f 22 37 23
+f 22 24 36
+f 22 36 33
+f 23 37 38
+f 23 38 25
+f 25 39 28
+f 25 38 39
+f 28 40 41
+f 28 41 42
+f 28 42 29
+f 28 39 40
+f 31 33 36
+f 34 42 35
+f 35 42 43
+f 41 43 42
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_43.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad04ee70a06528645aa34ee91ac42980d88a37dc
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_43.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.01932489 -0.03065848 0.06282699
+v -0.01932489 -0.03515895 0.06282699
+v -0.01932489 -0.03065848 0.06281514
+v -0.01950533 -0.03010705 0.06282699
+v -0.02053617 -0.03515895 0.06282699
+v -0.01932489 -0.03515895 0.05545723
+v -0.01932489 -0.03066936 -0.05655827
+v -0.02441626 -0.03010705 0.06282699
+v -0.01952278 -0.03010705 -0.05821706
+v -0.02061243 -0.03513768 0.06282699
+v -0.02053617 -0.03515895 0.05545723
+v -0.01932489 -0.03515796 0.04051630
+v -0.01932489 -0.03362187 -0.05821706
+v -0.01933087 -0.03066738 -0.05821706
+v -0.02441476 -0.03015206 0.06282699
+v -0.02441626 -0.03010705 -0.05821706
+v -0.02439283 -0.03083504 -0.05821706
+v -0.02436342 -0.03173612 -0.05281415
+v -0.02331215 -0.03438101 0.06282699
+v -0.02331215 -0.03438101 0.05918951
+v -0.02053617 -0.03515796 0.04051630
+v -0.02331215 -0.03438002 0.02931949
+v -0.02331165 -0.03437804 -0.03040868
+v -0.02331165 -0.03437705 -0.05821706
+v -0.02177686 -0.03480534 -0.05821706
+v -0.01932489 -0.03515598 0.01064629
+v -0.01932489 -0.03515104 -0.05821706
+v -0.02436143 -0.03173612 0.04799270
+v -0.02436093 -0.03173612 0.06282699
+v -0.02436292 -0.03173612 -0.02667641
+v -0.02436342 -0.03173612 -0.05821706
+v -0.02053617 -0.03515598 0.01064629
+v -0.02053617 -0.03515104 -0.05821706
+v -0.02053617 -0.03515153 -0.05281415
+v -0.01932489 -0.03515351 -0.02667641
+v -0.01932489 -0.03515153 -0.05532603
+f 1 2 6
+f 1 6 12
+f 1 12 26
+f 1 26 35
+f 1 35 36
+f 1 36 27
+f 1 27 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 29
+f 1 29 19
+f 1 19 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 6
+f 3 7 4
+f 4 7 9
+f 4 9 16
+f 4 16 8
+f 5 10 11
+f 6 11 21
+f 6 21 12
+f 7 13 14
+f 7 14 9
+f 8 16 17
+f 8 17 18
+f 8 18 15
+f 9 14 13
+f 9 13 27
+f 9 27 33
+f 9 33 25
+f 9 25 24
+f 9 24 31
+f 9 31 17
+f 9 17 16
+f 10 19 20
+f 10 20 11
+f 11 20 22
+f 11 22 23
+f 11 23 24
+f 11 24 25
+f 11 25 21
+f 12 21 32
+f 12 32 26
+f 15 28 29
+f 15 18 30
+f 15 30 28
+f 17 31 18
+f 18 31 20
+f 18 20 19
+f 18 19 30
+f 19 29 28
+f 19 28 30
+f 20 31 22
+f 21 25 32
+f 22 31 24
+f 22 24 23
+f 25 33 34
+f 25 34 32
+f 26 32 35
+f 27 36 33
+f 32 34 36
+f 32 36 35
+f 33 36 34
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_44.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..192577ec72fcdcdf94ae9e868cb0411032993138
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_44.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.01933666 -0.03515887 0.05426165
+v 0.01933666 -0.03515887 0.05585824
+v 0.01755752 -0.03515887 0.05510260
+v 0.01933666 -0.03515867 0.05052002
+v 0.01933666 -0.03314566 0.05585824
+v 0.01755752 -0.03515887 0.05585824
+v 0.01755752 -0.03515867 0.05136097
+v 0.01755752 -0.03515847 0.04763153
+v 0.01755752 -0.03515828 0.04425553
+v 0.01933666 -0.03515828 0.04425553
+v 0.01805251 -0.03314566 0.05585824
+v 0.01933666 -0.03314566 -0.06865156
+v 0.01755752 -0.03431073 0.05585824
+v 0.01755752 -0.03515631 0.01438341
+v 0.01933666 -0.03515631 0.01438341
+v 0.01755752 -0.03314566 0.05584606
+v 0.01933666 -0.03515079 -0.06865156
+v 0.01755752 -0.03314566 -0.06865156
+v 0.01755752 -0.03515512 -0.00353255
+v 0.01933666 -0.03515433 -0.01547652
+v 0.01755752 -0.03515079 -0.06865156
+v 0.01933666 -0.03515177 -0.05400192
+v 0.01755752 -0.03515157 -0.05690260
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 15
+f 1 15 20
+f 1 20 22
+f 1 22 17
+f 1 17 12
+f 1 12 5
+f 1 5 2
+f 2 5 11
+f 2 11 13
+f 2 13 6
+f 3 6 13
+f 3 13 16
+f 3 16 18
+f 3 18 21
+f 3 21 23
+f 3 23 19
+f 3 19 14
+f 3 14 9
+f 3 9 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 5 12 18
+f 5 18 16
+f 5 16 11
+f 9 14 15
+f 9 15 10
+f 11 16 13
+f 12 17 21
+f 12 21 18
+f 14 19 20
+f 14 20 15
+f 17 22 21
+f 19 23 20
+f 20 23 22
+f 21 22 23
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_45.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6350ca7d4f86203d58d88da4981e58b9e18cb11a
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_45.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.02448491 -0.02800353 0.05911959
+v 0.02448324 -0.02800207 -0.00055079
+v 0.02448408 -0.02800207 0.02931889
+v 0.02448450 -0.02800207 0.04426064
+v 0.02446317 -0.02426956 -0.06401525
+v 0.02448450 -0.02792566 0.05911959
+v 0.02030620 -0.02800389 0.05911959
+v 0.02448450 -0.02800389 0.05544969
+v 0.02448450 -0.02800389 0.04798573
+v 0.02448366 -0.02800389 0.01811604
+v 0.02448115 -0.02800389 -0.07147922
+v 0.02448199 -0.02800207 -0.04533463
+v 0.02446275 -0.02426956 -0.07894319
+v 0.02446358 -0.02426956 -0.00801476
+v 0.02446400 -0.02426956 0.05172461
+v 0.02446400 -0.02426956 0.05911959
+v 0.02021921 -0.02800207 0.05911959
+v 0.02021837 -0.02800389 0.05544969
+v 0.02448073 -0.02800389 -0.07520431
+v 0.02448115 -0.02800207 -0.07147922
+v 0.02448073 -0.02800207 -0.07520431
+v 0.02447195 -0.02800207 -0.07894319
+v 0.02343219 -0.02426956 -0.08181289
+v 0.02043042 -0.02426956 0.05911959
+v 0.02042582 -0.02434597 0.05911959
+v 0.02042624 -0.02426956 -0.00055079
+v 0.02042331 -0.02426956 -0.04533463
+v 0.02042164 -0.02426956 -0.07147922
+v 0.02042122 -0.02426956 -0.07894319
+v 0.02021210 -0.02800389 -0.07520431
+v 0.02447195 -0.02800389 -0.07894319
+v 0.02343219 -0.02800389 -0.08181289
+v 0.02131543 -0.02800389 -0.08182669
+v 0.02141163 -0.02426956 -0.08181289
+v 0.02043001 -0.02426956 0.05544969
+v 0.02022046 -0.02800389 -0.07894319
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 16
+f 1 16 24
+f 1 24 25
+f 1 25 17
+f 1 17 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 13
+f 2 13 5
+f 2 5 3
+f 3 5 4
+f 5 13 23
+f 5 23 34
+f 5 34 29
+f 5 29 28
+f 5 28 27
+f 5 27 26
+f 5 26 35
+f 5 35 24
+f 5 24 16
+f 5 16 15
+f 5 15 14
+f 5 14 6
+f 6 15 16
+f 6 14 15
+f 7 17 18
+f 7 18 30
+f 7 30 36
+f 7 36 33
+f 7 33 32
+f 7 32 31
+f 7 31 19
+f 7 19 11
+f 7 11 10
+f 7 10 9
+f 7 9 8
+f 11 19 21
+f 11 21 20
+f 11 20 12
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 17 25 18
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 29
+f 18 29 30
+f 19 31 22
+f 19 22 21
+f 22 31 32
+f 22 32 23
+f 23 32 33
+f 23 33 34
+f 24 35 25
+f 25 35 26
+f 29 34 36
+f 29 36 30
+f 33 36 34
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_46.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55660ddcddd60e7a4e571a4f7d790b3ff6d63c5b
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_46.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.02449238 0.02800017 0.06545260
+v -0.02448735 0.02800367 0.06292983
+v -0.02448735 0.02799666 0.06292290
+v -0.02448735 0.02799316 0.06292290
+v -0.02309439 0.02799316 0.06545260
+v -0.02435727 0.03173652 0.06545260
+v -0.02435783 0.03173652 0.06292983
+v -0.02435783 0.03172951 0.06292290
+v -0.02015941 0.02800367 0.06292290
+v -0.02015997 0.02799316 0.06292983
+v -0.01940514 0.02799316 0.06545260
+v -0.02330878 0.03437691 0.06545260
+v -0.02331101 0.03437201 0.06292290
+v -0.01932977 0.03065668 0.06292290
+v -0.01878934 0.03082766 0.06292438
+v -0.01878934 0.02953759 0.06545260
+v -0.02053626 0.03515053 0.06545260
+v -0.02330878 0.03437691 0.06292983
+v -0.02053626 0.03515053 0.06292290
+v -0.01878934 0.03515053 0.06292661
+v -0.01878934 0.03515053 0.06545260
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 16
+f 1 16 21
+f 1 21 17
+f 1 17 12
+f 1 12 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 13
+f 3 13 19
+f 3 19 14
+f 3 14 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 7
+f 7 12 13
+f 7 13 8
+f 9 14 15
+f 9 15 10
+f 10 15 11
+f 11 15 16
+f 12 17 19
+f 12 19 18
+f 12 18 13
+f 13 18 19
+f 14 19 20
+f 14 20 15
+f 15 20 21
+f 15 21 16
+f 17 21 20
+f 17 20 19
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_47.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a067e4242a037f42dc211144259f9668cf8d1023
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_47.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.01269353 -0.03148174 0.05881478
+v -0.01680980 -0.03146873 0.05547259
+v -0.01680255 -0.03147126 0.05881478
+v -0.01269353 -0.03515847 0.05881478
+v -0.01269353 -0.03148065 -0.01546984
+v -0.01680980 -0.03478812 0.05881478
+v -0.01269353 -0.03147993 -0.07147558
+v -0.01680980 -0.03146801 -0.02293819
+v -0.01680980 -0.03515847 0.05881478
+v -0.01269353 -0.03515847 0.05544508
+v -0.01269353 -0.03147993 -0.07894393
+v -0.01680980 -0.03146765 -0.07893017
+v -0.01680980 -0.03515847 0.05544508
+v -0.01269353 -0.03515811 0.04797673
+v -0.01269353 -0.03254183 -0.08169470
+v -0.01680980 -0.03146801 -0.07894393
+v -0.01306906 -0.03515811 0.04797673
+v -0.01680980 -0.03515522 0.00230015
+v -0.01269353 -0.03515522 0.00230015
+v -0.01269353 -0.03437586 -0.08169470
+v -0.01680980 -0.03253497 -0.08169470
+v -0.01680980 -0.03515052 -0.06774828
+v -0.01680174 -0.03514980 -0.07894393
+v -0.01269353 -0.03515233 -0.04123083
+v -0.01269353 -0.03445391 -0.08141962
+v -0.01680980 -0.03437586 -0.08169470
+v -0.01680980 -0.03514980 -0.07521663
+v -0.01269353 -0.03514980 -0.07894393
+v -0.01680980 -0.03514799 -0.07894393
+f 1 2 3
+f 1 3 6
+f 1 6 9
+f 1 9 4
+f 1 4 10
+f 1 10 14
+f 1 14 19
+f 1 19 24
+f 1 24 28
+f 1 28 25
+f 1 25 20
+f 1 20 15
+f 1 15 11
+f 1 11 7
+f 1 7 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 12
+f 2 12 16
+f 2 16 21
+f 2 21 26
+f 2 26 29
+f 2 29 27
+f 2 27 22
+f 2 22 18
+f 2 18 13
+f 2 13 9
+f 2 9 6
+f 4 9 13
+f 4 13 10
+f 7 11 12
+f 7 12 8
+f 10 13 17
+f 10 17 14
+f 11 15 16
+f 11 16 12
+f 13 18 17
+f 14 17 18
+f 14 18 19
+f 15 20 26
+f 15 26 21
+f 15 21 16
+f 18 22 23
+f 18 23 24
+f 18 24 19
+f 20 25 26
+f 22 27 23
+f 23 28 24
+f 23 27 29
+f 23 29 26
+f 23 26 25
+f 23 25 28
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_48.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57057824af6f96db7f6fc0964e2c81b744ffcc52
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_48.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.01639814 0.03515117 0.05909867
+v 0.01307824 0.03515117 0.05909867
+v 0.01639814 0.03147215 0.05909867
+v 0.01639814 0.03515225 0.04425473
+v 0.00160051 0.03515333 0.02956241
+v 0.01307824 0.03148118 0.05909867
+v 0.00160051 0.03515153 0.05197302
+v 0.00160051 0.03515117 0.05570813
+v 0.00160051 0.03515081 0.05908488
+v 0.00160051 0.03148154 0.05908488
+v 0.00160051 0.03148154 0.01409826
+v 0.01639814 0.03147288 -0.03412730
+v 0.01639814 0.03515730 -0.02999249
+v 0.01307824 0.03515333 0.02930054
+v 0.00160051 0.03515658 -0.01921445
+v 0.00160051 0.03148263 -0.07547530
+v 0.01639814 0.03147360 -0.07893475
+v 0.01639814 0.03516019 -0.07479995
+v 0.01307824 0.03516055 -0.07893475
+v 0.00160051 0.03516019 -0.07493777
+v 0.00160051 0.03148299 -0.07893475
+v 0.00160051 0.03155880 -0.07914149
+v 0.01306520 0.03254336 -0.08170506
+v 0.01307824 0.03254336 -0.08170506
+v 0.01639814 0.03253867 -0.08169128
+v 0.01639814 0.03516019 -0.07893475
+v 0.01307824 0.03515730 -0.07894853
+v 0.00160051 0.03516019 -0.07893475
+v 0.00160051 0.03254336 -0.08169128
+v 0.01306520 0.03438143 -0.08170506
+v 0.01307824 0.03437493 -0.08170506
+v 0.01639814 0.03438143 -0.08169128
+v 0.00160051 0.03438143 -0.08169128
+f 1 2 6
+f 1 6 3
+f 1 3 12
+f 1 12 17
+f 1 17 25
+f 1 25 32
+f 1 32 26
+f 1 26 18
+f 1 18 13
+f 1 13 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 6
+f 3 6 10
+f 3 10 11
+f 3 11 12
+f 4 13 14
+f 4 14 5
+f 5 14 13
+f 5 13 15
+f 5 15 20
+f 5 20 28
+f 5 28 33
+f 5 33 29
+f 5 29 22
+f 5 22 21
+f 5 21 16
+f 5 16 11
+f 5 11 10
+f 5 10 9
+f 5 9 8
+f 5 8 7
+f 11 16 12
+f 12 16 17
+f 13 18 19
+f 13 19 15
+f 15 19 20
+f 16 21 17
+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 19 27 28
+f 19 28 20
+f 22 29 23
+f 23 29 33
+f 23 33 30
+f 23 30 31
+f 23 31 24
+f 24 31 32
+f 24 32 25
+f 26 32 30
+f 26 30 27
+f 27 30 28
+f 28 30 33
+f 30 32 31
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_49.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0612544e399877c9c454d76c40ad5e9c7fe45d67
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_49.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.02048005 -0.03288117 -0.08182171
+v 0.02168924 -0.03288117 -0.08167336
+v 0.02010298 -0.03288117 -0.08180822
+v 0.02043595 -0.03168068 -0.08192961
+v 0.02168924 -0.03170430 -0.08184869
+v 0.02168924 -0.03288117 0.05585824
+v 0.02010298 -0.03175916 -0.08190263
+v 0.02010298 -0.03288117 0.05585824
+v 0.02081225 -0.03010709 -0.08187566
+v 0.02168924 -0.03010709 -0.08183520
+v 0.02168924 -0.03010709 0.05585824
+v 0.02010298 -0.03010709 -0.08014927
+v 0.02010298 -0.03010709 0.05585824
+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 10
+f 2 10 11
+f 2 11 6
+f 3 7 4
+f 3 8 13
+f 3 13 12
+f 3 12 7
+f 4 7 9
+f 4 9 10
+f 4 10 5
+f 6 11 13
+f 6 13 8
+f 7 12 9
+f 9 12 13
+f 9 13 11
+f 9 11 10
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_5.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f59648913db93d0c55640532fcc1624ee591aef7
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.01675369 -0.03010754 0.07050169
+v -0.02053637 -0.03010754 0.07050244
+v -0.01675369 -0.03173620 0.07044233
+v -0.01675369 -0.03010754 0.06577290
+v -0.02213919 -0.03010754 0.06996299
+v -0.02338033 -0.03173620 0.06948590
+v -0.02053637 -0.03173620 0.07044233
+v -0.01675369 -0.03434660 0.06943106
+v -0.01675369 -0.03011447 0.06562640
+v -0.01680247 -0.03010754 0.06562790
+v -0.02341034 -0.03010754 0.06951595
+v -0.02441886 -0.03010754 0.06666396
+v -0.02435958 -0.03173620 0.06666396
+v -0.02300889 -0.03412157 0.06912151
+v -0.02053637 -0.03438122 0.06941753
+v -0.01675369 -0.03438122 0.06941753
+v -0.01675369 -0.03145676 0.06282699
+v -0.01950535 -0.03010754 0.06282699
+v -0.02441961 -0.03010754 0.06455877
+v -0.02436108 -0.03173620 0.06292992
+v -0.02331204 -0.03438122 0.06666396
+v -0.02053637 -0.03515920 0.06666396
+v -0.01680247 -0.03515970 0.06666396
+v -0.01675369 -0.03515970 0.06666396
+v -0.01675369 -0.03341382 0.06282699
+v -0.02441586 -0.03010754 0.06282699
+v -0.02436108 -0.03173620 0.06282699
+v -0.02331204 -0.03438073 0.06282699
+v -0.02053637 -0.03515920 0.06282699
+v -0.01680247 -0.03515920 0.06282699
+v -0.01675369 -0.03515920 0.06282849
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 24
+f 1 24 31
+f 1 31 25
+f 1 25 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 18
+f 1 18 26
+f 1 26 19
+f 1 19 12
+f 1 12 11
+f 1 11 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 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 8
+f 8 15 16
+f 9 17 18
+f 9 18 10
+f 12 19 20
+f 12 20 13
+f 13 21 14
+f 13 20 21
+f 14 21 22
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 17 25 30
+f 17 30 29
+f 17 29 28
+f 17 28 27
+f 17 27 26
+f 17 26 18
+f 19 26 27
+f 19 27 20
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 21 29 22
+f 22 29 23
+f 23 29 30
+f 23 30 24
+f 24 30 31
+f 25 31 30
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_50.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f302e5e3df3e28dd3d408ac53f54db4f1541b9ca
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_50.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.01680158 -0.03147121 0.05584478
+v 0.01680085 -0.03147121 0.05585824
+v 0.01680085 -0.03403895 0.05585824
+v 0.01680158 -0.03403895 0.05557547
+v 0.01680158 -0.03147096 0.04425118
+v 0.01308518 -0.03148152 0.05584478
+v 0.01640506 -0.03147247 0.05585824
+v 0.01308518 -0.03403895 0.05585824
+v 0.01680158 -0.03403895 -0.08011409
+v 0.01308518 -0.03148077 -0.00054779
+v 0.01680158 -0.03146995 -0.07521273
+v 0.01308518 -0.03148001 -0.06400962
+v 0.01308518 -0.03148026 -0.04160341
+v 0.01308518 -0.03164648 0.05585824
+v 0.01308518 -0.03403895 -0.08168952
+v 0.01680085 -0.03403895 -0.08170299
+v 0.01680158 -0.03253668 -0.08170299
+v 0.01680158 -0.03147021 -0.07894261
+v 0.01680085 -0.03147021 -0.07894261
+v 0.01308518 -0.03148001 -0.07894261
+v 0.01308518 -0.03254146 -0.08168952
+v 0.01680085 -0.03253668 -0.08170299
+v 0.01308518 -0.03148504 -0.07895607
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 6 7
+f 2 7 14
+f 2 14 8
+f 2 8 3
+f 2 5 6
+f 3 8 15
+f 3 15 16
+f 3 16 9
+f 3 9 4
+f 5 10 6
+f 5 11 12
+f 5 12 13
+f 5 13 10
+f 6 14 7
+f 6 10 13
+f 6 13 12
+f 6 12 20
+f 6 20 23
+f 6 23 21
+f 6 21 15
+f 6 15 8
+f 6 8 14
+f 9 16 17
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 15 21 22
+f 15 22 16
+f 16 22 17
+f 17 22 19
+f 17 19 18
+f 19 22 23
+f 19 23 20
+f 21 23 22
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_51.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..728b280facfeb6329fa12ab7186f50f770918637
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_51.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01202358 -0.03148163 0.05585824
+v -0.00000190 -0.03148163 0.05585824
+v 0.01202358 -0.03515905 0.05585824
+v 0.01202358 -0.03148127 0.03409837
+v 0.00933268 -0.03148127 0.03679143
+v -0.00000190 -0.03515869 0.05585824
+v -0.00000190 -0.03148127 0.03679143
+v -0.00000190 -0.03515869 0.05172441
+v -0.00000190 -0.03515689 0.02371666
+v -0.00000190 -0.03515293 -0.03600180
+v 0.00560120 -0.03515257 -0.04160335
+v 0.01202358 -0.03515076 -0.06878972
+v 0.01202358 -0.03148091 0.00691200
+v 0.01202358 -0.03148055 -0.02189020
+v -0.00000190 -0.03148019 -0.05093478
+v -0.00000190 -0.03515005 -0.07894253
+v 0.01202358 -0.03515005 -0.07894253
+v 0.01202358 -0.03148019 -0.05176962
+v -0.00000190 -0.03148019 -0.07894253
+v -0.00000190 -0.03437610 -0.08168945
+v 0.01202358 -0.03437610 -0.08170291
+v 0.01202358 -0.03148019 -0.07894253
+v 0.01202358 -0.03254153 -0.08170291
+v -0.00000190 -0.03201032 -0.08031599
+v -0.00000190 -0.03254153 -0.08168945
+f 1 2 6
+f 1 6 3
+f 1 3 12
+f 1 12 17
+f 1 17 21
+f 1 21 23
+f 1 23 22
+f 1 22 18
+f 1 18 14
+f 1 14 13
+f 1 13 4
+f 1 4 5
+f 1 5 7
+f 1 7 2
+f 2 7 15
+f 2 15 19
+f 2 19 24
+f 2 24 25
+f 2 25 20
+f 2 20 16
+f 2 16 10
+f 2 10 9
+f 2 9 8
+f 2 8 6
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 4 13 5
+f 5 13 14
+f 5 14 15
+f 5 15 7
+f 10 16 12
+f 10 12 11
+f 12 16 17
+f 14 18 15
+f 15 18 22
+f 15 22 19
+f 16 20 21
+f 16 21 17
+f 19 22 23
+f 19 23 24
+f 20 25 23
+f 20 23 21
+f 23 25 24
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_52.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ac8bf77ce96029b00c12a43a78bb1383769e8ef
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_52.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01755752 -0.03515062 -0.07148425
+v 0.01755752 -0.03515042 -0.07446190
+v 0.01933666 -0.03515062 -0.07148425
+v 0.01755752 -0.03515062 -0.06865156
+v 0.01755752 -0.03515003 -0.07894955
+v 0.01933666 -0.03515003 -0.07894955
+v 0.01933666 -0.03515062 -0.06865156
+v 0.01755752 -0.03314546 -0.06865156
+v 0.01755752 -0.03507602 -0.07921383
+v 0.01933666 -0.03490171 -0.07983348
+v 0.01933666 -0.03314546 -0.06865156
+v 0.01755752 -0.03314546 -0.08170270
+v 0.01755752 -0.03437643 -0.08170270
+v 0.01933666 -0.03437643 -0.08170270
+v 0.01933666 -0.03314546 -0.08175786
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 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 14
+f 3 14 15
+f 3 15 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 5 9 6
+f 6 9 10
+f 8 11 15
+f 8 15 12
+f 9 13 14
+f 9 14 10
+f 12 15 13
+f 13 15 14
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_53.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f95b8a4b1669ab098927ed00b0cb5b1708a37d93
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_53.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.01680158 -0.03515895 0.05585824
+v 0.01680085 -0.03403895 0.05585824
+v 0.01308518 -0.03515895 0.05585824
+v 0.01680158 -0.03515895 0.05545429
+v 0.01680158 -0.03403895 0.05557547
+v 0.01308518 -0.03403895 0.05585824
+v 0.01308518 -0.03515895 0.05545429
+v 0.01680158 -0.03515851 0.04799452
+v 0.01680158 -0.03403895 -0.08011409
+v 0.01308518 -0.03403895 -0.08168952
+v 0.01308518 -0.03515851 0.04799452
+v 0.01680158 -0.03515753 0.03304807
+v 0.01680158 -0.03437654 -0.08168952
+v 0.01680085 -0.03403895 -0.08170299
+v 0.01308518 -0.03438016 -0.08168952
+v 0.01308518 -0.03515753 0.03304807
+v 0.01680158 -0.03515062 -0.07148285
+v 0.01680085 -0.03437643 -0.08170299
+v 0.01680158 -0.03515007 -0.07894261
+v 0.01308518 -0.03515007 -0.07894261
+v 0.01308518 -0.03515457 -0.01175089
+v 0.01680085 -0.03515062 -0.07148285
+v 0.01308518 -0.03515084 -0.06773950
+v 0.01308518 -0.03515259 -0.04160341
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 19
+f 1 19 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 5 9
+f 2 9 14
+f 2 14 10
+f 2 10 6
+f 3 6 10
+f 3 10 15
+f 3 15 20
+f 3 20 23
+f 3 23 24
+f 3 24 21
+f 3 21 16
+f 3 16 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 8 11 16
+f 8 16 12
+f 9 13 14
+f 10 14 18
+f 10 18 15
+f 12 16 21
+f 12 21 22
+f 12 22 17
+f 13 18 14
+f 13 19 18
+f 15 18 20
+f 17 22 20
+f 17 20 19
+f 18 19 20
+f 20 22 23
+f 21 24 22
+f 22 24 23
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_54.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a82931f33dbc346d6118959f7a1f5acb86444d4
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_54.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.02010268 -0.03288117 -0.08180095
+v 0.01933666 -0.03288117 -0.08177398
+v 0.02010268 -0.03175916 -0.08190884
+v 0.02010268 -0.03288117 0.05585824
+v 0.01933666 -0.03193946 -0.08185490
+v 0.01933666 -0.03288117 0.05585824
+v 0.02010268 -0.03010709 -0.08014225
+v 0.02010268 -0.03010709 0.05585824
+v 0.01933666 -0.03066755 -0.07894205
+v 0.01952893 -0.03010709 -0.07894205
+v 0.01933666 -0.03066592 0.05585824
+v 0.01952361 -0.03010709 0.05585824
+v 0.01933666 -0.03066511 -0.07520659
+v 0.01952069 -0.03010709 -0.07520659
+v 0.01933666 -0.03066565 0.03305439
+v 0.01952354 -0.03010709 0.05545368
+v 0.01952286 -0.03010709 0.02558347
+v 0.01952129 -0.03010709 -0.04533637
+v 0.01952091 -0.03010709 -0.06323153
+v 0.01952076 -0.03010709 -0.07068897
+v 0.01952069 -0.03010709 -0.07442443
+v 0.01933666 -0.03066511 -0.04533637
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 11
+f 2 11 15
+f 2 15 22
+f 2 22 13
+f 2 13 9
+f 2 9 5
+f 3 5 7
+f 4 8 12
+f 4 12 11
+f 4 11 6
+f 5 9 10
+f 5 10 7
+f 7 10 14
+f 7 14 21
+f 7 21 20
+f 7 20 19
+f 7 19 18
+f 7 18 17
+f 7 17 16
+f 7 16 12
+f 7 12 8
+f 9 13 14
+f 9 14 10
+f 11 12 16
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 15
+f 13 22 21
+f 13 21 14
+f 15 21 22
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_55.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..073325656773f4d96a44f18db5ef213dabd96434
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_55.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.02445255 0.02904441 0.06075863
+v 0.02441562 0.03017362 0.06075863
+v 0.01986756 0.02904441 0.06075863
+v 0.02444713 0.02904441 -0.07520540
+v 0.02440380 0.03039318 -0.07520540
+v 0.02440774 0.03039318 0.06033972
+v 0.02440774 0.03039318 0.06075863
+v 0.01942192 0.03039318 0.06075863
+v 0.01987347 0.02904441 -0.07520540
+v 0.02443778 0.02904441 -0.07894766
+v 0.02439789 0.03039318 -0.07759318
+v 0.01942931 0.03039318 -0.06836321
+v 0.01942980 0.03039318 -0.07520540
+v 0.01988184 0.02904441 -0.07894766
+v 0.02414232 0.02904441 -0.07978547
+v 0.02388823 0.03039318 -0.08039988
+v 0.02439444 0.03039318 -0.07894766
+v 0.01943817 0.03039318 -0.07894766
+v 0.02054761 0.02904441 -0.08069311
+v 0.02341451 0.02904441 -0.08179624
+v 0.02339334 0.03039318 -0.08178228
+v 0.02372523 0.03039318 -0.08086067
+v 0.01955044 0.03039318 -0.07924089
+v 0.02106859 0.02904441 -0.08185209
+v 0.02258428 0.02904441 -0.08185209
+v 0.02148666 0.03039318 -0.08189399
+v 0.02074556 0.03039318 -0.08189399
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 9
+f 1 9 14
+f 1 14 19
+f 1 19 24
+f 1 24 25
+f 1 25 20
+f 1 20 15
+f 1 15 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 11
+f 4 11 5
+f 5 11 17
+f 5 17 16
+f 5 16 22
+f 5 22 21
+f 5 21 26
+f 5 26 27
+f 5 27 23
+f 5 23 18
+f 5 18 13
+f 5 13 12
+f 5 12 8
+f 5 8 7
+f 5 7 6
+f 8 12 9
+f 9 13 18
+f 9 18 14
+f 9 12 13
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 14 18 19
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 18 23 19
+f 19 23 24
+f 20 25 21
+f 21 25 26
+f 23 27 24
+f 24 27 26
+f 24 26 25
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_56.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..715b8b6322b19699eef18d41b75f5cce336090a5
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_56.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.02336542 0.03146505 -0.04189079
+v 0.02336542 0.03424437 -0.04189079
+v 0.02436971 0.03146505 -0.04189079
+v 0.02336542 0.03146505 0.06949786
+v 0.02436094 0.03173710 -0.04160731
+v 0.02428303 0.03193326 -0.04189079
+v 0.02336542 0.03424165 0.02951526
+v 0.02436281 0.03173710 0.06292313
+v 0.02436281 0.03173710 0.05919418
+v 0.02436261 0.03173710 0.04798554
+v 0.02436084 0.03173710 -0.04189079
+v 0.02437277 0.03146505 0.06319571
+v 0.02338652 0.03146505 0.06948695
+v 0.02336542 0.03173547 0.06948695
+v 0.02336542 0.03424029 0.06292313
+v 0.02336542 0.03424002 0.06666298
+v 0.02436192 0.03173710 0.06666298
+v 0.02437188 0.03146505 0.06666298
+v 0.02338140 0.03173710 0.06947605
+v 0.02336542 0.03183831 0.06946514
+f 1 2 6
+f 1 6 11
+f 1 11 3
+f 1 3 12
+f 1 12 18
+f 1 18 13
+f 1 13 4
+f 1 4 14
+f 1 14 20
+f 1 20 16
+f 1 16 15
+f 1 15 7
+f 1 7 2
+f 2 5 6
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 5
+f 3 11 5
+f 3 5 12
+f 4 13 14
+f 5 11 6
+f 5 10 12
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 8 17 12
+f 8 12 9
+f 9 12 10
+f 12 17 18
+f 13 19 14
+f 13 18 19
+f 14 19 20
+f 16 20 17
+f 17 20 19
+f 17 19 18
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_57.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfd3de0131fb68bfb4b12554c525632842dad322
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_57.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.02042233 0.02426580 0.05915989
+v -0.02446389 0.02426580 0.05915989
+v -0.02042510 0.02063376 0.05915989
+v -0.02042510 0.02063376 0.05546144
+v -0.02042708 0.02063376 0.02548747
+v -0.02043302 0.02063376 -0.06410325
+v -0.02043024 0.02426580 -0.06028059
+v -0.02446389 0.02063376 0.05915989
+v -0.02446428 0.02426580 0.03304997
+v -0.02446428 0.02063376 0.03314657
+v -0.02043381 0.02063376 -0.07530898
+v -0.02043104 0.02426580 -0.07147253
+v -0.02446468 0.02426580 -0.02293733
+v -0.02446507 0.02063376 -0.07521238
+v -0.02043420 0.02063376 -0.07893843
+v -0.02043183 0.02426580 -0.07893843
+v -0.02043143 0.02426580 -0.07521238
+v -0.02446468 0.02426580 -0.07893843
+v -0.02446468 0.02063376 -0.07893843
+v -0.02046032 0.02063376 -0.07902123
+v -0.02141877 0.02063376 -0.08182267
+v -0.02141758 0.02426580 -0.08180886
+v -0.02343381 0.02426580 -0.08180886
+v -0.02343381 0.02063376 -0.08182267
+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 12
+f 1 12 17
+f 1 17 16
+f 1 16 22
+f 1 22 23
+f 1 23 18
+f 1 18 13
+f 1 13 9
+f 1 9 2
+f 2 9 10
+f 2 10 8
+f 3 8 10
+f 3 10 14
+f 3 14 19
+f 3 19 24
+f 3 24 21
+f 3 21 20
+f 3 20 15
+f 3 15 11
+f 3 11 6
+f 3 6 5
+f 3 5 4
+f 6 11 7
+f 7 11 12
+f 9 13 14
+f 9 14 10
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 13 18 14
+f 14 18 19
+f 15 20 16
+f 16 20 21
+f 16 21 22
+f 18 23 24
+f 18 24 19
+f 21 24 23
+f 21 23 22
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_58.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c21446c5adf7ae2456d4397624e5fda62835a517
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_58.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.02336542 0.03146505 0.06949654
+v 0.02336542 0.03173566 0.06948851
+v 0.02317379 0.03146505 0.06956069
+v 0.02336542 0.03146505 -0.01148359
+v 0.02336542 0.03183827 0.06946446
+v 0.02300739 0.03411915 0.06911958
+v 0.02053458 0.03173710 0.07043490
+v 0.02053458 0.03146505 0.07044292
+v 0.01896811 0.03146505 -0.01148359
+v 0.02336542 0.03424308 -0.01148359
+v 0.02336542 0.03423982 0.06665737
+v 0.02053458 0.03437712 0.06940830
+v 0.02331018 0.03437712 0.06665737
+v 0.02053458 0.03515066 0.06665737
+v 0.01639915 0.03173710 0.07043490
+v 0.01639915 0.03146505 0.07045094
+v 0.01639915 0.03409241 0.06952059
+v 0.01682060 0.03146577 -0.01148359
+v 0.01682197 0.03146505 -0.00800282
+v 0.02331086 0.03437965 -0.01148359
+v 0.02336542 0.03424308 -0.00781033
+v 0.02336542 0.03424019 0.06312046
+v 0.02331086 0.03437784 0.04799433
+v 0.01639915 0.03437712 0.06940830
+v 0.02053458 0.03515211 0.04799433
+v 0.02053458 0.03515138 0.05919055
+v 0.02053458 0.03515102 0.06292797
+v 0.02053458 0.03515572 -0.00800282
+v 0.02053458 0.03515427 0.01439765
+v 0.01639915 0.03515102 0.06332899
+v 0.01639915 0.03515066 0.06665737
+v 0.01639915 0.03146505 0.06100312
+v 0.01639915 0.03147300 -0.01148359
+v 0.01639915 0.03147263 -0.00841185
+v 0.02311718 0.03443384 -0.01148359
+v 0.02331086 0.03437965 -0.00800282
+v 0.02331086 0.03437892 0.01439765
+v 0.02336542 0.03424091 0.04818682
+v 0.01654100 0.03515608 -0.01148359
+v 0.01639915 0.03515138 0.05919055
+v 0.01639915 0.03515211 0.04839535
+v 0.02053458 0.03515572 -0.01148359
+v 0.01639915 0.03515608 -0.01148359
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 32
+f 1 32 19
+f 1 19 9
+f 1 9 4
+f 1 4 10
+f 1 10 21
+f 1 21 38
+f 1 38 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 3 7 8
+f 4 9 18
+f 4 18 33
+f 4 33 43
+f 4 43 39
+f 4 39 42
+f 4 42 35
+f 4 35 20
+f 4 20 10
+f 5 11 6
+f 6 12 7
+f 6 11 13
+f 6 13 14
+f 6 14 12
+f 7 15 16
+f 7 16 8
+f 7 12 17
+f 7 17 15
+f 9 19 18
+f 10 20 36
+f 10 36 21
+f 11 22 23
+f 11 23 13
+f 12 14 31
+f 12 31 24
+f 12 24 17
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 13 23 28
+f 13 28 29
+f 13 29 25
+f 14 27 30
+f 14 30 31
+f 15 17 24
+f 15 24 31
+f 15 31 30
+f 15 30 40
+f 15 40 41
+f 15 41 43
+f 15 43 33
+f 15 33 34
+f 15 34 32
+f 15 32 16
+f 18 19 33
+f 19 34 33
+f 19 32 34
+f 20 35 36
+f 21 36 37
+f 21 37 23
+f 21 23 38
+f 22 38 23
+f 23 37 28
+f 25 29 39
+f 25 39 26
+f 26 40 30
+f 26 30 27
+f 26 39 41
+f 26 41 40
+f 28 37 36
+f 28 36 35
+f 28 35 42
+f 28 42 39
+f 28 39 29
+f 39 43 41
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_59.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..593e54305a5d81a01804d0f44ee7dcb690a15282
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_59.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.01439107 0.03069223 0.06536554
+v -0.00345710 0.03064296 0.06547277
+v 0.01439107 0.03146505 0.06536554
+v 0.01774655 0.03054577 0.06536554
+v 0.01936281 0.02801742 0.06551516
+v -0.00345710 0.02801742 0.06630002
+v -0.00345710 0.03146505 0.06547277
+v 0.01774655 0.03146505 0.06536554
+v 0.01938069 0.02802079 0.06551516
+v 0.01937175 0.02801742 0.06551516
+v -0.00345710 0.02801742 0.07058181
+v -0.00345710 0.03146505 0.07045160
+v 0.01848650 0.03146505 0.06551516
+v 0.01938069 0.03146235 0.06551516
+v 0.01938069 0.02801742 0.06555142
+v -0.00186543 0.03146505 0.07045160
+v 0.01307884 0.02801742 0.07058079
+v 0.00933215 0.03146505 0.07045108
+v 0.01938069 0.03146505 0.06799742
+v 0.01938069 0.02801742 0.07057926
+v 0.01438884 0.03146505 0.07045057
+v 0.01938069 0.03058255 0.07048325
+v 0.01938069 0.03146505 0.07045007
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 6 11
+f 2 11 12
+f 2 12 7
+f 2 5 6
+f 3 7 12
+f 3 12 16
+f 3 16 18
+f 3 18 21
+f 3 21 23
+f 3 23 19
+f 3 19 13
+f 3 13 8
+f 4 8 14
+f 4 14 9
+f 4 9 10
+f 4 10 5
+f 5 10 15
+f 5 15 20
+f 5 20 17
+f 5 17 11
+f 5 11 6
+f 8 13 14
+f 9 14 19
+f 9 19 23
+f 9 23 22
+f 9 22 20
+f 9 20 15
+f 9 15 10
+f 11 16 12
+f 11 17 18
+f 11 18 16
+f 13 19 14
+f 17 21 18
+f 17 20 22
+f 17 22 23
+f 17 23 21
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_6.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9498ba34b23a85311641929096584b899bee5670
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.01938561 0.02799245 0.07058263
+v -0.02053630 0.02799245 0.07058263
+v -0.01938561 0.01794902 0.07058263
+v -0.01927784 0.00000051 0.07058036
+v -0.01938561 0.02799245 0.06553791
+v -0.02054448 0.02799245 0.07058036
+v -0.02053630 0.01680023 0.07058263
+v -0.01938561 0.00675111 0.07058188
+v -0.01927784 -0.00933204 0.07058036
+v -0.01927784 0.00000051 0.06563175
+v -0.01938561 0.02798677 0.06551369
+v -0.01938765 0.02799245 0.06551218
+v -0.02344956 0.02799245 0.06955643
+v -0.02344956 -0.01679353 0.06955492
+v -0.02053630 0.00560231 0.07058188
+v -0.02344956 -0.02799713 0.06955416
+v -0.01927784 -0.02052996 0.07057961
+v -0.01927784 -0.03010705 0.06460630
+v -0.02015784 0.02799245 0.06293835
+v -0.01950512 -0.03010705 0.06285132
+v -0.02345262 0.02799245 0.06954811
+v -0.02449504 -0.02799713 0.06666400
+v -0.02053681 -0.02052996 0.07057961
+v -0.02053681 -0.02799713 0.07057885
+v -0.02341074 -0.03010705 0.06951556
+v -0.02213951 -0.03010705 0.06996282
+v -0.01927784 -0.02799713 0.07057885
+v -0.01927784 -0.03010705 0.07050165
+v -0.02016040 0.02799245 0.06293078
+v -0.02441588 -0.03010705 0.06285132
+v -0.02033354 0.00000051 0.06285132
+v -0.02449555 0.02799245 0.06666400
+v -0.02448738 -0.02799713 0.06285132
+v -0.02448482 -0.02807675 0.06285132
+v -0.02441945 -0.03010705 0.06455938
+v -0.02441894 -0.03010705 0.06666400
+v -0.02053681 -0.03010705 0.07050165
+v -0.02448687 0.02799245 0.06292321
+v -0.02447461 0.00000051 0.06285132
+f 1 2 7
+f 1 7 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 5
+f 1 5 12
+f 1 12 19
+f 1 19 29
+f 1 29 38
+f 1 38 32
+f 1 32 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 3 7 15
+f 3 15 8
+f 3 8 17
+f 3 17 9
+f 4 9 17
+f 4 17 27
+f 4 27 28
+f 4 28 18
+f 4 18 10
+f 5 11 12
+f 5 10 11
+f 6 13 14
+f 6 14 7
+f 7 14 16
+f 7 16 15
+f 8 15 17
+f 10 18 11
+f 11 19 12
+f 11 18 20
+f 11 20 19
+f 13 21 14
+f 14 22 16
+f 14 21 22
+f 15 16 23
+f 15 23 17
+f 16 24 23
+f 16 22 25
+f 16 25 26
+f 16 26 24
+f 17 23 24
+f 17 24 27
+f 18 28 37
+f 18 37 26
+f 18 26 25
+f 18 25 36
+f 18 36 35
+f 18 35 30
+f 18 30 20
+f 19 20 29
+f 20 30 34
+f 20 34 33
+f 20 33 39
+f 20 39 31
+f 20 31 29
+f 21 32 22
+f 22 33 34
+f 22 34 35
+f 22 35 36
+f 22 36 25
+f 22 32 33
+f 24 26 37
+f 24 37 28
+f 24 28 27
+f 29 31 38
+f 30 35 34
+f 31 39 38
+f 32 38 33
+f 33 38 39
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_60.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edb7f4b4e9074a910872cf61f75ad2e99d441723
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_60.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.02440907 0.03039318 0.06075903
+v 0.02437131 0.03146505 0.05946488
+v 0.02437131 0.03146505 0.06075903
+v 0.01942260 0.03039318 0.06075903
+v 0.02440410 0.03039318 -0.05165330
+v 0.02436882 0.03146505 -0.06165909
+v 0.02436932 0.03146505 -0.04907696
+v 0.01933365 0.03146505 0.06075903
+v 0.01933365 0.03066198 0.06075903
+v 0.01933315 0.03066796 -0.06028105
+v 0.01942906 0.03039318 -0.05343877
+v 0.02440360 0.03039318 -0.06165909
+v 0.01933315 0.03146505 -0.06165909
+v 0.01933315 0.03146505 -0.02668077
+v 0.01933315 0.03066765 -0.02668077
+v 0.01933315 0.03066786 -0.05655434
+v 0.01933315 0.03139527 -0.06165909
+v 0.01933961 0.03066576 -0.06165909
+v 0.01942955 0.03039318 -0.06165909
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 11
+f 1 11 19
+f 1 19 12
+f 1 12 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 6
+f 2 6 13
+f 2 13 14
+f 2 14 8
+f 2 8 3
+f 4 9 10
+f 4 10 11
+f 5 12 6
+f 6 12 19
+f 6 19 18
+f 6 18 17
+f 6 17 13
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 10
+f 10 16 15
+f 10 15 14
+f 10 14 13
+f 10 13 17
+f 10 17 18
+f 10 18 19
+f 10 19 11
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_61.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a5ab44ab55b94c46f5735144415e5587b490143
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_61.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.02449876 0.02801742 0.06666283
+v 0.02449876 0.02801742 0.06664841
+v 0.02437250 0.03146505 0.06320189
+v 0.02437150 0.03146505 0.06666283
+v 0.02338600 0.03146505 0.06949024
+v 0.02345514 0.02801742 0.06954407
+v 0.02448674 0.02801742 0.06076000
+v 0.02441659 0.03017353 0.06076000
+v 0.02437200 0.03146505 0.06076000
+v 0.02317407 0.03146505 0.06956426
+v 0.02054572 0.02801742 0.07057659
+v 0.02345113 0.02801742 0.06955465
+v 0.02018849 0.02801742 0.06076000
+v 0.01938085 0.03146505 0.06076000
+v 0.02053520 0.03146505 0.07045064
+v 0.02053520 0.02801742 0.07057947
+v 0.01938085 0.03051742 0.06076000
+v 0.01938436 0.02801742 0.06551111
+v 0.01938085 0.02802079 0.06551111
+v 0.01938085 0.03146505 0.07045064
+v 0.01938085 0.03039525 0.07049102
+v 0.01938085 0.02801742 0.07058043
+v 0.01938085 0.02801742 0.06555149
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 12
+f 1 12 11
+f 1 11 16
+f 1 16 22
+f 1 22 23
+f 1 23 18
+f 1 18 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 14
+f 3 14 20
+f 3 20 15
+f 3 15 10
+f 3 10 5
+f 3 5 4
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 7 13 17
+f 7 17 14
+f 7 14 9
+f 7 9 8
+f 10 15 11
+f 11 15 16
+f 13 18 19
+f 13 19 17
+f 14 17 19
+f 14 19 23
+f 14 23 22
+f 14 22 21
+f 14 21 20
+f 15 21 22
+f 15 22 16
+f 15 20 21
+f 18 23 19
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_62.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7217611a164b74923e1dab1f288de3c4fcce36f
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_62.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.01755735 -0.03515906 0.05585824
+v 0.01755735 -0.03431062 0.05585824
+v 0.01680165 -0.03515868 0.05585824
+v 0.01680165 -0.03515868 0.05172299
+v 0.01680165 -0.03515752 0.03305372
+v 0.01680165 -0.03515060 -0.07147259
+v 0.01755735 -0.03515829 0.04426067
+v 0.01755735 -0.03123110 0.05584477
+v 0.01680165 -0.03147109 0.05584477
+v 0.01680165 -0.03514983 -0.07894838
+v 0.01755735 -0.03515021 -0.07556744
+v 0.01755735 -0.03515060 -0.07147259
+v 0.01755735 -0.03123072 0.02074225
+v 0.01680165 -0.03147071 0.01438446
+v 0.01680165 -0.03437639 -0.08169623
+v 0.01755735 -0.03453293 -0.08114396
+v 0.01755735 -0.03514983 -0.07894838
+v 0.01755735 -0.03122995 -0.07521722
+v 0.01680165 -0.03147033 -0.03413407
+v 0.01755735 -0.03235876 -0.08175012
+v 0.01755735 -0.03437639 -0.08169623
+v 0.01680165 -0.03253683 -0.08169623
+v 0.01755735 -0.03123110 -0.07894838
+v 0.01680165 -0.03147033 -0.07894838
+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 11
+f 1 11 17
+f 1 17 16
+f 1 16 21
+f 1 21 20
+f 1 20 23
+f 1 23 18
+f 1 18 13
+f 1 13 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 14
+f 3 14 19
+f 3 19 24
+f 3 24 22
+f 3 22 15
+f 3 15 10
+f 3 10 6
+f 3 6 5
+f 3 5 4
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 8 13 9
+f 9 13 14
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 13 18 14
+f 14 18 19
+f 15 20 21
+f 15 21 16
+f 15 22 20
+f 18 23 24
+f 18 24 19
+f 20 22 23
+f 22 24 23
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_63.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26bd3eb3031ca9d3a3dadae73f2cc9d2dd0d6fed
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_63.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.01933539 0.03063785 0.06291781
+v -0.01680002 0.03145687 0.06291781
+v -0.01933539 0.03515043 0.06291781
+v -0.01933539 0.03066795 -0.07520029
+v -0.01680002 0.03147236 -0.07894164
+v -0.01680002 0.03515043 0.06291781
+v -0.01933539 0.03515088 0.05957327
+v -0.01933539 0.03067105 -0.07894164
+v -0.01680002 0.03253798 -0.08169096
+v -0.01680002 0.03515132 0.05544928
+v -0.01680226 0.03515088 0.05957327
+v -0.01933539 0.03515132 0.05544928
+v -0.01933539 0.03194208 -0.08186102
+v -0.01680002 0.03438100 -0.08169096
+v -0.01933539 0.03515176 0.05051751
+v -0.01680002 0.03515486 0.00691096
+v -0.01933539 0.03438188 -0.08169096
+v -0.01680226 0.03438188 -0.08169096
+v -0.01680002 0.03515973 -0.07894164
+v -0.01933539 0.03515486 0.00691096
+v -0.01680002 0.03515663 -0.01920762
+v -0.01933539 0.03516018 -0.07894164
+v -0.01680226 0.03516018 -0.07894164
+v -0.01680002 0.03516018 -0.07521446
+v -0.01933539 0.03515663 -0.01920762
+v -0.01680002 0.03515885 -0.05280889
+v -0.01933539 0.03515796 -0.03907644
+v -0.01680226 0.03516018 -0.07520029
+v -0.01680226 0.03515929 -0.06026324
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 15
+f 1 15 20
+f 1 20 25
+f 1 25 27
+f 1 27 22
+f 1 22 17
+f 1 17 13
+f 1 13 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 14
+f 2 14 19
+f 2 19 24
+f 2 24 26
+f 2 26 21
+f 2 21 16
+f 2 16 10
+f 2 10 6
+f 3 6 11
+f 3 11 7
+f 4 8 5
+f 5 8 9
+f 6 10 11
+f 7 11 10
+f 7 10 12
+f 8 13 9
+f 9 13 14
+f 10 15 12
+f 10 16 15
+f 13 17 18
+f 13 18 14
+f 14 18 19
+f 15 16 20
+f 16 21 25
+f 16 25 20
+f 17 22 23
+f 17 23 18
+f 18 23 19
+f 19 23 24
+f 21 26 27
+f 21 27 25
+f 22 28 24
+f 22 24 23
+f 22 27 28
+f 24 28 29
+f 24 29 26
+f 26 29 27
+f 27 29 28
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_64.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d233b173a508355027a31a76e8e6cce80f55ce8
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_64.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01774807 0.02956473 0.06551414
+v 0.01936439 0.02801742 0.06551414
+v 0.01774807 0.03146505 0.06551414
+v 0.01774807 0.03086941 0.06434295
+v 0.01937190 0.02801742 0.06551196
+v 0.01937238 0.02801742 0.06551414
+v 0.01938069 0.02988162 0.06434295
+v 0.01848758 0.03146505 0.06551414
+v 0.01774807 0.03146505 0.06434295
+v 0.01938069 0.02802079 0.06551059
+v 0.01938069 0.02802079 0.06551414
+v 0.01938069 0.03146167 0.06434295
+v 0.01938069 0.03146235 0.06551414
+v 0.01806628 0.03146505 0.06434295
+f 1 2 6
+f 1 6 11
+f 1 11 13
+f 1 13 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 2
+f 2 5 6
+f 2 4 7
+f 2 7 5
+f 3 8 14
+f 3 14 9
+f 4 9 14
+f 4 14 12
+f 4 12 7
+f 5 10 6
+f 5 7 10
+f 6 10 11
+f 7 12 13
+f 7 13 11
+f 7 11 10
+f 8 13 12
+f 8 12 14
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_65.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce0bd882f8e6abc3b80894b851dfb72b54b02994
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_65.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.02448712 0.02800322 0.06075904
+v 0.02445319 0.02904441 0.06075904
+v 0.02448712 0.02794215 0.06075904
+v 0.02448123 0.02800322 -0.07521046
+v 0.02444776 0.02904441 -0.06774191
+v 0.01986686 0.02904441 0.06075904
+v 0.02019662 0.02794215 0.06075904
+v 0.02448123 0.02794215 -0.06774191
+v 0.02448078 0.02794215 -0.07521046
+v 0.02447174 0.02794215 -0.07893776
+v 0.02447174 0.02800322 -0.07893776
+v 0.02443826 0.02904441 -0.07893776
+v 0.02444731 0.02904441 -0.07521046
+v 0.01987319 0.02904441 -0.07521046
+v 0.02021879 0.02794215 -0.07526630
+v 0.02344898 0.02794215 -0.08177162
+v 0.02416505 0.02904441 -0.07973348
+v 0.01987817 0.02904441 -0.07748593
+v 0.02022738 0.02794215 -0.07893776
+v 0.02343225 0.02794215 -0.08181351
+v 0.02343225 0.02800322 -0.08181351
+v 0.02341506 0.02904441 -0.08179954
+v 0.01988179 0.02904441 -0.07893776
+v 0.02024321 0.02794215 -0.07899360
+v 0.02131889 0.02794215 -0.08181351
+v 0.02258410 0.02904441 -0.08185538
+v 0.02054719 0.02904441 -0.08069671
+v 0.02106829 0.02904441 -0.08185538
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 13
+f 2 13 12
+f 2 12 17
+f 2 17 22
+f 2 22 26
+f 2 26 28
+f 2 28 27
+f 2 27 23
+f 2 23 18
+f 2 18 14
+f 2 14 6
+f 3 7 15
+f 3 15 19
+f 3 19 24
+f 3 24 25
+f 3 25 20
+f 3 20 16
+f 3 16 10
+f 3 10 9
+f 3 9 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 6 14 7
+f 7 14 15
+f 10 16 11
+f 11 16 17
+f 11 17 12
+f 14 18 15
+f 15 18 19
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 18 23 19
+f 19 23 24
+f 20 25 28
+f 20 28 26
+f 20 26 21
+f 21 26 22
+f 23 27 24
+f 24 27 25
+f 25 27 28
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_66.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bf75f5e3093ebcda37ec4caf742c485e52c20e5
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_66.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.00000190 -0.03148163 0.05881478
+v -0.01269353 -0.03148163 0.05881478
+v -0.00000190 -0.03515922 0.05881478
+v -0.00000190 -0.03148127 0.03679359
+v -0.01269353 -0.03515886 0.05881478
+v -0.01269353 -0.03148127 0.03679359
+v -0.01269353 -0.03515886 0.05545864
+v -0.01269353 -0.03515850 0.04836124
+v -0.00186787 -0.03515850 0.04798987
+v -0.00186787 -0.03515057 -0.07148300
+v -0.00000190 -0.03515057 -0.07148300
+v -0.00000190 -0.03148019 -0.05093356
+v -0.00933427 -0.03147983 -0.07893802
+v -0.01269353 -0.03147983 -0.07893802
+v -0.01269353 -0.03515526 -0.00055028
+v -0.01269353 -0.03515129 -0.06027296
+v -0.01269353 -0.03515057 -0.07109787
+v -0.01269353 -0.03515021 -0.07521051
+v -0.00000190 -0.03514985 -0.07893802
+v -0.00000190 -0.03148019 -0.07893802
+v -0.01269353 -0.03158643 -0.07922687
+v -0.01269353 -0.03514985 -0.07893802
+v -0.00000190 -0.03476268 -0.08032724
+v -0.00000190 -0.03254158 -0.08170270
+v -0.01269353 -0.03254158 -0.08168895
+v -0.01269353 -0.03445402 -0.08141386
+v -0.00000190 -0.03437623 -0.08170270
+v -0.01269353 -0.03437623 -0.08168895
+f 1 2 5
+f 1 5 3
+f 1 3 11
+f 1 11 19
+f 1 19 23
+f 1 23 27
+f 1 27 24
+f 1 24 20
+f 1 20 12
+f 1 12 4
+f 1 4 6
+f 1 6 2
+f 2 6 14
+f 2 14 21
+f 2 21 25
+f 2 25 28
+f 2 28 26
+f 2 26 22
+f 2 22 18
+f 2 18 17
+f 2 17 16
+f 2 16 15
+f 2 15 8
+f 2 8 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 4 12 13
+f 4 13 14
+f 4 14 6
+f 8 15 9
+f 9 15 10
+f 10 16 17
+f 10 17 18
+f 10 18 22
+f 10 22 19
+f 10 19 11
+f 10 15 16
+f 12 20 13
+f 13 20 21
+f 13 21 14
+f 19 22 23
+f 20 24 21
+f 21 24 25
+f 22 26 27
+f 22 27 23
+f 24 27 28
+f 24 28 25
+f 26 28 27
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_67.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65987cf3d9e22e68a2c53bb3153de76c55b6eb25
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_67.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.02141282 0.00000811 -0.08182613
+v 0.02141005 0.02427459 -0.08181234
+v 0.02343235 0.00000811 -0.08182613
+v 0.02042383 0.00000811 -0.07894288
+v 0.02042106 0.02427459 -0.07894288
+v 0.02342918 0.02427459 -0.08181234
+v 0.02343195 0.02426746 -0.08181234
+v 0.02446289 0.02426746 -0.07894288
+v 0.02394604 0.00000811 -0.08039140
+v 0.02042423 0.00000811 -0.07147954
+v 0.02042343 0.02427459 -0.04161238
+v 0.02446131 0.02427459 -0.07894288
+v 0.02446289 0.02427459 -0.07521811
+v 0.02446329 0.02427459 -0.05281429
+v 0.02446289 0.00000811 -0.07894288
+v 0.02042779 0.00000811 -0.01733238
+v 0.02042898 0.02427459 0.04425053
+v 0.02446329 0.00000811 -0.04907572
+v 0.02446408 0.02427459 0.05545244
+v 0.02043135 0.00000811 0.03678719
+v 0.02042977 0.02427459 0.05545244
+v 0.02446368 0.00000811 0.00692003
+v 0.02437424 0.02427459 0.05910824
+v 0.02446368 0.02426746 0.05910824
+v 0.02446368 0.00000811 0.05910824
+v 0.02043254 0.00000811 0.05359005
+v 0.02043293 0.00000811 0.05910824
+v 0.02043056 0.02417956 0.05910824
+v 0.02043056 0.02426746 0.05910824
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 15
+f 1 15 18
+f 1 18 22
+f 1 22 25
+f 1 25 27
+f 1 27 26
+f 1 26 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 23
+f 2 23 19
+f 2 19 14
+f 2 14 13
+f 2 13 12
+f 2 12 6
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 4 10 5
+f 5 10 11
+f 6 12 7
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 8 14 15
+f 8 15 9
+f 10 16 17
+f 10 17 11
+f 14 18 15
+f 14 19 18
+f 16 20 17
+f 17 20 26
+f 17 26 21
+f 18 19 22
+f 19 23 24
+f 19 24 25
+f 19 25 22
+f 21 26 27
+f 21 27 28
+f 21 28 29
+f 21 29 23
+f 23 29 28
+f 23 28 27
+f 23 27 25
+f 23 25 24
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_68.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d8fd61bf1d8e0b8586504c139e94a92ee8fb1a9
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_68.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.01677767 0.03146505 0.06075904
+v 0.01548463 0.03146505 0.06161292
+v 0.01938085 0.03146505 0.06075904
+v 0.01938085 0.03051759 0.06075904
+v 0.01439041 0.03101713 0.06434295
+v 0.01439041 0.03146505 0.06292987
+v 0.01938085 0.03146505 0.06274254
+v 0.01938085 0.02988167 0.06434295
+v 0.01439041 0.03146505 0.06434295
+v 0.01806583 0.03146505 0.06434295
+v 0.01938085 0.03146179 0.06434295
+f 1 2 6
+f 1 6 9
+f 1 9 10
+f 1 10 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 5 6
+f 2 4 5
+f 3 7 11
+f 3 11 8
+f 3 8 4
+f 4 8 5
+f 5 9 6
+f 5 8 11
+f 5 11 10
+f 5 10 9
+f 7 10 11
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_69.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f49d4ba011e5ef1f766eda5ba19cc8269680034a
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_69.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01933666 -0.03314522 -0.08175322
+v 0.01755752 -0.03314522 -0.08169929
+v 0.01933666 -0.03193966 -0.08186107
+v 0.01933666 -0.03314522 0.05585824
+v 0.01755752 -0.03235851 -0.08173974
+v 0.01755752 -0.03314522 0.05584477
+v 0.01933666 -0.03066757 -0.07894923
+v 0.01933666 -0.03066587 0.05585824
+v 0.01805251 -0.03314522 0.05585824
+v 0.01755752 -0.03123089 -0.07894923
+v 0.01755752 -0.03123114 0.05584477
+v 0.01933666 -0.03066490 -0.07521506
+v 0.01933666 -0.03066563 0.02931466
+v 0.01755752 -0.03123089 0.04314590
+v 0.01907001 -0.03075061 0.05585824
+v 0.01755752 -0.03123016 -0.07521506
+v 0.01755752 -0.03123016 -0.04907589
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 5 3
+f 2 6 11
+f 2 11 14
+f 2 14 17
+f 2 17 16
+f 2 16 10
+f 2 10 5
+f 3 5 7
+f 4 8 15
+f 4 15 9
+f 5 10 7
+f 6 9 11
+f 7 10 12
+f 8 13 14
+f 8 14 11
+f 8 11 15
+f 9 15 11
+f 10 16 12
+f 12 16 17
+f 12 17 13
+f 13 17 14
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_7.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e30e827d3b33d8ea8d492b172de4fb34c6b0d72
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00000190 -0.03515880 0.05585824
+v -0.00000190 -0.03515916 0.05919642
+v -0.00000190 -0.03148152 0.05585824
+v 0.01679318 -0.03515880 0.05585824
+v 0.01679318 -0.03515916 0.05918813
+v -0.00000190 -0.03515916 0.06292326
+v 0.01679318 -0.03515953 0.06292119
+v 0.01611092 -0.03515953 0.06292326
+v -0.00000190 -0.03147029 0.06292326
+v 0.01679318 -0.03145615 0.06292326
+v 0.01679318 -0.03147137 0.05586585
+v 0.01640520 -0.03147246 0.05585824
+v 0.01679318 -0.03508485 0.05585824
+v 0.01679318 -0.03515953 0.06292326
+f 1 2 6
+f 1 6 9
+f 1 9 3
+f 1 3 12
+f 1 12 13
+f 1 13 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 3 10 11
+f 3 11 12
+f 4 13 11
+f 4 11 10
+f 4 10 14
+f 4 14 7
+f 4 7 5
+f 6 8 14
+f 6 14 10
+f 6 10 9
+f 7 14 8
+f 11 13 12
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_8.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..404c78d97b4f94a469c2d280f70a835a7da28b10
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.02015926 0.02800345 0.06290836
+v -0.02448703 0.02800345 0.06292252
+v -0.02015969 0.02800309 0.06292252
+v -0.02033000 0.02426580 0.06292252
+v -0.02022027 0.02800309 -0.07520593
+v -0.02022027 0.02800345 -0.07520593
+v -0.02448745 0.02799577 0.06292252
+v -0.02448533 0.02800345 -0.07520593
+v -0.02448575 0.02800309 -0.07520593
+v -0.02447474 0.02426580 0.06292252
+v -0.02043210 0.02426580 -0.07894640
+v -0.02023086 0.02800309 -0.07894640
+v -0.02023086 0.02800345 -0.07894640
+v -0.02447474 0.02800345 -0.07894640
+v -0.02447474 0.02800309 -0.07894640
+v -0.02446457 0.02426580 -0.07894640
+v -0.02141755 0.02426580 -0.08182260
+v -0.02132180 0.02800309 -0.08180843
+v -0.02132180 0.02800345 -0.08180843
+v -0.02343336 0.02800345 -0.08180843
+v -0.02343336 0.02426982 -0.08182260
+v -0.02343336 0.02426580 -0.08182260
+v -0.02141755 0.02426982 -0.08182260
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 19
+f 1 19 20
+f 1 20 14
+f 1 14 8
+f 1 8 2
+f 2 7 10
+f 2 10 4
+f 2 4 3
+f 2 8 9
+f 2 9 7
+f 4 10 16
+f 4 16 22
+f 4 22 17
+f 4 17 11
+f 4 11 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 7 9 10
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 14 20 21
+f 14 21 22
+f 14 22 15
+f 15 22 16
+f 17 23 19
+f 17 19 18
+f 17 22 21
+f 17 21 23
+f 19 23 21
+f 19 21 20
\ No newline at end of file
diff --git a/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_9.obj b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54bd906cc6e685627b658387c5136d851815ae66
--- /dev/null
+++ b/new_box_of_apple_juice/new_box_of_apple_juice_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.01679969 0.03147154 0.05916885
+v -0.01680099 0.03065777 0.06545260
+v -0.01680230 0.03065777 0.06545260
+v -0.01680230 0.03145702 0.06292926
+v -0.01680230 0.03515067 0.06292249
+v -0.01679969 0.03515067 0.05916885
+v -0.00345840 0.03148122 0.05916885
+v -0.00345971 0.03066920 0.06545260
+v -0.01680230 0.03515067 0.06545260
+v -0.00345840 0.03515067 0.05916885
+v -0.00345840 0.03147022 0.06292249
+v -0.00345971 0.03515067 0.06545260
+v -0.00345840 0.03515067 0.06292249
+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 8
+f 2 8 12
+f 2 12 9
+f 2 9 3
+f 3 9 5
+f 3 5 4
+f 5 9 12
+f 5 12 13
+f 5 13 10
+f 5 10 6
+f 7 10 13
+f 7 13 11
+f 7 11 8
+f 8 11 13
+f 8 13 12
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_0.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f6bdf45d22d7f2e50aa256c3db562cbd1a3d217
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.04080591 -0.00099999 -0.02331939
+v -0.04080591 0.00298933 -0.02359858
+v -0.03257511 -0.00099999 -0.02281896
+v -0.04080591 -0.00099999 0.02224662
+v -0.04080591 0.00753617 -0.02380929
+v -0.02901597 -0.00099999 -0.02250289
+v -0.04019426 -0.00099999 0.02280500
+v -0.04080591 -0.00096007 0.02225189
+v -0.04080591 0.01306312 -0.02379349
+v -0.03260858 0.01306312 -0.02318770
+v -0.02901597 0.01306312 -0.02285583
+v -0.02901597 -0.00099999 0.03000074
+v -0.03762646 -0.00099999 0.02490683
+v -0.03760569 -0.00096007 0.02492790
+v -0.04019772 -0.00096007 0.02280500
+v -0.04080591 0.00328805 0.02258902
+v -0.04080591 0.01306312 0.02209912
+v -0.02901597 0.01306312 0.02825185
+v -0.02901597 -0.00096007 0.03000601
+v -0.03547759 -0.00099999 0.02631859
+v -0.03759876 -0.00099999 0.02492790
+v -0.03774764 0.00328805 0.02498585
+v -0.04047585 0.00328805 0.02286294
+v -0.03562300 0.00328805 0.02647662
+v -0.04080591 0.00753617 0.02259956
+v -0.04080591 0.01178566 0.02232563
+v -0.03526178 0.01178566 0.02623957
+v -0.03504597 0.01306312 0.02607627
+v -0.03259357 0.01306312 0.02709294
+v -0.02901597 0.01178566 0.02855211
+v -0.02901597 0.00328805 0.02993226
+v -0.02955722 0.00328805 0.02968468
+v -0.03260858 0.00328805 0.02818864
+v -0.03562531 0.00753617 0.02651349
+v -0.03260858 0.00753617 0.02794632
+v -0.03260858 0.01178566 0.02738267
+v -0.02901597 0.00774128 0.02924219
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 20
+f 1 20 21
+f 1 21 13
+f 1 13 7
+f 1 7 4
+f 1 4 8
+f 1 8 16
+f 1 16 25
+f 1 25 26
+f 1 26 17
+f 1 17 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 6 11 18
+f 6 18 30
+f 6 30 37
+f 6 37 31
+f 6 31 19
+f 6 19 12
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 8
+f 9 17 28
+f 9 28 29
+f 9 29 18
+f 9 18 11
+f 9 11 10
+f 12 19 20
+f 13 21 14
+f 14 22 23
+f 14 23 15
+f 14 21 20
+f 14 20 24
+f 14 24 22
+f 15 23 16
+f 16 23 25
+f 17 26 27
+f 17 27 28
+f 18 29 30
+f 19 31 32
+f 19 32 33
+f 19 33 24
+f 19 24 20
+f 22 25 23
+f 22 24 34
+f 22 34 25
+f 24 33 34
+f 25 34 26
+f 26 34 27
+f 27 34 35
+f 27 35 36
+f 27 36 28
+f 28 36 29
+f 29 36 30
+f 30 36 37
+f 31 37 36
+f 31 36 35
+f 31 35 32
+f 32 35 34
+f 32 34 33
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_1.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26718b5d213d2b7cc2f2b3bbdd5f72298dc2157a
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,390 @@
+# https://github.com/mikedh/trimesh
+v -0.06971550 -0.00520614 0.00976255
+v -0.06971550 -0.00933061 0.00921825
+v -0.06971550 -0.00439859 0.00975322
+v -0.07044986 -0.00520614 0.00950751
+v -0.07193614 -0.00945836 0.00854333
+v -0.06971550 -0.00945836 0.00919959
+v -0.06971550 -0.00096306 0.00970345
+v -0.07035174 -0.00096306 0.00947951
+v -0.07257393 -0.00520614 0.00871439
+v -0.07499134 -0.00945836 0.00705040
+v -0.07499134 -0.01345964 0.00596493
+v -0.06971550 -0.01245589 0.00849667
+v -0.06971550 -0.00979142 0.00914050
+v -0.07499134 -0.00520614 0.00757915
+v -0.06971550 -0.00010987 0.00960081
+v -0.07247581 -0.00096306 0.00868329
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diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_10.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d718be0f5c4de84f4e9cfe9090a48ce480bc7439
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_10.obj
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diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_100.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77544180551e5a96e621e44a228f348e5b3481a8
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_100.obj
@@ -0,0 +1,339 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_101.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e863ded30cbacc7ae75531a4cb26e2b4b2469c0
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_101.obj
@@ -0,0 +1,243 @@
+# https://github.com/mikedh/trimesh
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+f 45 56 55
+f 49 57 58
+f 49 58 50
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+f 55 62 61
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+f 58 65 59
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+f 62 63 68
+f 63 69 68
+f 64 70 65
+f 65 70 71
+f 65 71 72
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+f 65 74 66
+f 67 68 75
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+f 68 76 77
+f 68 77 75
+f 71 78 72
+f 71 79 78
+f 72 78 73
+f 73 78 80
+f 75 77 81
+f 76 82 77
+f 77 82 80
+f 77 80 78
+f 77 78 79
+f 77 79 81
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_102.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15c6ba11b7576d1337c1631f9098070bbb14098e
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_102.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.00279932 0.01582363 -0.01967676
+v 0.00279932 0.03727780 -0.02389251
+v 0.00562331 0.01582592 -0.01964581
+v 0.00562331 0.01582363 -0.01647626
+v 0.00279932 0.01582363 0.03898471
+v 0.00279932 0.03924006 -0.02425775
+v 0.00555061 0.03924006 -0.02414013
+v 0.00562331 0.02060549 -0.02054962
+v 0.00562331 0.01582363 0.03814280
+v 0.00504917 0.01582363 0.03837185
+v 0.00313767 0.01791885 0.03853281
+v 0.00279932 0.01757041 0.03866281
+v 0.00279932 0.03924006 0.02946368
+v 0.00555061 0.03924006 0.02859081
+v 0.00562331 0.03172113 -0.02251821
+v 0.00562331 0.02027539 0.03714613
+v 0.00561833 0.01582363 0.03814899
+v 0.00279932 0.01841170 0.03844614
+v 0.00562331 0.02451854 0.03582136
+v 0.00397138 0.02274426 0.03676851
+v 0.00279932 0.03863029 0.02982273
+v 0.00335826 0.03924006 0.02929034
+v 0.00555061 0.03755288 0.02958130
+v 0.00562331 0.03172113 0.03244751
+v 0.00279932 0.02148575 0.03743708
+v 0.00562331 0.02453459 0.03581516
+v 0.00279932 0.02453459 0.03640946
+v 0.00279932 0.02274426 0.03701613
+v 0.00279932 0.02904366 0.03453372
+v 0.00562331 0.02941960 0.03365467
+v 0.00279932 0.02827572 0.03489896
+v 0.00562331 0.02728771 0.03468230
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 10
+f 1 10 5
+f 1 5 12
+f 1 12 18
+f 1 18 25
+f 1 25 28
+f 1 28 27
+f 1 27 31
+f 1 31 29
+f 1 29 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
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+f 3 26 19
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+f 7 15 8
+f 9 16 17
+f 10 17 16
+f 10 16 11
+f 11 18 12
+f 11 16 19
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+f 13 21 22
+f 14 22 23
+f 14 23 24
+f 18 20 25
+f 19 26 27
+f 19 27 28
+f 19 28 20
+f 20 28 25
+f 21 23 22
+f 21 29 30
+f 21 30 23
+f 23 30 24
+f 26 31 27
+f 26 32 31
+f 29 31 32
+f 29 32 30
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_103.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c75e4546fc57a6e5584ee12cc913948794e762d8
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_103.obj
@@ -0,0 +1,318 @@
+# https://github.com/mikedh/trimesh
+v 0.00555105 0.04155669 -0.02471750
+v 0.00555105 0.04340685 -0.02518974
+v 0.00563385 0.04340491 -0.02519487
+v 0.00563385 0.04155669 -0.02471750
+v 0.00555105 0.04155669 0.02724387
+v 0.00555105 0.04344369 -0.02518974
+v 0.00555105 0.04590280 -0.02518460
+v 0.00574148 0.04598813 -0.02518460
+v 0.00800967 0.04577868 -0.02515894
+v 0.00799074 0.04353096 -0.02515381
+v 0.00957843 0.04155669 -0.02467130
+v 0.00561926 0.04155669 0.02721820
+v 0.00560467 0.04170215 0.02714120
+v 0.00555105 0.04164396 0.02719253
+v 0.00555105 0.04620922 -0.02517434
+v 0.00722982 0.04794883 -0.02514354
+v 0.00786064 0.04794883 -0.02514354
+v 0.00957843 0.04631007 -0.02497415
+v 0.00957843 0.04577868 -0.02497928
+v 0.00957843 0.04188832 -0.02473290
+v 0.00957843 0.04155669 0.02527793
+v 0.00596424 0.04155669 0.02707447
+v 0.00700154 0.04323424 0.02556024
+v 0.00560467 0.04561190 0.02448744
+v 0.00555105 0.04179136 0.02710014
+v 0.00555105 0.04933353 -0.02472263
+v 0.00555105 0.04957983 -0.02466617
+v 0.00574148 0.04963025 -0.02465590
+v 0.00951929 0.04963025 -0.02427093
+v 0.00957843 0.04957983 -0.02427093
+v 0.00957843 0.04196008 0.02501101
+v 0.00957843 0.04544317 0.02266010
+v 0.00957843 0.04568365 0.02249584
+v 0.00791110 0.04799537 0.02168483
+v 0.00555105 0.04562548 0.02449258
+v 0.00555105 0.04555566 0.02454391
+v 0.00563385 0.04844530 0.02223919
+v 0.00555105 0.04964771 -0.02464564
+v 0.00555105 0.04983388 -0.02457378
+v 0.00555105 0.05254512 -0.02318273
+v 0.00555105 0.05437005 -0.02224339
+v 0.00957843 0.05025667 -0.02391162
+v 0.00957843 0.04963995 -0.02425040
+v 0.00957843 0.04955462 0.01939037
+v 0.00949091 0.04974662 0.01927745
+v 0.00823834 0.05242875 0.01765029
+v 0.00555105 0.04841040 0.02229052
+v 0.00555105 0.04845306 0.02224946
+v 0.00555105 0.05447090 -0.02218693
+v 0.00957843 0.05354970 -0.02206374
+v 0.00957843 0.04971947 0.01924665
+v 0.00957843 0.05330340 0.01549956
+v 0.00957843 0.05554143 0.01213744
+v 0.00563385 0.05419939 0.01522751
+v 0.00563385 0.05254512 0.01784534
+v 0.00555105 0.05053594 0.02002173
+v 0.00957843 0.04984358 0.01913372
+v 0.00555105 0.05624154 -0.02068809
+v 0.00957843 0.05372619 -0.02190461
+v 0.00957843 0.05681752 0.00994565
+v 0.00555105 0.05592736 0.01215798
+v 0.00555105 0.05421297 0.01520185
+v 0.00555105 0.05416448 0.01527884
+v 0.00563385 0.05592736 0.01215798
+v 0.00555105 0.05251409 0.01788641
+v 0.00957843 0.05564809 -0.02006187
+v 0.00555105 0.05748273 -0.01891208
+v 0.00957843 0.05732952 -0.01796760
+v 0.00957843 0.05689316 0.00979680
+v 0.00563385 0.05696686 0.01003291
+v 0.00555105 0.05693583 0.01009451
+v 0.00555105 0.05808199 -0.01784441
+v 0.00595399 0.05995541 -0.01439503
+v 0.00957843 0.05752152 -0.01762369
+v 0.00957843 0.05807811 0.00696851
+v 0.00563385 0.05832247 0.00673239
+v 0.00555105 0.05832247 0.00673239
+v 0.00555105 0.05697850 0.01000212
+v 0.00555105 0.05696492 0.01003291
+v 0.00555105 0.05995929 -0.01447716
+v 0.00555105 0.06026765 -0.01389714
+v 0.00957843 0.05918161 -0.01449770
+v 0.00957843 0.05817508 0.00673239
+v 0.00555105 0.05974596 0.00247714
+v 0.00555105 0.06081067 -0.01271654
+v 0.00957843 0.05931349 -0.01421025
+v 0.00957843 0.05950742 0.00248227
+v 0.00563385 0.05974015 0.00248227
+v 0.00555105 0.05975372 0.00244634
+v 0.00555105 0.06116364 -0.01136656
+v 0.00595399 0.06130327 -0.01059662
+v 0.00758347 0.06061286 -0.01223404
+v 0.00957843 0.06036268 -0.01089946
+v 0.00957843 0.06038014 -0.00190644
+v 0.00563385 0.06051007 -0.00100817
+v 0.00555105 0.06051201 -0.00098764
+v 0.00555105 0.06132654 -0.01069414
+v 0.00555105 0.06135757 -0.01056582
+v 0.00563385 0.06135951 -0.00601285
+v 0.00871303 0.06093285 -0.00940063
+v 0.00957843 0.06051977 -0.01018597
+v 0.00957843 0.06043444 -0.00227602
+v 0.00555105 0.06136921 -0.00601285
+v 0.00957843 0.06053722 -0.00326156
+v 0.00897797 0.06089019 -0.00601285
+v 0.00957843 0.06077964 -0.00817384
+v 0.00957843 0.06078352 -0.00601285
+f 1 2 3
+f 1 3 4
+f 1 4 11
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+f 11 32 31
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+f 12 22 13
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+f 13 23 24
+f 13 24 25
+f 13 25 14
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 17
+f 17 28 29
+f 17 29 30
+f 17 30 18
+f 21 31 23
+f 21 23 22
+f 23 31 32
+f 23 32 33
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+f 23 34 24
+f 24 35 36
+f 24 36 25
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+f 27 38 28
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+f 34 44 45
+f 34 45 46
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+f 42 49 50
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+f 82 85 86
+f 83 87 88
+f 83 88 84
+f 84 88 89
+f 85 90 91
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+f 85 92 86
+f 86 92 93
+f 87 94 95
+f 87 95 96
+f 87 96 89
+f 87 89 88
+f 90 97 91
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+f 91 99 100
+f 91 100 92
+f 91 97 98
+f 92 100 93
+f 93 100 101
+f 94 102 103
+f 94 103 95
+f 95 103 96
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+f 99 102 104
+f 99 104 105
+f 99 105 100
+f 100 106 101
+f 100 105 107
+f 100 107 106
+f 104 107 105
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_104.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d911cfd4635e8f9117a095a2d307a10ccc8673a5
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_104.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.02140937 -0.01574699 -0.02272286
+v -0.02140937 -0.00791034 -0.02194560
+v -0.01764894 -0.00946051 -0.02204483
+v -0.01764894 -0.01540285 -0.02260710
+v -0.01986559 -0.01574699 -0.02261812
+v -0.02140937 -0.01574699 0.02982137
+v -0.02140937 -0.00518926 -0.02166447
+v -0.01764894 -0.00742255 -0.02183536
+v -0.01764894 -0.01540285 0.03144202
+v -0.01986559 -0.01574699 0.03006392
+v -0.01764894 -0.01372039 0.03232400
+v -0.02140937 -0.01443347 0.03038915
+v -0.01988620 -0.00518926 -0.02154320
+v -0.01764894 -0.00564605 -0.02162589
+v -0.02140937 -0.00518926 0.03178930
+v -0.01764894 -0.00946051 0.03310125
+v -0.02140937 -0.01092594 0.03123806
+v -0.02140937 -0.01375553 0.03062067
+v -0.01986559 -0.00518926 -0.02153769
+v -0.01764894 -0.00564605 0.03359186
+v -0.02140937 -0.00521097 0.03178930
+v -0.01986559 -0.00518926 0.03216414
+v -0.01764894 -0.00580107 0.03357532
+v -0.02140937 -0.00946051 0.03140343
+v -0.02140937 -0.00675907 0.03169008
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 6
+f 1 6 12
+f 1 12 18
+f 1 18 17
+f 1 17 24
+f 1 24 25
+f 1 25 21
+f 1 21 15
+f 1 15 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
+f 3 8 14
+f 3 14 20
+f 3 20 23
+f 3 23 16
+f 3 16 11
+f 3 11 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 6 10 9
+f 6 9 11
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+f 7 14 8
+f 7 15 22
+f 7 22 19
+f 7 19 13
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+f 11 17 18
+f 11 18 12
+f 13 19 14
+f 14 19 22
+f 14 22 20
+f 15 21 20
+f 15 20 22
+f 16 23 17
+f 17 23 24
+f 20 21 25
+f 20 25 24
+f 20 24 23
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_105.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21b488e72a161f1de61ed2040a878604f4342931
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_105.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.01485909 -0.05326591 -0.00601161
+v 0.01485909 -0.05278662 -0.00953441
+v 0.01838044 -0.05247411 -0.00601161
+v 0.01838044 -0.05227018 -0.00176519
+v 0.01485909 -0.05323082 -0.00528541
+v 0.01485909 -0.05267268 -0.01026060
+v 0.01838044 -0.05180864 -0.01026060
+v 0.01838527 -0.05247287 -0.00601161
+v 0.01838527 -0.05226853 -0.00176519
+v 0.01838044 -0.05137104 0.00248381
+v 0.01485909 -0.05294473 -0.00176519
+v 0.01485909 -0.05096358 -0.01476711
+v 0.01838044 -0.05054787 -0.01399714
+v 0.01838527 -0.05054787 -0.01399456
+v 0.01838527 -0.05180740 -0.01026060
+v 0.01838527 -0.05136939 0.00248381
+v 0.01838527 -0.05031380 0.00548386
+v 0.01838044 -0.05031421 0.00548643
+v 0.01485909 -0.05202909 0.00248381
+v 0.01485909 -0.05279075 -0.00103899
+v 0.01485909 -0.05064530 -0.01536197
+v 0.01838527 -0.04955420 -0.01612164
+v 0.01838527 -0.04913023 0.00760835
+v 0.01485909 -0.05071094 0.00605039
+v 0.01485909 -0.05184786 0.00299626
+v 0.01838044 -0.04913064 0.00761093
+v 0.01485909 -0.04904849 -0.01755342
+v 0.01597511 -0.04975979 -0.01652594
+v 0.01832625 -0.04904849 -0.01671907
+v 0.01838148 -0.04904849 -0.01669590
+v 0.01838527 -0.04904849 -0.01614224
+v 0.01838527 -0.04904849 0.00774741
+v 0.01485909 -0.05050824 0.00641349
+v 0.01517322 -0.04904849 -0.01753797
+v 0.01485909 -0.04904849 0.00875430
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+f 22 28 29
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+f 24 26 33
+f 26 32 33
+f 27 34 28
+f 27 35 32
+f 27 32 31
+f 27 31 30
+f 27 30 29
+f 27 29 34
+f 28 34 29
+f 32 35 33
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_106.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_106.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ade0f70c1b4baa488683dbc00378cfb6bb6710c
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_106.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.01885707 -0.01843256 -0.02252779
+v 0.01838528 -0.01843256 -0.02250028
+v 0.02260951 -0.01843043 -0.02284148
+v 0.02260951 -0.01843256 -0.01829025
+v 0.02260951 0.00340683 -0.02233518
+v 0.01838528 -0.01843256 0.03157510
+v 0.01838528 -0.00521691 -0.02216458
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_107.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_107.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18c43bdad69837c6fc8391e5e1481812e3629875
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_107.obj
@@ -0,0 +1,309 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_108.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_108.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8313cae672de137c22cfc0aa213f9d2e29935a73
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_108.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.01086787 0.03226020 0.02988639
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_109.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_109.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae09a572f7d977cf88753118fe6f6c082ece61ae
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_109.obj
@@ -0,0 +1,237 @@
+# https://github.com/mikedh/trimesh
+v 0.03532715 -0.00504085 -0.02339953
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diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_11.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5764197c0f97f3d82bfaaa35a02ab45dcf575ce
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,375 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_110.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_110.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e63ce44f3116ad2982e83a73786e2e587eaf2cc
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_110.obj
@@ -0,0 +1,321 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_111.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..142677a9f9c27793192dec1c0a040a323032390b
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_111.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_112.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_112.obj
new file mode 100644
index 0000000000000000000000000000000000000000..217ddf0289258a035344e0c876d4b31fcd53c02b
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_112.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_113.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_113.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b447c04d176d5e5bd2cae9a4a1e1a4f0b0b29f3c
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_113.obj
@@ -0,0 +1,468 @@
+# https://github.com/mikedh/trimesh
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+f 150 155 156
+f 150 156 157
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_114.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_114.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4f93e6c19a399c60adee7e99ccca6675f51243c
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_114.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.03087265 -0.01164967 -0.02339255
+v -0.03087265 -0.00100056 -0.02266606
+v -0.03041615 -0.01164967 -0.02335596
+v -0.03087265 -0.01164967 0.02731561
+v -0.02901615 -0.00100056 -0.02249881
+v -0.02901615 -0.01164967 -0.02324098
+v -0.03087265 -0.00100056 0.02893584
+v -0.02901615 -0.01164967 0.02863270
+v -0.03087265 -0.00945855 0.02779645
+v -0.02901615 -0.00100056 0.03000206
+v -0.03087265 -0.00538279 0.02843932
+v -0.02901615 -0.00520975 0.02958916
+v -0.02901615 -0.00945855 0.02901424
+v -0.02901615 -0.00681608 0.02937487
+f 1 2 3
+f 1 3 6
+f 1 6 8
+f 1 8 4
+f 1 4 9
+f 1 9 11
+f 1 11 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 10
+f 2 10 5
+f 4 8 9
+f 5 10 12
+f 5 12 14
+f 5 14 13
+f 5 13 8
+f 5 8 6
+f 7 11 12
+f 7 12 10
+f 8 13 9
+f 9 13 11
+f 11 13 14
+f 11 14 12
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_115.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_115.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac18b5866ad3096ef4212e09d461121246b7726f
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_115.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.04785410 -0.00810646 -0.02404053
+v -0.04960448 -0.00787373 0.00270625
+v -0.04960407 -0.00787373 -0.02415714
+v -0.04536990 0.00328517 -0.02423488
+v -0.04671731 -0.00810646 -0.02396711
+v -0.04785410 -0.00810646 0.01933391
+v -0.04960448 -0.00520739 -0.02417010
+v -0.04960365 -0.00787373 0.01912229
+v -0.04960448 -0.00521341 0.01916548
+v -0.04960448 -0.00095810 -0.02421761
+v -0.04960448 0.00328717 -0.02426080
+v -0.04536990 0.00755051 -0.02434285
+v -0.04536990 -0.00810646 -0.02386778
+v -0.04536990 -0.00810646 0.01967510
+v -0.04536990 0.00327112 0.01977875
+v -0.04785410 0.00328517 0.01929504
+v -0.04960448 0.00328115 0.01895385
+v -0.04960448 0.01178374 -0.02428239
+v -0.04785410 0.01002825 -0.02430830
+v -0.04536990 0.01185998 -0.02432558
+v -0.04536990 0.00751841 0.01961896
+v -0.04785410 0.00503664 0.01923026
+v -0.04960324 0.00328717 0.01895385
+v -0.04960448 0.00752844 0.01835353
+v -0.04960448 0.01238964 -0.02427807
+v -0.04917995 0.01238964 -0.02428239
+v -0.04785410 0.01238964 -0.02429535
+v -0.04536990 0.01185998 0.01886747
+v -0.04536990 0.01176970 0.01888907
+v -0.04785410 0.00753445 0.01887611
+v -0.04960324 0.00753445 0.01835353
+v -0.04960448 0.01020882 0.01761932
+v -0.04960448 0.01238964 -0.00163854
+v -0.04785410 0.01238964 0.01699308
+v -0.04955930 0.01238964 0.01659575
+v -0.04960324 0.01238964 0.01657847
+v -0.04960448 0.01233146 0.01659575
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 14
+f 1 14 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 9
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+f 2 24 32
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+f 21 29 30
+f 21 30 22
+f 22 30 31
+f 22 31 23
+f 24 31 32
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+f 25 36 35
+f 25 35 34
+f 25 34 27
+f 25 27 26
+f 28 34 35
+f 28 35 36
+f 28 36 32
+f 28 32 31
+f 28 31 29
+f 29 31 30
+f 32 36 37
+f 33 37 36
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_116.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_116.obj
new file mode 100644
index 0000000000000000000000000000000000000000..328790d61b9b50ed50bda3c8f63e13e0d2face79
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_116.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.01900785 0.01582606 -0.02202170
+v -0.01900785 0.03727885 -0.02458266
+v -0.01672073 0.03727885 -0.02448996
+v -0.01672073 0.03413883 -0.02410176
+v -0.01672073 0.02453404 -0.02287343
+v -0.01672073 0.01582606 -0.02160453
+v -0.01900785 0.01582606 0.03215241
+v -0.01900785 0.04064976 -0.02443202
+v -0.01672073 0.04064976 -0.02459425
+v -0.01672073 0.01582606 0.03459749
+v -0.01900785 0.01603507 0.03214662
+v -0.01900785 0.04064976 0.02303262
+v -0.01672073 0.04064976 0.02492727
+v -0.01672073 0.01593785 0.03458590
+v -0.01819697 0.02797543 0.03089511
+v -0.01900785 0.02357648 0.03073867
+v -0.01900785 0.04058901 0.02307318
+v -0.01898949 0.04064976 0.02305580
+v -0.01672073 0.04046263 0.02527491
+v -0.01672073 0.02453404 0.03296358
+v -0.01672073 0.02985167 0.03120799
+v -0.01767847 0.03080680 0.03004339
+v -0.01822630 0.03637962 0.02653221
+v -0.01900785 0.03690944 0.02530388
+v -0.01900785 0.02842262 0.02951034
+v -0.01900785 0.02680157 0.03010133
+v -0.01672073 0.02852226 0.03179318
+v -0.01900785 0.03819024 0.02459701
+v -0.01758042 0.03921099 0.02575002
+v -0.01672073 0.03951722 0.02596440
+v -0.01672073 0.03303058 0.02974790
+v -0.01705162 0.03303058 0.02950455
+v -0.01672073 0.03832877 0.02680453
+v -0.01672073 0.03331008 0.02960884
+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 11
+f 1 11 16
+f 1 16 26
+f 1 26 25
+f 1 25 24
+f 1 24 28
+f 1 28 17
+f 1 17 12
+f 1 12 8
+f 1 8 2
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+f 3 34 31
+f 3 31 21
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+f 15 20 27
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+f 29 32 34
+f 29 34 33
+f 31 34 32
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_117.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_117.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10d121b962fb6e993dbf9caefc77d90e7e88f0d0
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_117.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.00446662 -0.04812640 -0.02333995
+v 0.00446662 -0.04787644 -0.02344022
+v 0.00589441 -0.04812640 -0.02276620
+v 0.00446662 -0.04812640 0.01935715
+v 0.00594357 -0.04776129 -0.02287204
+v 0.00594357 -0.04796210 -0.02281076
+v 0.00446662 -0.04345018 -0.02443732
+v 0.00563343 -0.04345018 -0.02424235
+v 0.00594357 -0.04345018 -0.02416994
+v 0.00594357 -0.04800001 -0.02279405
+v 0.00594357 -0.04812640 -0.02270492
+v 0.00503022 -0.04812640 0.01884467
+v 0.00446662 -0.04801687 0.01964124
+v 0.00446662 -0.03920227 -0.02444289
+v 0.00594357 -0.03920227 -0.02425906
+v 0.00594357 -0.04812640 0.01755791
+v 0.00579074 -0.04812640 0.01777516
+v 0.00594357 -0.04698754 0.01919561
+v 0.00446662 -0.04657468 0.02175242
+v 0.00446662 -0.03803532 -0.02428691
+v 0.00594357 -0.03378319 -0.02361290
+v 0.00594357 -0.04531365 0.02130679
+v 0.00446662 -0.04613515 0.02233731
+v 0.00446662 -0.03495435 -0.02387471
+v 0.00446821 -0.03378319 -0.02371316
+v 0.00594357 -0.03378319 0.03092686
+v 0.00594357 -0.04328869 0.02359622
+v 0.00446662 -0.04421972 0.02452091
+v 0.00446662 -0.03378600 -0.02371316
+v 0.00446662 -0.03378319 -0.01969134
+v 0.00446662 -0.03378319 0.03246430
+v 0.00594357 -0.03397417 0.03082103
+v 0.00594357 -0.04311456 0.02377447
+v 0.00594357 -0.04107978 0.02566284
+v 0.00446662 -0.04206838 0.02650397
+v 0.00446662 -0.03495435 0.03177914
+v 0.00446662 -0.03724612 0.03035311
+v 0.00594357 -0.03586151 0.02964567
+v 0.00594357 -0.04087897 0.02582995
+v 0.00446662 -0.03969236 0.02854274
+v 0.00446662 -0.03817154 0.02967352
+v 0.00594357 -0.03855771 0.02773503
+v 0.00594357 -0.03877818 0.02755677
+f 1 2 3
+f 1 3 11
+f 1 11 16
+f 1 16 17
+f 1 17 12
+f 1 12 4
+f 1 4 13
+f 1 13 19
+f 1 19 23
+f 1 23 28
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+f 5 10 6
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+f 12 18 19
+f 12 19 13
+f 14 20 21
+f 14 21 15
+f 16 18 17
+f 18 22 23
+f 18 23 19
+f 20 24 21
+f 21 24 25
+f 21 25 30
+f 21 30 31
+f 21 31 26
+f 22 27 28
+f 22 28 23
+f 24 29 25
+f 25 29 30
+f 26 31 32
+f 27 33 28
+f 28 33 34
+f 28 34 35
+f 31 36 32
+f 32 36 37
+f 32 37 38
+f 34 39 40
+f 34 40 35
+f 37 41 42
+f 37 42 38
+f 39 43 40
+f 40 43 42
+f 40 42 41
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_118.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_118.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f07000b7c9a97baab36ac6366d9f0ea8bcba5423
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_118.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.01195788 0.03787534 -0.02450457
+v -0.01386990 0.03978775 -0.02462614
+v -0.01132644 0.03787534 -0.02445171
+v -0.01386990 0.03787534 -0.02449400
+v -0.01386990 0.04152880 -0.02455743
+v -0.01132644 0.04152880 -0.02430900
+v -0.01132644 0.03787534 0.02937311
+v -0.01386990 0.03787534 0.02835296
+v -0.01386990 0.04361480 -0.02434600
+v -0.01132644 0.04361480 -0.02420328
+v -0.01132644 0.03815288 0.02917754
+v -0.01164714 0.03787534 0.02930440
+v -0.01386990 0.04043271 0.02661923
+v -0.01386990 0.04361480 0.02401864
+v -0.01132644 0.04361480 0.02508108
+v -0.01132644 0.04106980 0.02702624
+v -0.01136254 0.04102991 0.02704738
+v -0.01386990 0.04098328 0.02620694
+v -0.01386990 0.04230073 0.02512336
+v -0.01136254 0.04315412 0.02545637
+v -0.01134337 0.04361480 0.02507579
+v -0.01132644 0.04317659 0.02545108
+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 4 8
+f 2 8 13
+f 2 13 18
+f 2 18 19
+f 2 19 14
+f 2 14 9
+f 2 9 5
+f 2 5 6
+f 2 6 3
+f 3 6 10
+f 3 10 15
+f 3 15 22
+f 3 22 16
+f 3 16 11
+f 3 11 7
+f 5 9 10
+f 5 10 6
+f 7 11 12
+f 8 12 13
+f 9 14 21
+f 9 21 15
+f 9 15 10
+f 11 16 17
+f 11 17 12
+f 12 17 13
+f 13 17 18
+f 14 19 20
+f 14 20 21
+f 15 21 22
+f 16 22 17
+f 17 22 20
+f 17 20 18
+f 18 20 19
+f 20 22 21
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_119.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_119.obj
new file mode 100644
index 0000000000000000000000000000000000000000..118ba89dd147e5c0cd003ae1afc1ca495aafd91e
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_119.obj
@@ -0,0 +1,201 @@
+# https://github.com/mikedh/trimesh
+v -0.01672073 0.04065391 -0.02459070
+v -0.01900785 0.04065391 -0.02443053
+v -0.01672073 0.04153072 -0.02465380
+v -0.01672073 0.04065391 0.02493303
+v -0.01900785 0.04153072 -0.02448878
+v -0.01900785 0.04065391 0.02303518
+v -0.01672073 0.04577895 -0.02400339
+v -0.01672073 0.04157714 0.02428262
+v -0.01800376 0.04397719 0.02192365
+v -0.01872666 0.04153072 0.02282647
+v -0.01898949 0.04065391 0.02305460
+v -0.01900785 0.04577895 -0.02338695
+v -0.01900785 0.04125393 0.02267114
+v -0.01672073 0.05014064 -0.02208127
+v -0.01672073 0.04438465 0.02225857
+v -0.01672073 0.04552450 0.02122470
+v -0.01808481 0.04832685 0.01773964
+v -0.01900785 0.04549871 0.01923463
+v -0.01900785 0.04329981 0.02117616
+v -0.01900785 0.04157714 0.02244302
+v -0.01900785 0.04135880 0.02259834
+v -0.01900785 0.04927071 -0.02170752
+v -0.01762362 0.05211260 -0.02084354
+v -0.01672073 0.05119281 -0.02158618
+v -0.01672073 0.04869992 0.01815707
+v -0.01672073 0.05018018 0.01623495
+v -0.01672073 0.05164497 0.01417207
+v -0.01754751 0.05203868 0.01293919
+v -0.01858383 0.05301520 0.01010940
+v -0.01893957 0.04920022 0.01523021
+v -0.01900785 0.04916412 0.01517196
+v -0.01900785 0.04766838 0.01711835
+v -0.01900785 0.05162606 -0.01994072
+v -0.01900785 0.05315446 -0.01801860
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_12.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..406295964582bb650cda7ad0f018271ae9969050
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,219 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_120.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_120.obj
new file mode 100644
index 0000000000000000000000000000000000000000..241a0870853125e2fbfcda5199a9561b512440c8
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_120.obj
@@ -0,0 +1,315 @@
+# https://github.com/mikedh/trimesh
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+v 0.03958191 0.02883204 -0.02311277
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+f 90 97 91
+f 91 97 104
+f 95 104 96
+f 96 104 97
+f 97 103 98
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+f 99 105 100
+f 99 102 101
+f 99 101 106
+f 99 106 105
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_121.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_121.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b79b0eb5dd95cfc1e28268c44f610618afc78566
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_121.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.05074276 -0.00521047 0.01880054
+v -0.05074276 0.00328492 0.01871891
+v -0.05240230 0.00328492 0.01836867
+v -0.05240230 -0.00096278 0.01836125
+v -0.05240230 -0.00521047 0.01826330
+v -0.05074276 -0.00945817 0.01854973
+v -0.05074276 0.00753262 0.01817128
+v -0.05240230 0.00753262 0.01790563
+v -0.05240230 -0.00929321 0.01777206
+v -0.05236786 -0.00945817 0.01776316
+v -0.05074276 -0.01274361 0.01790118
+v -0.05074276 0.01008032 0.01756429
+v -0.05208862 0.00992910 0.01749602
+v -0.05240230 0.00881563 0.01765927
+v -0.05240230 -0.00945817 0.01774387
+v -0.05187062 -0.01190048 0.01745595
+v -0.05074276 -0.01428781 0.01748118
+v -0.05074276 0.01558812 0.01521795
+v -0.05240230 0.01558812 0.01479350
+v -0.05240230 0.01024986 0.01723037
+v -0.05240230 0.00965876 0.01742627
+v -0.05240230 0.00961752 0.01743815
+v -0.05240230 -0.01240911 0.01699292
+v -0.05240230 -0.01409994 0.01652988
+v -0.05128256 -0.01473686 0.01703596
+v -0.05074276 -0.01598322 0.01682522
+v -0.05074276 0.01558812 0.00363909
+v -0.05240230 0.01558812 0.00363909
+v -0.05240230 -0.01613901 0.01566317
+v -0.05240230 -0.01789858 0.01486622
+v -0.05074276 -0.01811852 0.01585611
+v -0.05074276 -0.03122361 0.00363909
+v -0.05240230 -0.02998183 0.00363909
+v -0.05240230 -0.01837054 0.01458573
+v -0.05074276 -0.01920909 0.01521053
+v -0.05074276 -0.02982145 0.00592013
+v -0.05240230 -0.02917078 0.00534282
+v -0.05240230 -0.02918453 0.00531611
+v -0.05240230 -0.02006596 0.01357655
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+v -0.05074276 -0.02106946 0.01394015
+v -0.05074276 -0.02804815 0.00811362
+v -0.05078255 -0.02798858 0.00815665
+v -0.05240230 -0.02911122 0.00541851
+v -0.05240230 -0.02082660 0.01307938
+v -0.05240230 -0.02497349 0.00997912
+v -0.05074276 -0.02416244 0.01153741
+v -0.05074276 -0.02794275 0.00822195
+v -0.05240230 -0.02728750 0.00753482
+v -0.05074276 -0.02599074 0.01005777
+v -0.05240230 -0.02530799 0.00971049
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+f 46 51 47
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_122.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_122.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccbc6749c2ada036a35d8e41a7fa1645b4f0fbc8
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_122.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.01214686 0.03226020 -0.02330625
+v 0.01086787 0.03226020 -0.02310079
+v 0.01086787 0.03629539 -0.02383763
+v 0.01214686 0.03501587 -0.02379866
+v 0.01214686 0.03226020 0.01136762
+v 0.01086787 0.03226020 0.01136762
+v 0.01086787 0.04059369 -0.02458155
+v 0.01214686 0.03929478 -0.02442922
+v 0.01214686 0.05489827 0.01136762
+v 0.01086787 0.05556572 0.01136762
+v 0.01086787 0.04500000 -0.02482244
+v 0.01214686 0.04364016 -0.02465240
+v 0.01104414 0.05547433 0.01136762
+v 0.01214686 0.05640212 0.00951490
+v 0.01086787 0.05601715 0.01081145
+v 0.01086787 0.04577823 -0.02479410
+v 0.01214686 0.04577823 -0.02457800
+v 0.01214686 0.05649905 0.00939445
+v 0.01086787 0.05676216 0.00953261
+v 0.01086787 0.04827080 -0.02430878
+v 0.01214686 0.04743441 -0.02425564
+v 0.01214686 0.05660152 0.00921733
+v 0.01086787 0.05788935 0.00667028
+v 0.01086787 0.04850067 -0.02426273
+v 0.01086787 0.04984666 -0.02378803
+v 0.01214686 0.04928722 -0.02360028
+v 0.01214686 0.05753208 0.00659234
+v 0.01086787 0.05919657 0.00248306
+v 0.01086787 0.05284051 -0.02214077
+v 0.01214686 0.05005714 -0.02332751
+v 0.01214686 0.05877283 0.00261413
+v 0.01086787 0.06005235 -0.00192380
+v 0.01214686 0.05881160 0.00248306
+v 0.01086787 0.05330025 -0.02188572
+v 0.01214686 0.05283774 -0.02179715
+v 0.01214686 0.05962030 -0.00172542
+v 0.01214686 0.05964523 -0.00186358
+v 0.01086787 0.06048439 -0.00525019
+v 0.01214686 0.05306761 -0.02166962
+v 0.01086787 0.05483180 -0.02041913
+v 0.01214686 0.06007727 -0.00601537
+v 0.01110261 0.06050932 -0.00601537
+v 0.01086787 0.06055363 -0.00601537
+v 0.01214686 0.05383200 -0.02093633
+v 0.01086787 0.05537185 -0.01982753
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+v 0.01086787 0.05717481 -0.01770558
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+v 0.01214686 0.05746838 -0.01656490
+v 0.01214686 0.05834078 -0.01436147
+v 0.01086787 0.05875344 -0.01452443
+v 0.01214686 0.05791705 -0.01545256
+v 0.01214686 0.05828263 -0.01454214
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+f 39 40 44
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+f 47 55 48
+f 48 55 56
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+f 54 58 59
+f 56 60 61
+f 56 61 57
+f 58 61 59
+f 59 61 62
+f 60 63 61
+f 61 63 62
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_123.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_123.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89cfe60d502164cd8aa5245105f31437c8f48b46
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_123.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.01485909 -0.04904849 -0.01754977
+v 0.01485909 -0.04876950 -0.01793322
+v 0.01517322 -0.04904849 -0.01753926
+v 0.01485909 -0.04904849 0.00875107
+v 0.01485909 -0.04819277 -0.01858982
+v 0.01832625 -0.04904849 -0.01671982
+v 0.01811878 -0.04709790 -0.01901530
+v 0.01838527 -0.04708852 -0.01895752
+v 0.01838527 -0.04904849 0.00774253
+v 0.01485909 -0.04742378 0.01158759
+v 0.01485909 -0.04582720 -0.02109016
+v 0.01652846 -0.04563964 -0.02093783
+v 0.01838148 -0.04904849 -0.01669356
+v 0.01838527 -0.04668997 -0.01935673
+v 0.01838527 -0.04904849 -0.01614201
+v 0.01838527 -0.04677905 0.01156658
+v 0.01723611 -0.04588112 0.01356790
+v 0.01485909 -0.04608509 0.01385155
+v 0.01485909 -0.04411574 -0.02200940
+v 0.01485909 -0.04348508 -0.02234033
+v 0.01838527 -0.04358590 -0.02170999
+v 0.01838527 -0.04397977 -0.02147887
+v 0.01838527 -0.04473234 0.01489686
+v 0.01838527 -0.04463153 0.01504394
+v 0.01838527 -0.04236443 0.01827967
+v 0.01838527 -0.04229644 0.01837423
+v 0.01485909 -0.04420718 0.01645695
+v 0.01485909 -0.03920175 -0.02372707
+v 0.01838044 -0.03920175 -0.02341716
+v 0.01838527 -0.03920410 -0.02341190
+v 0.01838527 -0.03987696 0.02049636
+v 0.01838044 -0.03987930 0.02049636
+v 0.01485909 -0.04014657 0.02063819
+v 0.01485909 -0.04244414 0.01851605
+v 0.01485909 -0.03495359 -0.02398446
+v 0.01838527 -0.03495828 -0.02398446
+v 0.01838527 -0.03775288 0.02209322
+v 0.01485909 -0.03802015 0.02232959
+v 0.01838044 -0.03495359 -0.02398446
+v 0.01485909 -0.03070543 -0.02375334
+v 0.01838044 -0.03070543 -0.02394244
+v 0.01838527 -0.03071012 -0.02394244
+v 0.01838527 -0.03495359 0.02412080
+v 0.01485909 -0.03754187 0.02267628
+v 0.01485909 -0.02645726 -0.02341190
+v 0.01838044 -0.02645726 -0.02360626
+v 0.01838527 -0.02646195 -0.02360626
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+v 0.01485909 -0.03422681 0.02492448
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+v 0.01702278 -0.02509748 -0.02341716
+v 0.01838044 -0.02509748 -0.02341190
+v 0.01838527 -0.02509748 -0.01903106
+v 0.01485909 -0.03275683 0.02582272
+v 0.01838527 -0.03055304 0.02705187
+v 0.01485909 -0.02509748 0.02950494
+v 0.01838527 -0.02509748 0.02966777
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+v 0.01838527 -0.02947927 0.02760867
+v 0.01485909 -0.02631425 0.02917401
+v 0.01838527 -0.02636114 0.02921603
+v 0.01485909 -0.03020840 0.02723572
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_124.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_124.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1f66b63729369e17b7cc68a34623024cfface21
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_124.obj
@@ -0,0 +1,207 @@
+# https://github.com/mikedh/trimesh
+v -0.03087265 -0.00533780 0.00449857
+v -0.03087265 -0.00099999 0.00449577
+v -0.03268625 -0.00533780 0.00449857
+v -0.03087265 -0.04094929 0.00449857
+v -0.03268625 -0.00099999 0.00449577
+v -0.03087265 -0.00099999 -0.02266056
+v -0.03268625 -0.04186716 0.00449857
+v -0.03087673 -0.04384852 0.00449857
+v -0.03087265 -0.04386617 0.00447332
+v -0.03268625 -0.00099999 -0.02282333
+v -0.03257387 -0.00099999 -0.02281771
+v -0.03087265 -0.01151575 -0.02338178
+v -0.03268625 -0.04302773 0.00235458
+v -0.03087265 -0.04469137 0.00311227
+v -0.03260689 -0.00099999 -0.02282052
+v -0.03260689 -0.00946379 -0.02338178
+v -0.03268625 -0.00946379 -0.02337897
+v -0.03087265 -0.02393785 -0.02414789
+v -0.03260689 -0.01370893 -0.02364837
+v -0.03268625 -0.04317777 0.00200379
+v -0.03268625 -0.04366759 0.00018813
+v -0.03268625 -0.04419272 -0.00176504
+v -0.03087265 -0.04526944 0.00094021
+v -0.03268625 -0.01370893 -0.02365118
+v -0.03087265 -0.02818740 -0.02417034
+v -0.03268625 -0.02220803 -0.02409457
+v -0.03268625 -0.02212860 -0.02409176
+v -0.03268625 -0.01795848 -0.02388971
+v -0.03268625 -0.04455898 -0.00601654
+v -0.03087265 -0.04581222 -0.00176504
+v -0.03268625 -0.02644875 -0.02399635
+v -0.03268625 -0.02637373 -0.02400477
+v -0.03087265 -0.03070271 -0.02380272
+v -0.03268625 -0.03062328 -0.02339019
+v -0.03268625 -0.04449720 -0.00658341
+v -0.03099212 -0.04599756 -0.00601654
+v -0.03087265 -0.04590048 -0.00302225
+v -0.03087265 -0.03243254 -0.02353612
+v -0.03268625 -0.03473162 -0.02190287
+v -0.03268625 -0.04387058 -0.01038311
+v -0.03087265 -0.04577692 -0.00896594
+v -0.03087265 -0.04590048 -0.00782659
+v -0.03087265 -0.04608141 -0.00601654
+v -0.03087265 -0.04607258 -0.00582291
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+v -0.03087265 -0.04574603 -0.00914554
+v -0.03087265 -0.03790886 -0.02110308
+v -0.03087265 -0.03983285 -0.01945580
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+v -0.03087265 -0.04470019 -0.01247098
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+v -0.03087265 -0.04198189 -0.01736512
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+v -0.03268625 -0.04145676 -0.01594795
+v -0.03268625 -0.04235698 -0.01431470
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+f 40 52 41
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+f 49 53 54
+f 49 54 50
+f 50 54 55
+f 51 56 57
+f 51 57 52
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+f 55 59 60
+f 55 60 61
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+f 55 62 63
+f 55 63 64
+f 56 58 65
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+f 62 67 68
+f 62 68 63
+f 63 68 64
+f 64 68 66
+f 64 66 69
+f 65 70 66
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_125.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_125.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff7086036542f737f25ed955f01b82eb71ed41f2
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_125.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00003427 -0.04348117 0.02559244
+v -0.00290317 -0.04348117 0.02559244
+v 0.00003427 -0.04478244 0.02559244
+v 0.00003427 -0.04348117 -0.02499371
+v -0.00654950 -0.04348410 0.02559244
+v -0.00654950 -0.04348117 0.02473623
+v -0.00654950 -0.04478244 0.02559244
+v 0.00003427 -0.04478244 -0.02492900
+v 0.00003427 -0.04354232 -0.02499371
+v -0.00654950 -0.04348117 -0.02526252
+v -0.00654950 -0.04478244 -0.02517292
+v -0.00567433 -0.04478244 -0.02517790
+v -0.00654950 -0.04393399 -0.02525257
+v -0.00654950 -0.04374739 -0.02525755
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
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+f 1 6 2
+f 2 6 5
+f 3 7 11
+f 3 11 12
+f 3 12 8
+f 4 9 10
+f 5 6 10
+f 5 10 14
+f 5 14 13
+f 5 13 11
+f 5 11 7
+f 8 12 9
+f 9 12 13
+f 9 13 14
+f 9 14 10
+f 11 13 12
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_126.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_126.obj
new file mode 100644
index 0000000000000000000000000000000000000000..416eb81474fbdb1801966fc54bdfc88efefb3c49
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_126.obj
@@ -0,0 +1,210 @@
+# https://github.com/mikedh/trimesh
+v 0.05661898 -0.00950598 -0.02348799
+v 0.05411339 -0.00950598 -0.02342209
+v 0.05661898 0.00328982 -0.02408104
+v 0.05661898 -0.00950598 0.01645245
+v 0.05411339 -0.00095883 -0.02378039
+v 0.05411339 -0.00950598 0.01786095
+v 0.05411339 0.00328982 -0.02393278
+v 0.05661898 0.00754230 -0.02420871
+v 0.05661898 -0.00095883 0.01655541
+v 0.05499731 -0.00950598 0.01746558
+v 0.05483103 -0.00950598 0.01756854
+v 0.05411339 -0.00945613 0.01786507
+v 0.05411339 0.00738125 -0.02398220
+v 0.05411339 0.00754230 -0.02398220
+v 0.05411339 0.01005008 -0.02392042
+v 0.05411339 0.01178712 -0.02385864
+v 0.05661898 0.01178712 -0.02405633
+v 0.05661898 0.00166015 0.01640303
+v 0.05477633 0.00246540 0.01749853
+v 0.05483103 -0.00095883 0.01754383
+v 0.05483127 -0.00945613 0.01756854
+v 0.05411339 -0.00219738 0.01778682
+v 0.05411339 0.01429490 -0.02350034
+v 0.05661898 0.01603577 -0.02293200
+v 0.05661898 0.00361959 0.01627948
+v 0.05411339 0.00525309 0.01731732
+v 0.05411339 0.00152210 0.01767974
+v 0.05636366 0.00364643 0.01643186
+v 0.05411339 0.01603577 -0.02303908
+v 0.05411339 0.01846686 -0.02231424
+v 0.05411339 0.01965556 -0.02168412
+v 0.05661898 0.01890016 -0.02141230
+v 0.05661898 0.00397236 0.01618887
+v 0.05411339 0.00534896 0.01728849
+v 0.05411339 0.02341339 -0.01924602
+v 0.05661898 0.02102448 -0.01957137
+v 0.05661898 0.00753847 0.01508925
+v 0.05661064 0.00738509 0.01514691
+v 0.05648531 0.00738125 0.01522516
+v 0.05411339 0.01357017 0.01321125
+v 0.05644852 0.00738509 0.01524575
+v 0.05661898 0.01073263 0.01363957
+v 0.05661898 0.01285695 0.01261820
+v 0.05432579 0.01378490 0.01303416
+v 0.05411339 0.02431834 -0.01843057
+v 0.05661898 0.02337888 -0.01744627
+v 0.05411339 0.01975142 0.00994946
+v 0.05661898 0.01603193 0.01101614
+v 0.05411339 0.02635830 -0.01621074
+v 0.05411339 0.02775790 -0.01465810
+v 0.05584763 0.02616658 -0.01466221
+v 0.05661898 0.02545719 -0.01466221
+v 0.05661898 0.01890783 0.00937289
+v 0.05411339 0.02401541 0.00630054
+v 0.05411339 0.02803015 -0.01400327
+v 0.05520652 0.02730543 -0.01334432
+v 0.05607720 0.02616658 -0.01415977
+v 0.05661898 0.02668040 -0.01172990
+v 0.05661898 0.02102832 0.00742899
+v 0.05411339 0.02836759 -0.00178803
+v 0.05661898 0.02298392 0.00530389
+v 0.05411339 0.02914984 -0.01119450
+v 0.05411339 0.02947960 -0.01025962
+v 0.05661898 0.02714821 -0.01025962
+v 0.05411339 0.02858616 -0.00234402
+v 0.05661898 0.02443337 0.00247865
+v 0.05411339 0.02966749 -0.00661894
+v 0.05411339 0.02965983 -0.00600941
+v 0.05661898 0.02707919 -0.00600941
+v 0.05661898 0.02450239 0.00227685
+v 0.05661898 0.02575628 -0.00145856
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 24
+f 1 24 32
+f 1 32 36
+f 1 36 46
+f 1 46 52
+f 1 52 58
+f 1 58 64
+f 1 64 69
+f 1 69 71
+f 1 71 70
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+f 1 66 61
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+f 1 42 37
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+f 1 25 18
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+f 1 10 11
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+f 8 15 16
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+f 19 22 20
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+f 19 28 26
+f 23 29 24
+f 24 29 30
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+f 24 31 32
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+f 26 28 33
+f 26 33 34
+f 31 35 32
+f 32 35 36
+f 33 37 38
+f 33 38 39
+f 33 39 34
+f 34 39 41
+f 34 41 42
+f 34 42 43
+f 34 43 44
+f 34 44 40
+f 35 45 36
+f 36 45 46
+f 37 39 38
+f 37 42 41
+f 37 41 39
+f 40 44 47
+f 43 48 44
+f 44 48 47
+f 45 49 46
+f 46 49 50
+f 46 50 51
+f 46 51 52
+f 47 48 53
+f 47 53 54
+f 50 55 56
+f 50 56 57
+f 50 57 51
+f 51 57 52
+f 52 57 58
+f 53 59 54
+f 54 59 61
+f 54 61 60
+f 55 62 58
+f 55 58 56
+f 56 58 57
+f 58 62 63
+f 58 63 64
+f 60 61 66
+f 60 66 65
+f 63 67 64
+f 64 67 68
+f 64 68 69
+f 65 66 70
+f 65 70 71
+f 65 71 68
+f 68 71 69
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_127.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_127.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b98a11fe05cfaed431b3ae2d0e95e5a28d9dd87f
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_127.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.04387457 0.00325070 -0.02371287
+v 0.04391256 0.00325070 -0.02371287
+v 0.04387305 0.00325070 -0.02310491
+v 0.04387305 0.00328874 -0.02371287
+v 0.04387305 0.00753721 -0.02386828
+v 0.04516249 0.00624986 -0.02379057
+v 0.04516249 0.00325070 -0.02368087
+v 0.04387305 0.00325070 0.02255565
+v 0.04387305 0.01178769 -0.02401913
+v 0.04387457 0.01178769 -0.02401913
+v 0.04516249 0.01050033 -0.02390028
+v 0.04516249 0.00325070 0.02129860
+v 0.04397768 0.00325070 0.02245508
+v 0.04387305 0.00328874 0.02256022
+v 0.04387305 0.01603415 -0.02411055
+v 0.04387457 0.01603415 -0.02411512
+v 0.04516249 0.01474680 -0.02397342
+v 0.04516249 0.00328874 0.02130317
+v 0.04387305 0.00443595 0.02258307
+v 0.04387305 0.02028263 -0.02408312
+v 0.04387457 0.02028263 -0.02408312
+v 0.04516249 0.01603415 -0.02398256
+v 0.04516249 0.00696261 0.02137173
+v 0.04387305 0.00753721 0.02243680
+v 0.04387305 0.02370223 -0.01632600
+v 0.04387431 0.02370223 -0.02362601
+v 0.04470154 0.02370223 -0.02349803
+v 0.04516249 0.02028263 -0.02387743
+v 0.04516249 0.01899327 -0.02395970
+v 0.04516249 0.00753721 0.02134431
+v 0.04387305 0.00878052 0.02229966
+v 0.04516249 0.01173763 0.02089177
+v 0.04387305 0.02370223 0.01763259
+v 0.04516249 0.02370223 -0.02335632
+v 0.04516249 0.02324174 -0.02348431
+v 0.04387305 0.00936313 0.02222653
+v 0.04516249 0.01178769 0.02088263
+v 0.04387305 0.01178769 0.02189741
+v 0.04516249 0.01940170 0.01848738
+v 0.04516249 0.02370223 0.01639382
+v 0.04387305 0.01998832 0.01935132
+v 0.04516249 0.01191982 0.02085063
+v 0.04387305 0.01603415 0.02081863
+v 0.04387305 0.01925154 0.01963015
+v 0.04447523 0.01603415 0.02033867
+v 0.04470318 0.01638052 0.02001412
+v 0.04516249 0.01707125 0.01936046
+v 0.04516249 0.01603415 0.01969872
+v 0.04387305 0.01821445 0.02001412
+f 1 2 7
+f 1 7 12
+f 1 12 13
+f 1 13 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 14
+f 3 14 19
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+f 3 24 31
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+f 3 36 38
+f 3 38 43
+f 3 43 49
+f 3 49 44
+f 3 44 41
+f 3 41 33
+f 3 33 25
+f 3 25 20
+f 3 20 15
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+f 3 5 4
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 6 11 17
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+f 6 22 29
+f 6 29 28
+f 6 28 35
+f 6 35 34
+f 6 34 40
+f 6 40 39
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+f 6 23 18
+f 6 18 12
+f 6 12 7
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+f 9 16 10
+f 10 16 11
+f 11 16 17
+f 12 18 13
+f 13 18 14
+f 14 18 19
+f 15 20 16
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 18 23 19
+f 19 23 24
+f 20 25 26
+f 20 26 21
+f 21 26 27
+f 21 27 28
+f 21 28 29
+f 21 29 22
+f 23 30 24
+f 24 30 32
+f 24 32 31
+f 25 33 40
+f 25 40 34
+f 25 34 27
+f 25 27 26
+f 27 34 35
+f 27 35 28
+f 31 32 36
+f 32 37 38
+f 32 38 36
+f 33 39 40
+f 33 41 39
+f 37 42 38
+f 38 42 43
+f 39 41 44
+f 39 44 45
+f 39 45 46
+f 39 46 47
+f 42 45 43
+f 42 48 45
+f 43 45 49
+f 44 49 45
+f 45 48 46
+f 46 48 47
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_128.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_128.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d74e7f2a832fe7eb3f9e8deb4be1d71dc7088df7
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_128.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.03915951 0.02499875 -0.02372577
+v 0.03962524 0.02499875 -0.02371684
+v 0.03725794 0.02499875 -0.02362755
+v 0.03725794 0.02690083 -0.02344451
+v 0.03725794 0.02878192 -0.02314985
+v 0.03962524 0.02878192 -0.02312753
+v 0.03978982 0.02499875 -0.02370792
+v 0.03725794 0.02499875 0.02188357
+v 0.03725794 0.02882992 -0.02313646
+v 0.03958186 0.02882992 -0.02311414
+v 0.03962103 0.02882992 -0.02310967
+v 0.03978982 0.02878679 -0.02308289
+v 0.03978982 0.02861729 -0.02314092
+v 0.03978982 0.02499875 0.00622656
+v 0.03783942 0.02499875 0.02188357
+v 0.03725794 0.02584404 0.02188357
+v 0.03725794 0.02882992 0.01995937
+v 0.03978982 0.02882992 -0.02306503
+v 0.03978982 0.02869379 0.01864681
+v 0.03978759 0.02499875 0.02059779
+v 0.03958013 0.02499875 0.02074512
+v 0.03734370 0.02651157 0.02152641
+v 0.03725794 0.02642569 0.02162017
+v 0.03725794 0.02663382 0.02148623
+v 0.03967109 0.02882992 0.01866020
+v 0.03978982 0.02882992 0.01857984
+v 0.03971075 0.02874217 0.01868252
+f 1 2 7
+f 1 7 14
+f 1 14 20
+f 1 20 21
+f 1 21 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 7
+f 3 8 16
+f 3 16 23
+f 3 23 24
+f 3 24 17
+f 3 17 9
+f 3 9 5
+f 3 5 4
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 12
+f 7 12 18
+f 7 18 26
+f 7 26 19
+f 7 19 14
+f 8 15 16
+f 9 17 25
+f 9 25 26
+f 9 26 18
+f 9 18 11
+f 9 11 10
+f 11 18 12
+f 14 19 20
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 17 24 22
+f 17 22 25
+f 19 26 20
+f 20 26 27
+f 20 27 21
+f 21 27 22
+f 22 27 25
+f 22 24 23
+f 25 27 26
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_129.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_129.obj
new file mode 100644
index 0000000000000000000000000000000000000000..644c835069f96fb691fa07c30b7f042d61b53d1c
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_129.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.05074275 -0.00228282 -0.02420989
+v -0.05074275 0.00018317 -0.02425234
+v -0.04960528 -0.00228282 -0.02420565
+v -0.05074275 -0.00228282 0.01869976
+v -0.05074275 0.00443136 -0.02429478
+v -0.04960528 0.00328929 -0.02426083
+v -0.04960528 -0.00228282 0.01906905
+v -0.05074275 -0.00095526 0.01874645
+v -0.05074275 0.01178931 -0.02429054
+v -0.04960528 0.01178931 -0.02428205
+v -0.04960528 0.00328566 0.01895869
+v -0.05074275 0.00328929 0.01871674
+v -0.04960528 0.01603750 -0.02424385
+v -0.04960528 0.01239308 -0.02427780
+v -0.05074275 0.01603750 -0.02412924
+v -0.04960528 0.00753385 0.01835169
+v -0.05074275 0.00754112 0.01816917
+v -0.04960528 0.02027842 -0.02364534
+v -0.05074275 0.02027842 -0.02333973
+v -0.04960528 0.01021443 0.01762160
+v -0.05074275 0.01008349 0.01756218
+v -0.04960528 0.02473029 -0.02230827
+v -0.05074275 0.02440658 -0.02198142
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+v -0.05074275 0.01920546 0.01409426
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_13.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebd5d63fe2e67621d13b662cbf00ab09cd68a651
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.01485875 -0.00096029 0.03446718
+v 0.01485875 -0.00096141 0.03446718
+v 0.01485875 0.00328808 0.03417631
+v 0.00802622 0.00753532 0.03877960
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+v 0.00563385 -0.00095804 0.04066392
+v 0.01021775 -0.00096365 0.03728100
+v 0.01485875 -0.00096141 -0.02172077
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+v 0.00811877 -0.00096365 0.03886813
+v 0.01485875 0.01049392 0.03332268
+v 0.00780372 0.00978847 0.03862152
+v 0.00563385 0.00329032 0.04051216
+v 0.00110903 -0.00061149 0.04241544
+v 0.01021775 -0.00096365 -0.01750952
+v 0.00987908 -0.00096365 -0.02126550
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+v 0.00272954 -0.00096365 -0.02094934
+v 0.00272954 -0.00095804 -0.02094934
+v 0.01485875 0.00328808 -0.02160063
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+v 0.01485875 0.01049392 -0.02137932
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+v 0.00687040 0.01049392 0.03883651
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+v 0.00107162 -0.00057336 0.04242809
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_130.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_130.obj
new file mode 100644
index 0000000000000000000000000000000000000000..146daab5767bb75e52a921e3a11b27c389374710
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_130.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v -0.04110557 0.02615590 -0.02441891
+v -0.04080591 0.02615590 -0.02440656
+v -0.04273006 0.02615590 -0.02388354
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+v -0.04080591 0.02878335 -0.02388354
+v -0.04080591 0.02615590 0.01765318
+v -0.04273006 0.02879391 -0.02331110
+v -0.04273006 0.02615590 0.01627768
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+v -0.04273006 0.03026147 -0.02263159
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+v -0.04080591 0.03308198 -0.02184912
+v -0.04080591 0.02670794 0.01736490
+v -0.04167588 0.02615590 0.01706427
+v -0.04228085 0.02615590 0.01662362
+v -0.04273006 0.02858727 0.01480335
+v -0.04273006 0.03233688 -0.02161850
+v -0.04080591 0.03317851 -0.02179558
+v -0.04080591 0.02933991 0.01577114
+v -0.04080591 0.03195378 0.01396322
+v -0.04273006 0.03076373 0.01329607
+v -0.04273006 0.03430520 -0.02005356
+v -0.04213243 0.03453295 -0.02026359
+v -0.04080591 0.03677579 -0.01871513
+v -0.04080591 0.03400204 0.01198646
+v -0.04273006 0.03097037 0.01315193
+v -0.04273006 0.03490852 -0.01940700
+v -0.04273006 0.03619208 -0.01796561
+v -0.04080591 0.03694019 -0.01852981
+v -0.04080591 0.03574562 0.00975025
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+v -0.04273006 0.03468529 0.00899249
+v -0.04273006 0.03298997 0.01101867
+v -0.04273006 0.03149224 0.01262479
+v -0.04273006 0.03626146 -0.01788736
+v -0.04080591 0.03953294 -0.01451039
+v -0.04080591 0.03751334 0.00671921
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_131.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_131.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dff402685729857b9051801459009bf6cfb5a11
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_131.obj
@@ -0,0 +1,225 @@
+# https://github.com/mikedh/trimesh
+v -0.04960528 -0.03470411 -0.00601369
+v -0.05074275 -0.03405673 -0.00600520
+v -0.05074275 -0.03401547 -0.00788609
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+v -0.05074275 -0.03262232 -0.01535867
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+v -0.04960528 -0.03269848 0.00247788
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+v -0.05074275 -0.02844603 -0.02077205
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+v -0.04960528 -0.02668158 0.01008633
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+v -0.04960528 -0.00521940 0.01916383
+v -0.05074275 -0.00521305 0.01879444
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_132.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_132.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d81f28467f6c73adf4674ab38f758ee0befb6ed3
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_132.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.02140937 -0.02066748 -0.02319249
+v -0.02140937 -0.01795699 -0.02294746
+v -0.01986582 -0.01795699 -0.02285362
+v -0.01986582 -0.02066748 -0.02309344
+v -0.02140937 -0.02066748 0.02803518
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+v -0.02102998 -0.01574699 -0.02269721
+v -0.01986582 -0.01574699 -0.02261901
+v -0.01986582 -0.02066748 0.02823330
+v -0.02140937 -0.01767761 0.02932813
+v -0.02140937 -0.01574699 -0.02271807
+v -0.01986582 -0.01574699 0.03006844
+v -0.01986582 -0.01773349 0.02936462
+v -0.02140937 -0.01574699 0.02982341
+f 1 2 3
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+f 9 13 10
+f 10 13 12
+f 10 12 14
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_133.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_133.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69a95fd5aa5f289023c2026bd9434f760184abf7
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_133.obj
@@ -0,0 +1,321 @@
+# https://github.com/mikedh/trimesh
+v -0.01672073 0.02025488 -0.02219884
+v -0.01672073 0.02028545 -0.02220478
+v -0.01386990 0.02453423 -0.02265569
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_134.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_134.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff93cedb4dbdc3cb76eed7fec677f782100e69cc
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_134.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.02882368 0.00340802 -0.02278161
+v 0.02733964 0.00340802 -0.02274904
+v 0.02740095 0.01549631 -0.02330819
+v 0.02882368 0.01407979 -0.02327019
+v 0.02882368 0.00340802 0.03187407
+v 0.02733964 0.01549631 -0.02330277
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+v 0.02882368 0.01549631 -0.02332448
+v 0.02882368 0.00503162 0.03182522
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+f 1 21 17
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+f 15 19 20
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+f 18 21 22
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+f 19 24 20
+f 21 25 22
+f 22 25 26
+f 23 26 24
+f 24 26 25
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_135.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_135.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6d6939a6f2066d74464a4d10ef46b75868d2814
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_135.obj
@@ -0,0 +1,246 @@
+# https://github.com/mikedh/trimesh
+v 0.06120218 -0.03220668 -0.00990459
+v 0.06206348 -0.03200774 -0.00997860
+v 0.06120218 -0.03193735 -0.00636329
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+v 0.06206348 -0.03154253 -0.01450422
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+v 0.06511891 -0.03129769 -0.01025243
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+v 0.06120218 -0.03040706 -0.00150834
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+v 0.06511891 -0.02962048 -0.01814913
+v 0.06120218 -0.02992654 -0.01851547
+v 0.06519991 -0.02961130 -0.01813063
+v 0.06519991 -0.03095184 -0.01450792
+v 0.06519991 -0.03126708 -0.01025613
+v 0.06511891 -0.03064272 -0.00600805
+v 0.06519991 -0.03058151 -0.00592664
+v 0.06519991 -0.02926239 -0.00282199
+v 0.06120218 -0.02897470 0.00135948
+v 0.06120218 -0.02840543 -0.02047669
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+v 0.06206348 -0.02814834 -0.02056180
+v 0.06511891 -0.02775658 -0.02026947
+v 0.06519991 -0.02779025 -0.02020286
+v 0.06519991 -0.03060905 -0.00600805
+v 0.06519991 -0.02767395 -0.00068685
+v 0.06519991 -0.02763110 -0.00063134
+v 0.06120218 -0.02731280 0.00335031
+v 0.06120218 -0.02825546 -0.02063951
+v 0.06519991 -0.02561417 -0.02145731
+v 0.06519991 -0.02773822 -0.02025097
+v 0.06519991 -0.02555602 0.00153340
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+v 0.06519991 -0.00104373 -0.02364796
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_136.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_136.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99ae8df5ffa7170c8b575bde384c4db725f1d8c3
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_136.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.03962501 -0.00321088 -0.02368426
+v 0.03971225 -0.00321088 -0.02368426
+v 0.03725794 -0.00321088 -0.02346577
+v 0.03725794 0.01415198 -0.02376048
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+v 0.03978982 -0.00321088 -0.02367918
+v 0.03978982 0.01178574 -0.02393832
+v 0.03725794 -0.00321088 0.02747904
+v 0.03725794 0.01839813 -0.02382146
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+v 0.03978982 0.01603189 -0.02398914
+v 0.03978982 -0.00321088 0.02582763
+v 0.03867407 -0.00321088 0.02656441
+v 0.03725794 -0.00289804 0.02751461
+v 0.03725794 0.02027803 -0.02382654
+v 0.03978982 0.02011593 -0.02400438
+v 0.03978982 -0.00095840 0.02606645
+v 0.03883665 -0.00095840 0.02669652
+v 0.03725794 -0.00101528 0.02768229
+v 0.03725794 0.02264996 -0.02376556
+v 0.03962501 0.02027803 -0.02398914
+v 0.03978982 0.02027803 -0.02399930
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+v 0.03725794 0.00329344 0.02790587
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_137.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_137.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f2e6b62f77107fc7c0a112ea8f23828f242f69e
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_137.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.01903622 0.00872977 -0.02205327
+v 0.01838037 0.00872977 -0.02197579
+v 0.01903622 0.01603422 -0.02271194
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_138.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_138.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb3b46f8fdeed5a423cacf7a5ffbeb0f79af47d5
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_138.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.03310799 0.00355780 0.03047134
+v 0.03310799 0.00351060 0.03047134
+v 0.03310799 0.00355780 -0.02301426
+v 0.03128090 0.00355780 0.03140143
+v 0.03310799 0.00328742 0.03046587
+v 0.03310799 -0.00495615 -0.02324951
+v 0.02687861 0.00340674 -0.02273523
+v 0.03098392 0.00355780 -0.02283371
+v 0.03112675 0.00355780 0.03146708
+v 0.03112675 0.00328742 0.03147255
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+v 0.03310799 -0.00495615 0.03001723
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+v 0.02261095 -0.00518963 -0.02240696
+v 0.02676044 0.00340674 -0.02272429
+v 0.02263047 0.00340674 -0.02233584
+v 0.02261095 0.00340674 -0.02233037
+v 0.03097878 0.00355780 -0.02245621
+v 0.03097878 0.00355780 0.03149443
+v 0.03097878 0.00340674 0.03149990
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_139.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_139.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a33ee0e7551d3dca695218b6eea559c829bb70fd
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_139.obj
@@ -0,0 +1,240 @@
+# https://github.com/mikedh/trimesh
+v 0.03308729 0.01526730 -0.02346362
+v 0.03188734 0.01526730 -0.02339034
+v 0.03097953 0.01618394 -0.02337464
+v 0.03097953 0.02028570 -0.02353690
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+v 0.03308729 0.02028570 -0.02360495
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+v 0.03308729 0.02250170 0.02589483
+v 0.03097953 0.02359118 0.02570640
+v 0.03097953 0.02285046 0.02608849
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+v 0.03308729 0.02359118 -0.02357877
+v 0.03097953 0.02893366 -0.02327519
+v 0.03308729 0.02682568 -0.02340605
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+v 0.03112767 0.02494609 0.02496838
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_14.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5da5829e7644c33ccc3da263b6eefdd394ea7755
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,447 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_140.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_140.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b6e0eabfa9495bf4a49a9a505cbfe2b297ff190
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_140.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.01903622 0.02054282 -0.02304880
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_141.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_141.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcefbfccdb59319a082fadb25b466d10713f06ba
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_141.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.00965715 -0.03754934 -0.02384707
+v 0.00816500 -0.03754934 -0.02384123
+v 0.00816500 -0.03752826 -0.02384123
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+v 0.00965715 -0.03754934 0.02475228
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_142.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_142.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba957bfea678617e1cf5d806677e2847856214fc
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_142.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.01386990 0.04361514 -0.02434958
+v -0.01386990 0.04577770 -0.02421893
+v -0.01132644 0.04574157 -0.02409796
+v -0.01132644 0.04361514 -0.02420441
+v -0.01386990 0.04361514 0.02401836
+v -0.01136254 0.04712994 -0.02374957
+v -0.01132644 0.04712994 -0.02374957
+v -0.01132644 0.04577770 -0.02409312
+v -0.01386990 0.04712994 -0.02360441
+v -0.01132644 0.04361514 0.02508288
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+v -0.01386990 0.04525057 0.02276029
+v -0.01132644 0.04712994 0.02209255
+v -0.01386990 0.04712994 0.02116835
+v -0.01132644 0.04612419 0.02296836
+v -0.01217625 0.04712994 0.02185061
+v -0.01308333 0.04712994 0.02152642
+v -0.01386990 0.04638501 0.02184577
+v -0.01386990 0.04530046 0.02272158
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+f 6 17 16
+f 6 16 13
+f 6 13 7
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 13 16 15
+f 14 18 17
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_143.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_143.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae8d8ac05998d5fa2ba66d4bfc4801b520c4845e
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_143.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.04273006 -0.00096879 -0.02359118
+v -0.04273006 0.00329044 -0.02386940
+v -0.04080591 0.00299038 -0.02359582
+v -0.04080591 -0.00096879 -0.02331759
+v -0.04273006 -0.00096879 0.02070663
+v -0.04273006 0.02028221 -0.02453714
+v -0.04110595 0.02453081 -0.02476899
+v -0.04080591 0.02453081 -0.02475508
+v -0.04080591 -0.00096879 0.02224613
+v -0.04080591 -0.00095817 0.02225077
+v -0.04273006 0.00309128 0.02103122
+v -0.04273006 0.02453081 -0.02451395
+v -0.04110595 0.02615590 -0.02441194
+v -0.04092043 0.02615590 -0.02440730
+v -0.04080591 0.02615590 -0.02440266
+v -0.04080591 0.00329044 0.02258927
+v -0.04273006 0.00751515 0.02122598
+v -0.04273006 0.02615590 -0.02387868
+v -0.04080591 0.02615590 0.01764617
+v -0.04080591 0.00753904 0.02260319
+v -0.04273006 0.00753904 0.02122598
+v -0.04273006 0.02615590 0.01627360
+v -0.04167607 0.02615590 0.01706190
+v -0.04273006 0.02334386 0.01786411
+v -0.04080591 0.02488929 0.01830463
+v -0.04080591 0.01178765 0.02232032
+v -0.04259709 0.01178765 0.02115642
+v -0.04273006 0.01158319 0.02107759
+v -0.04273006 0.01046262 0.02112396
+v -0.04273006 0.02556110 0.01663529
+v -0.04242946 0.02567528 0.01680223
+v -0.04250611 0.02615590 0.01644517
+v -0.04228085 0.02615590 0.01661674
+v -0.04273006 0.02491850 0.01701089
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+v -0.04080591 0.02439008 0.01855040
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+v -0.04273006 0.01603626 0.02025683
+v -0.04080591 0.02011226 0.02038667
+v -0.04080591 0.01723383 0.02126771
+v -0.04273006 0.01515732 0.02044695
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+f 40 45 41
+f 41 43 46
+f 41 46 42
+f 41 45 44
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_144.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_144.obj
new file mode 100644
index 0000000000000000000000000000000000000000..072e80c2673ce8debf89fdee69c61b32b844c0b5
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_144.obj
@@ -0,0 +1,291 @@
+# https://github.com/mikedh/trimesh
+v -0.01136282 0.04712995 -0.02375083
+v -0.01132681 0.04712995 -0.02374635
+v -0.01386944 0.04712995 -0.02360274
+v -0.00915395 0.05001167 -0.02328411
+v -0.00917473 0.04780025 -0.02355786
+v -0.00915395 0.04780025 -0.02355337
+v -0.01132681 0.04712995 0.02209623
+v -0.01386944 0.05024722 -0.02257055
+v -0.01136282 0.05002917 -0.02300586
+v -0.01132681 0.05002917 -0.02301035
+v -0.00915395 0.05002783 -0.02327962
+v -0.01386944 0.04712995 0.02116726
+v -0.00915395 0.04780025 0.02208276
+v -0.00957403 0.04780025 0.02198852
+v -0.00994795 0.04780025 0.02190325
+v -0.00974714 0.04804521 0.02175067
+v -0.01132681 0.04780159 0.02151282
+v -0.01257920 0.04760777 0.02132433
+v -0.01217620 0.04712995 0.02185389
+v -0.00915395 0.05397825 -0.02177173
+v -0.00915395 0.05396075 -0.02178070
+v -0.01386944 0.05270227 -0.02125115
+v -0.00915395 0.05006551 -0.02326615
+v -0.01308329 0.04712995 0.02152628
+v -0.01386944 0.04729012 0.02102365
+v -0.00915395 0.04811655 0.02182247
+v -0.00915395 0.04868051 0.02115380
+v -0.01136282 0.05178432 0.01686349
+v -0.01124326 0.04939253 0.01973566
+v -0.01132681 0.04928216 0.01983439
+v -0.01386944 0.04915833 0.01899069
+v -0.00915395 0.05606989 -0.02057798
+v -0.01386944 0.05472796 -0.01920023
+v -0.00915395 0.05009916 0.01945742
+v -0.00915395 0.05199294 0.01713724
+v -0.00915395 0.05266727 0.01617237
+v -0.00915395 0.05335372 0.01517160
+v -0.01132681 0.05324604 0.01474077
+v -0.01136282 0.05324470 0.01473180
+v -0.01386944 0.05287725 0.01420224
+v -0.01386944 0.05149897 0.01603325
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+v -0.01386944 0.04983804 0.01818738
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+v -0.01136282 0.05790310 0.00672561
+v -0.01386944 0.05726915 0.00650571
+v -0.01386944 0.05651675 0.00864638
+v -0.01386944 0.05641850 0.00886628
+v -0.01386944 0.05824902 -0.01200185
+v -0.00915395 0.05912255 -0.01441627
+v -0.00915395 0.05815211 0.00676152
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+v -0.01386944 0.05870261 -0.01026060
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+v -0.00915395 0.06087905 -0.00529712
+v -0.01113940 0.06016299 -0.00627994
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+f 8 20 21
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+f 13 26 16
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+f 39 48 50
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+f 72 78 79
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+f 72 82 83
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+f 72 84 77
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+f 74 87 75
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+f 77 84 89
+f 79 81 80
+f 81 90 82
+f 82 91 92
+f 82 92 83
+f 82 90 93
+f 82 93 97
+f 82 97 94
+f 82 94 88
+f 82 88 91
+f 83 92 84
+f 84 92 89
+f 85 95 86
+f 85 88 96
+f 85 96 95
+f 88 94 96
+f 94 97 96
+f 95 96 98
+f 95 98 97
+f 96 97 98
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_145.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_145.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75d44b9acb945d469ad22cffa8673b128af1fb7e
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_145.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.00279932 0.02091278 0.03761607
+v 0.00279932 0.02148331 0.03743783
+v 0.00279794 0.01840878 0.03844580
+v 0.00279794 0.01756946 0.03866091
+v 0.00279794 0.01582363 0.03898051
+v 0.00279932 0.02091278 -0.02059986
+v 0.00226837 0.02091278 0.03774514
+v 0.00279932 0.02453376 0.03641143
+v 0.00158533 0.02017743 0.03813849
+v 0.00030219 0.01869024 0.03875925
+v 0.00156320 0.01582363 0.03924479
+v 0.00262511 0.01582363 0.03902968
+v 0.00279794 0.01582363 -0.01967795
+v 0.00279794 0.02058948 -0.02056913
+v 0.00279932 0.02877345 -0.02200118
+v 0.00138760 0.02452235 0.03671874
+v 0.00155076 0.02091278 0.03789879
+v 0.00279932 0.02827772 0.03489949
+v 0.00138760 0.02871766 0.03504085
+v -0.00286830 0.02453376 0.03700761
+v -0.00286554 0.02091278 0.03813234
+v -0.00286554 0.02075937 0.03817537
+v -0.00711177 0.01582363 0.03951522
+v -0.00311304 0.01582363 0.03948449
+v -0.00286554 0.01582363 0.03947834
+v 0.00110277 0.01582363 0.03927552
+v -0.01132481 0.01582363 -0.02069206
+v -0.00711038 0.02453376 -0.02217942
+v -0.00711038 0.02877471 -0.02303372
+v -0.00286830 0.02877471 -0.02256662
+v 0.00138069 0.02877471 -0.02200118
+v 0.00138760 0.02877471 -0.02199503
+v 0.00279932 0.02877345 0.03466594
+v 0.00122030 0.02877471 0.03504700
+v -0.00286830 0.02877471 0.03539732
+v 0.00138760 0.02877345 0.03501627
+v -0.00927567 0.01818310 0.03861174
+v -0.00711177 0.01603663 0.03945376
+v -0.00675780 0.02877471 0.03500398
+v -0.01084087 0.01582363 0.03896207
+v -0.01132619 0.02091405 -0.02158939
+v -0.01132619 0.02398478 -0.02230234
+v -0.01132481 0.02450206 -0.02243141
+v -0.00781279 0.02877471 -0.02307675
+v -0.01132481 0.01582363 0.03878998
+v 0.00138760 0.02877471 0.03500398
+v -0.01132481 0.02753602 0.03469053
+v -0.00707582 0.02877471 0.03494866
+v -0.01113815 0.01582363 0.03885758
+v -0.01132619 0.02091405 0.03682322
+v -0.01132619 0.02398478 0.03580297
+v -0.01132481 0.02877471 -0.02327342
+v -0.01132481 0.02877471 0.03416811
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 6
+f 1 6 15
+f 1 15 33
+f 1 33 18
+f 1 18 8
+f 1 8 2
+f 2 7 3
+f 2 8 7
+f 3 9 10
+f 3 10 4
+f 3 7 9
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+f 4 12 5
+f 5 12 11
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+f 5 24 23
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+f 5 45 27
+f 5 27 13
+f 6 13 14
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+f 7 16 17
+f 7 17 9
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+f 8 19 16
+f 9 17 10
+f 10 17 16
+f 10 16 20
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+f 13 29 14
+f 14 29 15
+f 15 29 30
+f 15 30 31
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+f 15 32 46
+f 15 46 33
+f 16 19 34
+f 16 34 35
+f 16 35 20
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+f 18 36 19
+f 19 36 34
+f 20 37 38
+f 20 38 21
+f 20 35 39
+f 20 39 37
+f 21 38 23
+f 21 23 22
+f 23 38 37
+f 23 37 40
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+f 27 42 43
+f 27 43 44
+f 27 44 29
+f 27 29 28
+f 27 45 50
+f 27 50 41
+f 29 44 52
+f 29 52 53
+f 29 53 48
+f 29 48 39
+f 29 39 35
+f 29 35 34
+f 29 34 46
+f 29 46 32
+f 29 32 31
+f 29 31 30
+f 33 46 34
+f 33 34 36
+f 37 39 47
+f 37 47 40
+f 39 48 47
+f 40 47 49
+f 41 50 51
+f 41 51 42
+f 42 51 53
+f 42 53 52
+f 42 52 43
+f 43 52 44
+f 45 49 47
+f 45 47 51
+f 45 51 50
+f 47 48 53
+f 47 53 51
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_146.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_146.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9096a73d07fb6941a9623ac2a0a31c6530060920
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_146.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.04720810 0.00861054 -0.02371584
+v 0.04516249 0.00892030 -0.02384719
+v 0.04877119 0.00861054 -0.02366923
+v 0.04720810 0.00861054 0.01930365
+v 0.04516249 0.01049882 -0.02390228
+v 0.04516249 0.00892030 0.01904519
+v 0.04516249 0.01474632 -0.02397854
+v 0.04877119 0.01113892 -0.02369466
+v 0.04877119 0.00861054 0.01771897
+v 0.04788032 0.00861054 0.01868927
+v 0.04686723 0.01178702 0.01904519
+v 0.04626637 0.01470632 0.01904519
+v 0.04586791 0.01603337 0.01904519
+v 0.04539245 0.01742215 0.01904519
+v 0.04516249 0.01793652 0.01904519
+v 0.04516249 0.01603337 -0.02398278
+v 0.04877119 0.01538528 -0.02369466
+v 0.04877119 0.01178702 0.01692239
+v 0.04675773 0.01603337 0.01821471
+v 0.04634584 0.01886352 0.01769778
+v 0.04516249 0.01905097 0.01862571
+v 0.04516249 0.01899496 -0.02396583
+v 0.04877119 0.01963620 -0.02336840
+v 0.04516249 0.02022029 -0.02388533
+v 0.04877119 0.01607567 0.01540126
+v 0.04516249 0.02022029 0.01787998
+v 0.04516249 0.01940188 0.01849013
+v 0.04877119 0.02028773 0.01363862
+v 0.04744584 0.02028773 0.01542669
+v 0.04743206 0.02028773 0.01544363
+v 0.04811947 0.02028773 -0.02341501
+v 0.04877119 0.02026830 -0.02317773
+v 0.04720810 0.02028773 -0.02355907
+v 0.04812335 0.02028202 -0.02341501
+v 0.04720810 0.02028773 0.01567668
+v 0.04877119 0.02028773 -0.02316925
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 15
+f 2 15 21
+f 2 21 27
+f 2 27 26
+f 2 26 24
+f 2 24 22
+f 2 22 16
+f 2 16 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 3 8 17
+f 3 17 23
+f 3 23 32
+f 3 32 36
+f 3 36 28
+f 3 28 25
+f 3 25 18
+f 3 18 9
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 6
+f 7 16 8
+f 8 16 17
+f 9 18 19
+f 9 19 10
+f 10 12 11
+f 10 19 12
+f 12 19 13
+f 13 19 20
+f 13 20 14
+f 14 20 21
+f 14 21 15
+f 16 22 17
+f 17 22 24
+f 17 24 23
+f 18 25 19
+f 19 25 20
+f 20 26 27
+f 20 27 21
+f 20 25 28
+f 20 28 29
+f 20 29 30
+f 20 30 26
+f 23 31 32
+f 23 24 33
+f 23 33 34
+f 23 34 31
+f 24 26 35
+f 24 35 33
+f 26 30 35
+f 28 36 31
+f 28 31 33
+f 28 33 35
+f 28 35 30
+f 28 30 29
+f 31 36 32
+f 31 34 33
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_147.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_147.obj
new file mode 100644
index 0000000000000000000000000000000000000000..237cd1aa4f575042edddb1a1e5764e7428b22d9f
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_147.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.03097953 -0.01843301 -0.02364973
+v 0.02687829 -0.01843301 -0.02339601
+v 0.03097953 -0.01795673 -0.02365525
+v 0.03097953 -0.01843301 0.02933414
+v 0.02687829 -0.01795673 -0.02337946
+v 0.03097953 -0.01370775 -0.02352838
+v 0.02262958 -0.01843301 -0.02284444
+v 0.02260992 -0.01843042 -0.02284444
+v 0.02260992 -0.00521109 -0.02240869
+v 0.03097953 -0.01598819 0.03013391
+v 0.03042079 -0.01843301 0.02983055
+v 0.02687829 -0.00521109 -0.02278928
+v 0.03097953 -0.01355891 -0.02352287
+v 0.02260992 -0.01843301 -0.01829398
+v 0.02260992 -0.00521109 0.03259392
+v 0.03097953 -0.01370775 0.03067997
+v 0.02963348 -0.01795673 0.03065239
+v 0.02955974 -0.01843301 0.03059172
+v 0.03097953 -0.00521109 -0.02311471
+v 0.02260992 -0.01843301 0.03189342
+v 0.02260992 -0.00946006 0.03269320
+v 0.02262958 -0.00521109 0.03259392
+v 0.03097953 -0.01280437 0.03085647
+v 0.03041260 -0.01370775 0.03109365
+v 0.02687829 -0.01795673 0.03186584
+v 0.02688157 -0.01843301 0.03175002
+v 0.03097953 -0.00521109 0.03115432
+v 0.02262958 -0.01843301 0.03189894
+v 0.02260992 -0.01797614 0.03197616
+v 0.02260992 -0.01370775 0.03261046
+v 0.02262958 -0.01370775 0.03261046
+v 0.02687829 -0.00946006 0.03259943
+v 0.02687829 -0.00521109 0.03229056
+v 0.03097953 -0.00946006 0.03129221
+v 0.03095168 -0.00946006 0.03130876
+v 0.02687829 -0.01370775 0.03249464
+v 0.02640312 -0.01843301 0.03179966
+v 0.02262958 -0.01795673 0.03198167
+v 0.03097953 -0.00940441 0.03129221
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 19
+f 1 19 27
+f 1 27 39
+f 1 39 34
+f 1 34 23
+f 1 23 16
+f 1 16 10
+f 1 10 4
+f 1 4 11
+f 1 11 18
+f 1 18 26
+f 1 26 37
+f 1 37 28
+f 1 28 20
+f 1 20 14
+f 1 14 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 5 12 13
+f 5 13 6
+f 5 9 12
+f 7 14 8
+f 8 14 20
+f 8 20 29
+f 8 29 30
+f 8 30 21
+f 8 21 15
+f 8 15 9
+f 9 15 22
+f 9 22 33
+f 9 33 27
+f 9 27 19
+f 9 19 12
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 12 19 13
+f 15 21 22
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 17 25 18
+f 18 25 26
+f 20 28 29
+f 21 30 31
+f 21 31 32
+f 21 32 22
+f 22 32 33
+f 23 34 24
+f 24 34 35
+f 24 35 36
+f 24 36 25
+f 25 37 26
+f 25 36 31
+f 25 31 38
+f 25 38 37
+f 27 33 32
+f 27 32 35
+f 27 35 39
+f 28 37 38
+f 28 38 29
+f 29 38 30
+f 30 38 31
+f 31 36 32
+f 32 36 35
+f 34 39 35
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_148.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_148.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00ebf0b1fd91bf52bb301439c6deb0788fecc4df
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_148.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00957843 0.03172416 -0.02281277
+v 0.00694161 0.03172416 -0.02263359
+v 0.00555105 0.04155669 -0.02471652
+v 0.00563385 0.04155669 -0.02472212
+v 0.00957843 0.03756593 -0.02392143
+v 0.00957843 0.03172416 0.03097936
+v 0.00555105 0.03172416 -0.02252721
+v 0.00555105 0.04155669 0.02723905
+v 0.00957843 0.04155669 -0.02467173
+v 0.00957843 0.03179635 0.03094576
+v 0.00945818 0.03172416 0.03102975
+v 0.00555105 0.03172416 0.03247996
+v 0.00555105 0.03755438 0.02959074
+v 0.00556091 0.04155669 0.02723905
+v 0.00957843 0.04155669 0.02527931
+v 0.00957843 0.03209571 0.03079458
+v 0.00774669 0.03515087 0.03010027
+v 0.00587237 0.03172416 0.03239597
+v 0.00605176 0.03735801 0.02954595
+v 0.00561926 0.04155669 0.02721665
+v 0.00668534 0.04155669 0.02671832
+v 0.00882815 0.04040066 0.02657274
+v 0.00957843 0.04116782 0.02558727
+v 0.00957843 0.03425280 0.02961874
+v 0.00957843 0.03698454 0.02810134
+v 0.00957843 0.03869308 0.02714386
+v 0.00596424 0.04155669 0.02707667
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 15
+f 1 15 23
+f 1 23 26
+f 1 26 25
+f 1 25 24
+f 1 24 16
+f 1 16 10
+f 1 10 6
+f 1 6 11
+f 1 11 18
+f 1 18 12
+f 1 12 7
+f 1 7 2
+f 2 7 3
+f 3 7 12
+f 3 12 13
+f 3 13 8
+f 3 8 14
+f 3 14 20
+f 3 20 27
+f 3 27 21
+f 3 21 15
+f 3 15 9
+f 3 9 4
+f 4 9 5
+f 6 10 11
+f 8 13 14
+f 10 16 17
+f 10 17 11
+f 11 17 18
+f 12 18 13
+f 13 19 14
+f 13 18 19
+f 14 19 20
+f 15 21 22
+f 15 22 23
+f 16 24 17
+f 17 19 18
+f 17 24 25
+f 17 25 26
+f 17 26 22
+f 17 22 19
+f 19 22 27
+f 19 27 20
+f 21 27 22
+f 22 26 23
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_149.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_149.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77532b1499809b7b273421af5b9f63c3a91dd74e
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_149.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.03583351 -0.00967973 0.02449097
+v -0.03725099 -0.00967973 0.02342530
+v -0.03734526 -0.00987531 0.02330859
+v -0.03583351 -0.01371020 0.02341557
+v -0.03583351 -0.00967973 0.01029684
+v -0.03734526 -0.00967973 0.02335027
+v -0.03734526 -0.01371020 0.02214983
+v -0.03636289 -0.01371020 0.02300431
+v -0.03583351 -0.01605966 0.02258332
+v -0.03734526 -0.00967973 0.01029684
+v -0.03583351 -0.03497167 0.01029684
+v -0.03734526 -0.01795853 0.02046587
+v -0.03583351 -0.01795853 0.02185110
+v -0.03734526 -0.03323619 0.01029684
+v -0.03583351 -0.03476866 0.01057194
+v -0.03633491 -0.03445672 0.01029684
+v -0.03734526 -0.02188254 0.01888195
+v -0.03583351 -0.02116954 0.02041446
+v -0.03634572 -0.03444434 0.01029684
+v -0.03583351 -0.03396157 0.01160288
+v -0.03734526 -0.03070353 0.01268244
+v -0.03734526 -0.02691073 0.01555851
+v -0.03583351 -0.02783912 0.01656443
+v -0.03583351 -0.02593529 0.01777738
+v -0.03583351 -0.02475685 0.01848875
+v -0.03583351 -0.02225885 0.01985592
+v -0.03583351 -0.03088921 0.01439002
+v -0.03589212 -0.03070353 0.01445949
+v -0.03734526 -0.02701223 0.01548765
+v -0.03583351 -0.03059707 0.01460399
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 13
+f 1 13 18
+f 1 18 26
+f 1 26 25
+f 1 25 24
+f 1 24 23
+f 1 23 30
+f 1 30 27
+f 1 27 20
+f 1 20 15
+f 1 15 11
+f 1 11 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 10
+f 3 10 14
+f 3 14 21
+f 3 21 29
+f 3 29 22
+f 3 22 17
+f 3 17 12
+f 3 12 7
+f 4 8 9
+f 5 11 16
+f 5 16 19
+f 5 19 14
+f 5 14 10
+f 7 9 8
+f 7 12 13
+f 7 13 9
+f 11 15 16
+f 12 17 13
+f 13 17 18
+f 14 19 20
+f 14 20 21
+f 15 20 16
+f 16 20 19
+f 17 22 23
+f 17 23 24
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 22 29 23
+f 23 29 30
+f 27 30 28
+f 28 30 29
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_15.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f87fc637364522b3f04bcc5454fcbf6627204e5b
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00558872 0.01049444 0.03932353
+v 0.00558872 0.01144133 0.03913237
+v 0.00419162 0.01508386 0.03888148
+v 0.00459291 0.01049444 0.03962221
+v 0.00558872 0.01049444 -0.01963682
+v 0.00558872 0.01582363 0.03816463
+v 0.00262466 0.01582363 0.03903082
+v 0.00138362 0.01178617 0.04026737
+v 0.00138362 0.01049444 0.04054814
+v 0.00504941 0.01582363 0.03837371
+v 0.00558447 0.01049444 -0.01963682
+v -0.00525684 0.01582363 -0.02021030
+v 0.00558872 0.01582363 -0.01965475
+v 0.00156410 0.01582363 0.03925184
+v -0.00286393 0.01178617 0.04053619
+v 0.00110335 0.01582363 0.03928171
+v -0.00286393 0.01049444 0.04081695
+v -0.00525684 0.01049444 -0.01942775
+v -0.00525684 0.01582363 0.03949677
+v -0.00286393 0.01582363 0.03948482
+v -0.00525684 0.01178617 0.04054216
+v -0.00525684 0.01049444 0.04070942
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 17
+f 1 17 22
+f 1 22 18
+f 1 18 11
+f 1 11 5
+f 1 5 13
+f 1 13 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 7
+f 5 11 12
+f 5 12 13
+f 6 13 12
+f 6 12 19
+f 6 19 20
+f 6 20 16
+f 6 16 14
+f 6 14 7
+f 6 7 10
+f 7 14 8
+f 8 15 17
+f 8 17 9
+f 8 14 16
+f 8 16 15
+f 11 18 12
+f 12 18 22
+f 12 22 21
+f 12 21 19
+f 15 16 20
+f 15 20 19
+f 15 19 21
+f 15 21 17
+f 17 21 22
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_150.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_150.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5620e326c0f21238c2c233f093cdc8653a07a013
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_150.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.01639577 0.02149225 -0.02260699
+v 0.01485890 0.02149225 -0.02223837
+v 0.01485890 0.03230374 -0.02379416
+v 0.01639577 0.03076648 -0.02390800
+v 0.01639577 0.02149225 0.02953655
+v 0.01485890 0.02149225 0.03122787
+v 0.01485890 0.03352530 -0.02390800
+v 0.01639577 0.03352530 -0.02415194
+v 0.01639577 0.02149579 0.03042558
+v 0.01542024 0.02149225 0.03078878
+v 0.01485890 0.02453379 0.03012201
+v 0.01485890 0.03352530 0.02621355
+v 0.01639577 0.03352530 0.02508058
+v 0.01639577 0.02870148 0.02759045
+v 0.01485890 0.02876980 0.02851200
+v 0.01485890 0.03262179 0.02682611
+v 0.01639577 0.03283972 0.02556304
+v 0.01639577 0.03326850 0.02526489
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 18
+f 1 18 17
+f 1 17 14
+f 1 14 9
+f 1 9 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 15
+f 2 15 16
+f 2 16 12
+f 2 12 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 6 10 9
+f 6 9 11
+f 7 12 13
+f 7 13 8
+f 9 14 15
+f 9 15 11
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 14 16 15
+f 14 17 16
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_151.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_151.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2962fa1f145bc8feb826007b9e9231932de05c24
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_151.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.03979046 0.00329006 0.02613928
+v 0.03979046 0.00327795 0.02613858
+v 0.04096388 0.00329006 0.02525576
+v 0.03979046 0.00753879 0.02574606
+v 0.03979046 0.00327795 0.01900476
+v 0.04096108 0.00327795 0.02525715
+v 0.04328954 0.00327795 0.02312902
+v 0.04328754 0.00329006 0.02313111
+v 0.04387305 0.00443581 0.02258284
+v 0.04387305 0.00753879 0.02243966
+v 0.04333110 0.00753879 0.02289714
+v 0.04069491 0.00753879 0.02502178
+v 0.04387305 0.01178753 0.02190536
+v 0.04305973 0.01178753 0.02254583
+v 0.03979046 0.01065873 0.02521455
+v 0.04353533 0.00327795 0.01900476
+v 0.03979046 0.02802428 0.01900476
+v 0.04387305 0.00327795 0.02256119
+v 0.04387305 0.00878144 0.02230556
+v 0.04387305 0.01603384 0.02082488
+v 0.04235032 0.01603384 0.02204016
+v 0.03979046 0.01178753 0.02501619
+v 0.03979046 0.01600235 0.02402861
+v 0.04387305 0.00328037 0.01900476
+v 0.03979046 0.02486801 0.02066913
+v 0.04105860 0.02621724 0.01900476
+v 0.04387305 0.01925309 0.01963894
+v 0.04131679 0.02125150 0.02122508
+v 0.03979046 0.02001612 0.02281822
+v 0.04387305 0.02073070 0.01900476
+v 0.04243785 0.02380219 0.01900476
+v 0.04387305 0.01998947 0.01936166
+v 0.04380271 0.02088331 0.01900476
+v 0.04331951 0.02192974 0.01900476
+f 1 2 3
+f 1 3 4
+f 1 4 15
+f 1 15 22
+f 1 22 23
+f 1 23 29
+f 1 29 25
+f 1 25 17
+f 1 17 5
+f 1 5 2
+f 2 5 16
+f 2 16 18
+f 2 18 7
+f 2 7 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
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+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 5 17 26
+f 5 26 31
+f 5 31 34
+f 5 34 33
+f 5 33 30
+f 5 30 24
+f 5 24 16
+f 7 18 9
+f 7 9 8
+f 9 18 24
+f 9 24 30
+f 9 30 32
+f 9 32 27
+f 9 27 20
+f 9 20 13
+f 9 13 19
+f 9 19 10
+f 10 19 11
+f 11 19 12
+f 12 19 13
+f 13 20 21
+f 13 21 14
+f 14 22 15
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+f 14 23 22
+f 16 24 18
+f 17 25 26
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+f 20 28 21
+f 21 28 29
+f 21 29 23
+f 25 28 26
+f 25 29 28
+f 26 28 31
+f 27 32 28
+f 28 32 31
+f 30 33 32
+f 31 32 34
+f 32 33 34
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_152.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_152.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50b7768a2ad3e9cc722d849758d6458ae1b5fad5
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_152.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.01319663 -0.01835272 -0.02288495
+v -0.01319663 -0.01612121 -0.02264761
+v -0.01096525 -0.01835272 -0.02284005
+v -0.01319663 -0.01835272 0.03626253
+v -0.01319663 -0.00762583 -0.02166621
+v -0.00369046 -0.01835272 -0.02257064
+v -0.01180178 -0.01835272 0.03748127
+v -0.01262436 -0.01370758 0.03805215
+v -0.01319663 -0.01514589 0.03714772
+v -0.01319663 -0.00367686 -0.02114022
+v -0.00369046 -0.00096365 -0.02020372
+v -0.00369046 -0.01835272 0.04081677
+v -0.00970812 -0.01835272 0.03880906
+v -0.01114391 -0.00945903 0.03990592
+v -0.01319663 -0.00945903 0.03847550
+v -0.01319663 -0.00993393 0.03837929
+v -0.01319663 -0.00096365 -0.02067197
+v -0.00369046 -0.00096365 0.04264489
+v -0.00369046 -0.00521049 0.04231134
+v -0.00711383 -0.00521049 0.04245887
+v -0.00714919 -0.01835272 0.03984819
+v -0.01177852 -0.00555943 0.04018816
+v -0.01319663 -0.00927010 0.03850758
+v -0.01319663 -0.00096365 0.03933504
+v -0.00711383 -0.00096365 0.04255508
+v -0.00369046 -0.00144876 0.04263206
+v -0.01136258 -0.00096365 0.04074621
+v -0.01319663 -0.00465559 0.03911053
+v -0.01319663 -0.00693987 0.03884113
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 21
+f 1 21 13
+f 1 13 7
+f 1 7 4
+f 1 4 9
+f 1 9 16
+f 1 16 15
+f 1 15 23
+f 1 23 29
+f 1 29 28
+f 1 28 24
+f 1 24 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 8
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 18
+f 6 18 26
+f 6 26 19
+f 6 19 12
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 10 17 11
+f 11 17 24
+f 11 24 27
+f 11 27 25
+f 11 25 18
+f 12 19 20
+f 12 20 21
+f 13 21 20
+f 13 20 14
+f 14 22 15
+f 14 20 22
+f 15 22 23
+f 18 25 20
+f 18 20 26
+f 19 26 20
+f 20 25 27
+f 20 27 22
+f 22 24 28
+f 22 28 29
+f 22 29 23
+f 22 27 24
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_153.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_153.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef2dc14cf39ee96af1c89c225ccac4d0b90c33b6
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_153.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.04277789 0.01365606 -0.02402644
+v 0.04107950 0.01365606 -0.02398846
+v 0.04387305 0.01421533 -0.02407287
+v 0.04277789 0.01365606 0.01900406
+v 0.04107950 0.01603542 -0.02403066
+v 0.04277789 0.01599164 -0.02408131
+v 0.04387305 0.01603542 -0.02411508
+v 0.04107950 0.01365606 0.01900406
+v 0.04387305 0.01421533 0.01900406
+v 0.04107950 0.01883068 -0.02403489
+v 0.04277789 0.01971281 -0.02406865
+v 0.04387305 0.02028303 -0.02408553
+v 0.04107950 0.02474077 0.01900406
+v 0.04387305 0.02073176 0.01900406
+v 0.04107950 0.02017030 -0.02402644
+v 0.04277789 0.02028303 -0.02406443
+v 0.04277789 0.02137858 -0.02400956
+v 0.04107950 0.02453282 -0.02370145
+v 0.04387305 0.02453173 -0.02352417
+v 0.04187387 0.02474077 0.01900406
+v 0.04277789 0.02483599 0.01818523
+v 0.04107950 0.02474077 -0.02366768
+v 0.04331959 0.02193129 0.01900406
+v 0.04387305 0.02453173 0.01726089
+v 0.04107950 0.02028193 -0.02402222
+v 0.04107950 0.02307719 -0.02388716
+v 0.04277789 0.02483599 -0.02354528
+v 0.04356898 0.02483599 -0.02349463
+v 0.04387305 0.02483599 -0.02341444
+v 0.04243827 0.02380063 0.01900406
+v 0.04270789 0.02474077 0.01831186
+v 0.04387305 0.02483599 0.01709628
+v 0.04277789 0.02308047 0.01900406
+v 0.04277789 0.02447044 0.01837517
+v 0.04277789 0.02453282 0.01834562
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 2 8 13
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+f 2 22 18
+f 2 18 26
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+f 2 15 10
+f 2 10 5
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+f 3 14 9
+f 4 9 14
+f 4 14 23
+f 4 23 33
+f 4 33 30
+f 4 30 20
+f 4 20 13
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+f 5 10 7
+f 5 7 6
+f 7 10 11
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+f 10 15 11
+f 11 15 16
+f 11 16 12
+f 12 16 17
+f 12 17 18
+f 12 18 19
+f 13 20 21
+f 13 21 27
+f 13 27 22
+f 14 24 23
+f 15 25 16
+f 16 25 26
+f 16 26 17
+f 17 26 18
+f 18 22 27
+f 18 27 19
+f 19 27 28
+f 19 28 29
+f 20 30 31
+f 20 31 21
+f 21 31 32
+f 21 32 29
+f 21 29 28
+f 21 28 27
+f 23 24 34
+f 23 34 33
+f 24 32 31
+f 24 31 35
+f 24 35 34
+f 30 33 34
+f 30 34 31
+f 31 34 35
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_154.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_154.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1ebf9e12bd5e81768a94e6cd841fa61ac9045f9
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_154.obj
@@ -0,0 +1,234 @@
+# https://github.com/mikedh/trimesh
+v -0.05449704 -0.03162545 -0.00601295
+v -0.05449704 -0.03110361 -0.00260841
+v -0.05615800 -0.03025984 -0.00447765
+v -0.05615800 -0.03049349 -0.00601295
+v -0.05615800 -0.03049349 -0.00606997
+v -0.05615800 -0.03049090 -0.00831387
+v -0.05449704 -0.03162285 -0.00614327
+v -0.05615800 -0.02971203 -0.00199347
+v -0.05449704 -0.03089331 -0.00165954
+v -0.05615800 -0.03042080 -0.01026049
+v -0.05449704 -0.03147746 -0.01026049
+v -0.05615800 -0.02965492 -0.00173691
+v -0.05449704 -0.02952251 0.00186311
+v -0.05615800 -0.02877220 0.00075541
+v -0.05615800 -0.03039484 -0.01037044
+v -0.05449704 -0.03142294 -0.01048854
+v -0.05449704 -0.02901365 0.00285271
+v -0.05529094 -0.02801670 0.00356945
+v -0.05615800 -0.02873326 0.00083279
+v -0.05615800 -0.02987819 -0.01252068
+v -0.05615800 -0.02934078 -0.01468721
+v -0.05449704 -0.03035590 -0.01460983
+v -0.05449704 -0.02711582 0.00567082
+v -0.05615800 -0.02747929 0.00314592
+v -0.05615800 -0.02551135 0.00595182
+v -0.05615800 -0.02837758 -0.01616550
+v -0.05449704 -0.02895134 -0.01705736
+v -0.05449704 -0.02634993 0.00669707
+v -0.05615800 -0.02450921 0.00718576
+v -0.05615800 -0.02805565 -0.01665419
+v -0.05615800 -0.02642003 -0.01867411
+v -0.05449704 -0.02686398 -0.01907321
+v -0.05449704 -0.02579694 0.00737717
+v -0.05560277 -0.02392766 0.00849301
+v -0.05615800 -0.02365246 0.00814278
+v -0.05449704 -0.02669263 -0.01923203
+v -0.05615800 -0.02535558 -0.01965149
+v -0.05449704 -0.02285542 0.01008126
+v -0.05615800 -0.02361352 0.00818351
+v -0.05615800 -0.02136260 0.00984913
+v -0.05615800 -0.02526212 -0.01973701
+v -0.05449704 -0.02433527 -0.02079992
+v -0.05449704 -0.02200386 0.01067176
+v -0.05615800 -0.01626103 0.01337177
+v -0.05615800 -0.02185848 -0.02191576
+v -0.05449704 -0.02219339 -0.02209494
+v -0.05449704 -0.01724240 0.01386046
+v -0.05449704 -0.01441512 0.01508219
+v -0.05615800 -0.01600141 0.01348173
+v -0.05615800 -0.02024103 -0.02253884
+v -0.05449704 -0.02173126 -0.02227413
+v -0.05449704 -0.01353760 0.01544056
+v -0.05615800 -0.01364145 0.01445504
+v -0.05615800 -0.01398934 0.01431250
+v -0.05615800 -0.01999180 -0.02263250
+v -0.05615800 -0.01795896 -0.02326780
+v -0.05449704 -0.01795896 -0.02345106
+v -0.05449704 -0.00943817 0.01654012
+v -0.05615800 -0.00959394 0.01561568
+v -0.05615800 -0.01565351 -0.02358545
+v -0.05449704 -0.01731250 -0.02354066
+v -0.05615800 -0.00634348 0.01636908
+v -0.05449704 -0.00521153 0.01743605
+v -0.05539239 -0.00521153 0.01703695
+v -0.05615800 -0.01370895 -0.02380944
+v -0.05449704 -0.01370895 -0.02396012
+v -0.05615800 -0.00521153 0.01661749
+v -0.05449704 -0.00510249 0.01744419
+v -0.05540247 -0.00510249 0.01704510
+v -0.05615800 -0.01140351 -0.02392754
+v -0.05449704 -0.01306509 -0.02399269
+v -0.05615800 -0.00510249 0.01662971
+v -0.05449704 -0.00510249 -0.02413523
+v -0.05615800 -0.00946154 -0.02400084
+v -0.05449704 -0.00881508 -0.02415966
+v -0.05449704 -0.00946154 -0.02413523
+v -0.05615800 -0.00510249 -0.02407414
+v -0.05615800 -0.00750139 -0.02407414
+v -0.05615800 -0.00715610 -0.02408636
+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 16
+f 1 16 22
+f 1 22 27
+f 1 27 32
+f 1 32 36
+f 1 36 42
+f 1 42 46
+f 1 46 51
+f 1 51 57
+f 1 57 61
+f 1 61 66
+f 1 66 71
+f 1 71 76
+f 1 76 75
+f 1 75 73
+f 1 73 68
+f 1 68 63
+f 1 63 58
+f 1 58 52
+f 1 52 48
+f 1 48 47
+f 1 47 43
+f 1 43 38
+f 1 38 33
+f 1 33 28
+f 1 28 23
+f 1 23 17
+f 1 17 13
+f 1 13 9
+f 1 9 2
+f 2 8 3
+f 2 9 8
+f 3 8 12
+f 3 12 14
+f 3 14 19
+f 3 19 24
+f 3 24 25
+f 3 25 29
+f 3 29 35
+f 3 35 39
+f 3 39 40
+f 3 40 44
+f 3 44 49
+f 3 49 54
+f 3 54 53
+f 3 53 59
+f 3 59 62
+f 3 62 67
+f 3 67 72
+f 3 72 77
+f 3 77 79
+f 3 79 78
+f 3 78 74
+f 3 74 70
+f 3 70 65
+f 3 65 60
+f 3 60 56
+f 3 56 55
+f 3 55 50
+f 3 50 45
+f 3 45 41
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+f 3 37 31
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+f 3 30 26
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+f 3 10 6
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+f 3 5 4
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+f 9 14 12
+f 10 15 11
+f 11 15 16
+f 13 17 18
+f 13 18 19
+f 13 19 14
+f 15 20 16
+f 16 20 21
+f 16 21 22
+f 17 23 18
+f 18 24 19
+f 18 23 25
+f 18 25 24
+f 21 26 27
+f 21 27 22
+f 23 28 25
+f 25 28 29
+f 26 30 27
+f 27 30 31
+f 27 31 32
+f 28 33 29
+f 29 33 34
+f 29 34 35
+f 31 36 32
+f 31 37 36
+f 33 38 34
+f 34 39 35
+f 34 38 40
+f 34 40 39
+f 36 37 41
+f 36 41 42
+f 38 43 40
+f 40 43 44
+f 41 45 42
+f 42 45 46
+f 43 47 44
+f 44 47 48
+f 44 48 49
+f 45 50 51
+f 45 51 46
+f 48 52 53
+f 48 53 54
+f 48 54 49
+f 50 55 51
+f 51 55 56
+f 51 56 57
+f 52 58 59
+f 52 59 53
+f 56 60 61
+f 56 61 57
+f 58 62 59
+f 58 63 64
+f 58 64 62
+f 60 65 66
+f 60 66 61
+f 62 64 67
+f 63 68 69
+f 63 69 64
+f 64 69 67
+f 65 70 66
+f 66 70 71
+f 67 69 72
+f 68 73 77
+f 68 77 72
+f 68 72 69
+f 70 74 75
+f 70 75 76
+f 70 76 71
+f 73 75 77
+f 74 78 75
+f 75 78 79
+f 75 79 77
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_155.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_155.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10ac40dfeaf56fe07422dcba7ae1fb43351333a3
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_155.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.05897702 0.02770322 -0.00137108
+v -0.05897702 0.02783090 -0.00165187
+v -0.06073529 0.02699608 -0.00253237
+v -0.06073529 0.02643135 -0.00137108
+v -0.05897702 -0.02174778 -0.00137108
+v -0.05897702 0.02832197 -0.00484734
+v -0.06068779 0.02704519 -0.00256900
+v -0.06073529 0.02701572 -0.00263920
+v -0.06073529 -0.02174778 -0.00137108
+v -0.05897702 -0.02174778 -0.01695931
+v -0.05897702 0.02842019 -0.00601321
+v -0.06073529 0.02708447 -0.00335947
+v -0.06073529 -0.02174778 -0.01695931
+v -0.05897702 0.02441795 -0.01695931
+v -0.05897702 0.02815501 -0.00893095
+v -0.06073529 0.02728090 -0.00625585
+v -0.06073529 0.02730054 -0.00601321
+v -0.06073529 0.02363223 -0.01695931
+v -0.05897702 0.02591572 -0.01525780
+v -0.05897702 0.02800278 -0.01026164
+v -0.06057936 0.02693224 -0.01026164
+v -0.06073529 0.02706483 -0.00816337
+v -0.06073529 0.02506616 -0.01472828
+v -0.05897702 0.02599429 -0.01512657
+v -0.05897702 0.02698135 -0.01329993
+v -0.06026732 0.02668670 -0.01244841
+v -0.06073529 0.02681929 -0.01026164
+v -0.06073529 0.02612688 -0.01288943
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 10
+f 1 10 14
+f 1 14 19
+f 1 19 24
+f 1 24 25
+f 1 25 20
+f 1 20 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 12
+f 3 12 17
+f 3 17 16
+f 3 16 22
+f 3 22 27
+f 3 27 28
+f 3 28 23
+f 3 23 18
+f 3 18 13
+f 3 13 9
+f 3 9 4
+f 5 9 13
+f 5 13 10
+f 6 11 12
+f 6 12 7
+f 7 12 8
+f 10 13 18
+f 10 18 14
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 14 18 19
+f 15 20 21
+f 15 21 16
+f 16 21 22
+f 18 23 19
+f 19 23 24
+f 20 25 26
+f 20 26 21
+f 21 26 27
+f 21 27 22
+f 23 28 24
+f 24 28 26
+f 24 26 25
+f 26 28 27
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_156.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_156.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c851a301c2bf75e232029126a75e310aeede910
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_156.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00496378 0.04729081 -0.02409588
+v -0.00711349 0.04729081 -0.02387727
+v -0.00496378 0.05002686 -0.02384471
+v -0.00496378 0.04729081 0.02342020
+v -0.00720430 0.04729081 -0.02386332
+v -0.00720430 0.05002686 -0.02353309
+v -0.00537789 0.05114635 -0.02341216
+v -0.00496378 0.05114635 -0.02346797
+v -0.00496378 0.04813363 0.02267137
+v -0.00711349 0.04836198 0.02207137
+v -0.00720430 0.04729081 0.02300160
+v -0.00720430 0.05114635 -0.02315170
+v -0.00716614 0.05114635 -0.02316100
+v -0.00496378 0.05114635 0.01902952
+v -0.00496378 0.04854127 0.02230858
+v -0.00689240 0.05114635 0.01880627
+v -0.00720430 0.05074890 0.01921092
+v -0.00720430 0.04835103 0.02205742
+v -0.00720430 0.04751123 0.02280625
+v -0.00720430 0.05114635 0.01871790
+v -0.00496378 0.05079609 0.01951324
+v -0.00720430 0.05077570 0.01917836
+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 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 4 10 11
+f 5 11 19
+f 5 19 18
+f 5 18 17
+f 5 17 22
+f 5 22 20
+f 5 20 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 7 13 12
+f 7 12 20
+f 7 20 16
+f 7 16 14
+f 7 14 8
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 14 16 21
+f 15 21 16
+f 16 20 22
+f 16 22 17
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_157.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_157.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8db7c7060d58c9f29b67c757d02cacb5e1449ca1
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_157.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.02647864 0.03385861 0.02045178
+v 0.02686474 0.03369945 0.02045178
+v 0.02647864 0.03726873 0.01822130
+v 0.02647864 0.01256149 0.02045178
+v 0.02733949 0.03348272 0.02045178
+v 0.02733949 0.03921253 0.01609289
+v 0.02647864 0.04072286 0.01509598
+v 0.02733949 0.03689622 0.01818285
+v 0.02647864 0.01256149 0.00534135
+v 0.02733949 0.01256149 0.02045178
+v 0.02733949 0.04082784 0.01449546
+v 0.02647864 0.04108183 0.01474247
+v 0.02733949 0.01256149 0.00534135
+v 0.02647864 0.04715704 0.00534135
+v 0.02733949 0.04250750 0.01257264
+v 0.02647864 0.04145433 0.01431649
+v 0.02733949 0.04644251 0.00534135
+v 0.02647864 0.04696063 0.00574070
+v 0.02733949 0.04603953 0.00655421
+v 0.02733949 0.04315769 0.01175914
+v 0.02647864 0.04427521 0.01079329
+v 0.02647864 0.04429891 0.01075483
+v 0.02733949 0.04417362 0.01032146
+v 0.02733949 0.04415668 0.01034808
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 16
+f 1 16 21
+f 1 21 22
+f 1 22 18
+f 1 18 14
+f 1 14 9
+f 1 9 4
+f 1 4 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 5 8
+f 3 8 6
+f 4 9 13
+f 4 13 10
+f 5 10 13
+f 5 13 17
+f 5 17 19
+f 5 19 23
+f 5 23 24
+f 5 24 20
+f 5 20 15
+f 5 15 11
+f 5 11 6
+f 5 6 8
+f 6 11 12
+f 6 12 7
+f 9 14 17
+f 9 17 13
+f 11 15 16
+f 11 16 12
+f 14 18 19
+f 14 19 17
+f 15 20 21
+f 15 21 16
+f 18 22 23
+f 18 23 19
+f 20 24 21
+f 21 24 23
+f 21 23 22
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_158.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_158.obj
new file mode 100644
index 0000000000000000000000000000000000000000..506f8e96c0a4cff917167e4025f71f237db32801
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_158.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v -0.00720492 0.03466734 -0.02425478
+v -0.00915390 0.03466734 -0.02419926
+v -0.01132558 0.03506840 -0.02429919
+v -0.00720492 0.03728194 -0.02466003
+v -0.00720492 0.03466734 0.03205393
+v -0.00915390 0.03466734 0.03173195
+v -0.01132558 0.03728065 -0.02447128
+v -0.00915431 0.03728065 -0.02457121
+v -0.01132558 0.03506840 0.03117125
+v -0.00915390 0.03728194 -0.02457121
+v -0.00915390 0.03932194 -0.02449349
+v -0.00720492 0.04161775 -0.02445463
+v -0.00720492 0.03664950 0.03099360
+v -0.00915390 0.03632171 0.03086037
+v -0.01132558 0.03604662 0.03066051
+v -0.01132558 0.04152777 -0.02430474
+v -0.00915390 0.04152777 -0.02438801
+v -0.01132558 0.04574018 -0.02409933
+v -0.00915431 0.04577746 -0.02407713
+v -0.00720492 0.04577618 -0.02406047
+v -0.00720492 0.03872935 0.02972786
+v -0.00915431 0.03848126 0.02945029
+v -0.01132558 0.03815347 0.02917271
+v -0.01132558 0.04577746 -0.02409378
+v -0.00720492 0.04722745 -0.02387172
+v -0.00720492 0.03973714 0.02901172
+v -0.00915390 0.04025518 0.02819010
+v -0.00902924 0.04358449 0.02579741
+v -0.00915431 0.04344823 0.02586403
+v -0.01132558 0.04107144 0.02702429
+v -0.01132558 0.04779947 -0.02357749
+v -0.00915431 0.04779947 -0.02355529
+v -0.00720492 0.04722745 0.02305498
+v -0.00720492 0.04226947 0.02719638
+v -0.00741350 0.04191212 0.02741289
+v -0.00915390 0.04356135 0.02578076
+v -0.00720492 0.04384929 0.02602502
+v -0.00741350 0.04555893 0.02449281
+v -0.00992768 0.04779947 0.02190582
+v -0.00994786 0.04779947 0.02190027
+v -0.01124247 0.04602427 0.02307718
+v -0.01132558 0.04317443 0.02544767
+v -0.01132558 0.04779947 0.02151166
+v -0.00915431 0.04779947 0.02207792
+v -0.00723518 0.04722745 0.02304943
+v -0.00720492 0.04560264 0.02450391
+v -0.01132558 0.04402668 0.02473153
+v -0.00720492 0.04529028 0.02477594
+v -0.00957347 0.04779947 0.02198909
+v -0.01132558 0.04612196 0.02296615
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 20
+f 1 20 25
+f 1 25 33
+f 1 33 46
+f 1 46 48
+f 1 48 37
+f 1 37 34
+f 1 34 26
+f 1 26 21
+f 1 21 13
+f 1 13 5
+f 1 5 6
+f 1 6 2
+f 2 6 9
+f 2 9 3
+f 3 7 8
+f 3 8 4
+f 3 9 15
+f 3 15 23
+f 3 23 30
+f 3 30 42
+f 3 42 47
+f 3 47 50
+f 3 50 43
+f 3 43 31
+f 3 31 24
+f 3 24 18
+f 3 18 16
+f 3 16 7
+f 4 8 10
+f 4 10 11
+f 4 11 12
+f 5 13 14
+f 5 14 15
+f 5 15 9
+f 5 9 6
+f 7 11 10
+f 7 10 8
+f 7 16 11
+f 11 16 17
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 13 21 15
+f 13 15 14
+f 15 21 22
+f 15 22 23
+f 16 18 17
+f 18 24 25
+f 18 25 19
+f 19 25 20
+f 21 26 27
+f 21 27 22
+f 22 27 23
+f 23 27 28
+f 23 28 29
+f 23 29 30
+f 24 31 25
+f 25 31 32
+f 25 32 44
+f 25 44 33
+f 26 34 35
+f 26 35 27
+f 27 35 28
+f 28 36 29
+f 28 35 37
+f 28 37 38
+f 28 38 39
+f 28 39 40
+f 28 40 41
+f 28 41 36
+f 29 36 30
+f 30 36 42
+f 31 43 40
+f 31 40 39
+f 31 39 49
+f 31 49 44
+f 31 44 32
+f 33 44 45
+f 33 45 46
+f 34 37 35
+f 36 41 47
+f 36 47 42
+f 37 48 38
+f 38 48 46
+f 38 46 39
+f 39 46 45
+f 39 45 49
+f 40 43 41
+f 41 43 50
+f 41 50 47
+f 44 49 45
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_159.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_159.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64455b2bef5d8e2384243f482f79674eefb87a98
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_159.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v -0.05449704 -0.00510249 -0.02413091
+v -0.05615800 -0.00510249 -0.02407312
+v -0.05615800 0.00134810 -0.02430841
+v -0.05449704 -0.00456051 -0.02414742
+v -0.05449704 -0.00510249 0.01743687
+v -0.05615800 -0.00510249 0.01662367
+v -0.05615800 0.00329284 -0.02435794
+v -0.05449704 0.00329284 -0.02434143
+v -0.05449704 -0.00095796 0.01775471
+v -0.05579072 -0.00095796 0.01727588
+v -0.05540198 -0.00510249 0.01704059
+v -0.05615800 -0.00163100 0.01699931
+v -0.05615800 0.00559181 -0.02439922
+v -0.05449704 0.00754010 -0.02438271
+v -0.05449704 0.00136935 0.01775471
+v -0.05554928 0.00329284 0.01713553
+v -0.05615800 0.00329284 0.01682594
+v -0.05615800 -0.00095796 0.01706949
+v -0.05615800 0.00754010 -0.02441573
+v -0.05449704 0.01178735 -0.02430015
+v -0.05449704 0.00329284 0.01763501
+v -0.05488919 0.00754010 0.01685484
+v -0.05615800 0.00754010 0.01624391
+v -0.05615800 0.01178735 -0.02425887
+v -0.05449704 0.01603107 -0.02375940
+v -0.05449704 0.00754010 0.01703646
+v -0.05615800 0.01165983 0.01504270
+v -0.05449704 0.00787308 0.01694565
+v -0.05615800 0.01603107 -0.02360667
+v -0.05449704 0.02029604 -0.02234354
+v -0.05449704 0.01157127 0.01578984
+v -0.05615800 0.01541116 0.01371352
+v -0.05615800 0.02033500 -0.02199267
+v -0.05449704 0.02297404 -0.02110930
+v -0.05449704 0.01675725 0.01375892
+v -0.05561383 0.01790496 0.01298701
+v -0.05615800 0.01674662 0.01322643
+v -0.05615800 0.02172714 -0.02123314
+v -0.05615800 0.02222306 -0.02096069
+v -0.05599883 0.02241435 -0.02088639
+v -0.05449704 0.02513132 -0.01949117
+v -0.05449704 0.01822731 0.01314800
+v -0.05449704 0.01955215 0.01245451
+v -0.05615800 0.02321138 0.00951959
+v -0.05615800 0.01757552 0.01282602
+v -0.05615800 0.02459997 -0.01894629
+v -0.05449704 0.02722838 -0.01732403
+v -0.05449704 0.02355852 0.00986220
+v -0.05615800 0.02355852 0.00916872
+v -0.05615800 0.02654117 -0.01680805
+v -0.05606988 0.02670411 -0.01668834
+v -0.05449704 0.02915541 -0.01445515
+v -0.05449704 0.02518445 0.00819041
+v -0.05615800 0.02701938 0.00521008
+v -0.05615800 0.02673245 -0.01655625
+v -0.05615800 0.02818481 -0.01428591
+v -0.05449704 0.03090532 -0.01025710
+v -0.05449704 0.02734528 0.00555682
+v -0.05615800 0.02723546 0.00478491
+v -0.05449704 0.02859572 0.00312550
+v -0.05615800 0.02982845 -0.01025710
+v -0.05615800 0.02995598 -0.00886600
+v -0.05615800 0.03007996 -0.00600951
+v -0.05449704 0.03108598 -0.00600951
+v -0.05615800 0.02727797 0.00467346
+v -0.05449704 0.02882951 0.00248155
+v -0.05615800 0.02807500 0.00248155
+v -0.05615800 0.02989576 -0.00480416
+v -0.05615800 0.02923334 -0.00150186
+v -0.05615800 0.02921563 -0.00141517
+v -0.05449704 0.03004099 -0.00142343
+v -0.05449704 0.02986033 -0.00077122
+v -0.05615800 0.02851779 0.00108632
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 20
+f 1 20 25
+f 1 25 30
+f 1 30 34
+f 1 34 41
+f 1 41 47
+f 1 47 52
+f 1 52 57
+f 1 57 64
+f 1 64 71
+f 1 71 72
+f 1 72 66
+f 1 66 60
+f 1 60 58
+f 1 58 53
+f 1 53 48
+f 1 48 43
+f 1 43 42
+f 1 42 35
+f 1 35 31
+f 1 31 28
+f 1 28 26
+f 1 26 21
+f 1 21 15
+f 1 15 9
+f 1 9 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 18
+f 2 18 17
+f 2 17 23
+f 2 23 27
+f 2 27 32
+f 2 32 37
+f 2 37 45
+f 2 45 44
+f 2 44 49
+f 2 49 54
+f 2 54 59
+f 2 59 65
+f 2 65 67
+f 2 67 73
+f 2 73 70
+f 2 70 69
+f 2 69 68
+f 2 68 63
+f 2 63 62
+f 2 62 61
+f 2 61 56
+f 2 56 55
+f 2 55 50
+f 2 50 46
+f 2 46 39
+f 2 39 38
+f 2 38 33
+f 2 33 29
+f 2 29 24
+f 2 24 19
+f 2 19 13
+f 2 13 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 6 11 10
+f 6 10 12
+f 7 13 8
+f 8 13 14
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 12
+f 13 19 14
+f 14 19 20
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 19 24 20
+f 20 24 25
+f 21 26 22
+f 22 27 23
+f 22 26 28
+f 22 28 27
+f 24 29 25
+f 25 29 30
+f 27 28 31
+f 27 31 32
+f 29 33 30
+f 30 33 34
+f 31 35 36
+f 31 36 37
+f 31 37 32
+f 33 38 34
+f 34 38 39
+f 34 39 40
+f 34 40 41
+f 35 42 36
+f 36 43 44
+f 36 44 45
+f 36 45 37
+f 36 42 43
+f 39 46 41
+f 39 41 40
+f 41 46 47
+f 43 48 44
+f 44 48 49
+f 46 50 47
+f 47 50 51
+f 47 51 52
+f 48 53 49
+f 49 53 54
+f 50 55 51
+f 51 55 52
+f 52 55 56
+f 52 56 57
+f 53 58 54
+f 54 58 60
+f 54 60 59
+f 56 61 57
+f 57 61 62
+f 57 62 63
+f 57 63 64
+f 59 60 65
+f 60 66 67
+f 60 67 65
+f 63 68 64
+f 64 68 69
+f 64 69 70
+f 64 70 71
+f 66 72 73
+f 66 73 67
+f 70 72 71
+f 70 73 72
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_16.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a203897acc1fb8c5e02c8ac08a5d7dea0d58d72
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,408 @@
+# https://github.com/mikedh/trimesh
+v 0.01838528 -0.05246964 -0.00601277
+v 0.01838528 -0.05180657 -0.01025755
+v 0.02293430 -0.05058372 -0.01055331
+v 0.02538756 -0.05011057 -0.00933739
+v 0.02262980 -0.05121014 -0.00601277
+v 0.01838528 -0.05226639 -0.00176252
+v 0.01838528 -0.05054707 -0.01399295
+v 0.02171999 -0.05014389 -0.01322615
+v 0.02455296 -0.04976737 -0.01216907
+v 0.03097830 -0.04680854 -0.01020278
+v 0.02784206 -0.04924757 -0.00601277
+v 0.02571795 -0.05024052 -0.00601277
+v 0.02683363 -0.04905765 -0.01055331
+v 0.02305265 -0.05071700 -0.00134078
+v 0.02190121 -0.05038713 0.00248773
+v 0.01838528 -0.05136674 0.00248773
+v 0.02540482 -0.05009058 -0.00247455
+v 0.01838528 -0.04955079 -0.01611808
+v 0.02293430 -0.04917427 -0.01458996
+v 0.02711964 -0.04716506 -0.01473236
+v 0.02989590 -0.04617878 -0.01346167
+v 0.03097830 -0.04746827 -0.00601277
+v 0.03097830 -0.04657196 -0.01081621
+v 0.03097830 -0.04713174 -0.00229928
+v 0.02684350 -0.04930089 -0.00134078
+v 0.02475021 -0.04982068 0.00035713
+v 0.02402656 -0.04956079 0.00248773
+v 0.02095319 -0.04999062 0.00496887
+v 0.01838528 -0.05031049 0.00548372
+v 0.01838528 -0.04708842 -0.01896070
+v 0.02262980 -0.04692849 -0.01805150
+v 0.02586342 -0.04625875 -0.01738329
+v 0.02869639 -0.04537243 -0.01629334
+v 0.03097830 -0.04463606 -0.01489120
+v 0.03097830 -0.04486596 -0.01448589
+v 0.03097830 -0.04707176 -0.00173514
+v 0.03030396 -0.04654864 0.00248773
+v 0.02687802 -0.04840791 0.00248773
+v 0.02698034 -0.04676855 0.00674894
+v 0.02247446 -0.04876110 0.00652437
+v 0.02262980 -0.04663527 0.01032002
+v 0.01838528 -0.04912762 0.00760885
+v 0.01838528 -0.04668858 -0.01935506
+v 0.01936165 -0.04519584 -0.02060385
+v 0.02262980 -0.04472602 -0.02017663
+v 0.03097830 -0.04250023 -0.01780503
+v 0.02572165 -0.04198710 -0.02132682
+v 0.02720841 -0.04367976 -0.01901000
+v 0.03097830 -0.04672190 -0.00009747
+v 0.03097830 -0.04605550 0.00248773
+v 0.03097830 -0.04548905 0.00392274
+v 0.02954086 -0.04596886 0.00534131
+v 0.03097830 -0.04626875 0.00178118
+v 0.02846462 -0.04518250 0.00817299
+v 0.02563289 -0.04610214 0.00958061
+v 0.02507443 -0.04153727 0.01766485
+v 0.02262980 -0.04190379 0.01799896
+v 0.01838528 -0.04473268 0.01489890
+v 0.01838528 -0.04677855 0.01156881
+v 0.01838528 -0.04906431 0.00771839
+v 0.01838528 -0.04397965 -0.02147471
+v 0.01838528 -0.04358646 -0.02171022
+v 0.02262980 -0.04260019 -0.02163902
+v 0.03097830 -0.04236695 -0.01792553
+v 0.02262980 -0.03920152 -0.02296996
+v 0.02703335 -0.03939145 -0.02197313
+v 0.03036067 -0.03810195 -0.02142541
+v 0.02855339 -0.04093417 -0.02063123
+v 0.03097830 -0.04422621 0.00670512
+v 0.03097830 -0.04418956 0.00677632
+v 0.03097830 -0.04198043 0.01048434
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+v 0.02952483 -0.03759882 0.01787298
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_160.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_160.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da0b4ebd98edbaa50ec4d81aa2c3782a8afca261
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_160.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.02882389 0.04790574 -0.00212245
+v 0.03062040 0.04677872 -0.00212245
+v 0.02882389 0.04822396 -0.00320054
+v 0.02882389 0.00340807 -0.00212245
+v 0.03097932 0.04654889 -0.00212245
+v 0.02882389 0.04825932 -0.00333584
+v 0.02882389 0.00340807 -0.02278174
+v 0.03097932 0.00340807 -0.00212245
+v 0.03097932 0.04679198 -0.00601416
+v 0.02882389 0.04855986 -0.00598880
+v 0.02882389 0.04848914 -0.00530600
+v 0.02882389 0.04827258 -0.00343307
+v 0.03097932 0.00343901 -0.02283247
+v 0.03086453 0.00340807 -0.02282824
+v 0.02882389 0.01833344 -0.02351315
+v 0.03097932 0.00340807 -0.02283035
+v 0.03097932 0.04678313 -0.00655110
+v 0.02882389 0.04851124 -0.00831622
+v 0.03097932 0.01193370 -0.02321720
+v 0.02882389 0.02028695 -0.02359136
+v 0.03097932 0.04594781 -0.01013418
+v 0.02923915 0.04814441 -0.00875591
+v 0.02882389 0.04842285 -0.00904129
+v 0.03097932 0.02043722 -0.02354063
+v 0.02882389 0.02258079 -0.02366958
+v 0.03097932 0.04589477 -0.01028427
+v 0.02882389 0.04753891 -0.01152091
+v 0.02882389 0.02683697 -0.02371820
+v 0.03097932 0.02468457 -0.02354697
+v 0.03097932 0.04419760 -0.01353970
+v 0.02882389 0.04753007 -0.01154205
+v 0.02882389 0.03107547 -0.02346242
+v 0.03097932 0.02892749 -0.02328273
+v 0.03097932 0.04359210 -0.01450999
+v 0.02882389 0.04595223 -0.01450999
+v 0.02882389 0.03318810 -0.02298467
+v 0.03097932 0.03336489 -0.02227862
+v 0.03097932 0.04296892 -0.01539360
+v 0.02882389 0.04479427 -0.01609542
+v 0.02882389 0.03610069 -0.02230188
+v 0.03097932 0.03393503 -0.02214333
+v 0.03097932 0.04102867 -0.01771045
+v 0.02917310 0.04386171 -0.01683741
+v 0.02882389 0.04406059 -0.01704880
+v 0.02882389 0.03648078 -0.02216024
+v 0.03097932 0.03617582 -0.02132948
+v 0.03097932 0.03826193 -0.02005056
+v 0.02882389 0.04312361 -0.01801063
+v 0.02882389 0.03707303 -0.02193828
+v 0.02882389 0.03942431 -0.02087710
+v 0.03097932 0.03800116 -0.02022813
+v 0.02882389 0.04073697 -0.01997023
+f 1 2 3
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_161.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_161.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5d725094339a26f929cf6d150b3499bff0c592c
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_161.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.02406394 0.00341110 -0.02247036
+v 0.02251077 0.00341110 -0.02232544
+v 0.02206731 0.02934402 -0.02431532
+v 0.02262960 0.02877939 -0.02430417
+v 0.02406394 0.02734467 -0.02412581
+v 0.02406394 0.00341110 0.03236557
+v 0.02206731 0.00341110 -0.02228085
+v 0.02206731 0.03358956 -0.02438220
+v 0.02262960 0.03302801 -0.02436548
+v 0.02406394 0.03144519 -0.02419827
+v 0.02406394 0.02877939 -0.02415367
+v 0.02406394 0.00753938 0.03196983
+v 0.02206731 0.00699326 0.03222623
+v 0.02206731 0.00341110 0.03256066
+v 0.02206731 0.03492863 -0.02432089
+v 0.02227155 0.03492863 -0.02430974
+v 0.02262960 0.03492863 -0.02428745
+v 0.02406394 0.03159329 -0.02419827
+v 0.02206731 0.01178800 0.03151277
+v 0.02206731 0.00753938 0.03217049
+v 0.02406394 0.01178800 0.03125080
+v 0.02206731 0.03492863 0.02102828
+v 0.02365156 0.03492863 -0.02410909
+v 0.02406394 0.03492863 -0.02403662
+v 0.02206731 0.01582681 0.03061537
+v 0.02406394 0.01528995 0.03042586
+v 0.02206731 0.03427760 0.02147977
+v 0.02406394 0.03492863 0.02040400
+v 0.02206731 0.01655805 0.03044258
+v 0.02406394 0.01544731 0.03037569
+v 0.02206731 0.01966507 0.02945600
+v 0.02206731 0.03243870 0.02273389
+v 0.02406394 0.03202834 0.02236601
+v 0.02406394 0.01605513 0.03017503
+v 0.02406394 0.02015874 0.02874812
+v 0.02206731 0.02022662 0.02922190
+v 0.02206731 0.02862203 0.02516411
+v 0.02406394 0.02854798 0.02460672
+v 0.02406394 0.02452769 0.02678611
+v 0.02206731 0.02480846 0.02719858
+v 0.02406394 0.02704847 0.02555428
+v 0.02206731 0.02632957 0.02639594
+v 0.02406394 0.02608582 0.02608380
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+f 37 42 43
+f 37 43 41
+f 39 43 40
+f 40 43 42
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_162.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_162.obj
new file mode 100644
index 0000000000000000000000000000000000000000..090d3184a3c299d384870be8817c4aa9dcfddeea
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_162.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.04273006 -0.00516837 -0.02346766
+v -0.04273006 -0.00355962 -0.02352151
+v -0.04080591 -0.00516837 -0.02320287
+v -0.04273006 -0.00516837 0.02039309
+v -0.04273006 -0.00097256 -0.02359781
+v -0.04080591 -0.00126088 -0.02331955
+v -0.04080591 -0.00516837 0.02159586
+v -0.04080591 -0.00244414 0.02204017
+v -0.04080591 -0.00097256 0.02225110
+v -0.04273006 -0.00153195 0.02070276
+v -0.04080591 -0.00097256 -0.02331955
+v -0.04273006 -0.00097256 0.02070725
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 11
+f 3 11 9
+f 3 9 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 5 11 6
+f 5 12 9
+f 5 9 11
+f 9 12 10
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_163.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_163.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adb4729696d729c7d53c8c6f55d8ea09cd224cb6
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_163.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.02206731 0.03493054 -0.02432820
+v 0.02206731 0.03728140 -0.02423052
+v 0.02262960 0.03728140 -0.02419944
+v 0.02262960 0.03493054 -0.02429268
+v 0.02206731 0.03493054 0.02103478
+v 0.02206731 0.03784280 -0.02417723
+v 0.02206731 0.04153069 -0.02329804
+v 0.02262960 0.04153069 -0.02318259
+v 0.02406394 0.04033586 -0.02294725
+v 0.02406394 0.03739774 -0.02364439
+v 0.02406394 0.03584650 -0.02400406
+v 0.02406394 0.03493054 -0.02403958
+v 0.02406394 0.03493054 0.02040869
+v 0.02206731 0.03728140 0.01968046
+v 0.02206731 0.04209209 -0.02315594
+v 0.02206731 0.04556576 -0.02159737
+v 0.02406394 0.04455006 -0.02125102
+v 0.02406394 0.04153069 -0.02255205
+v 0.02406394 0.03968767 0.01754908
+v 0.02206731 0.04020290 0.01797979
+v 0.02206731 0.04573196 -0.02152188
+v 0.02206731 0.04584646 -0.02145528
+v 0.02206731 0.04738846 -0.02043843
+v 0.02406394 0.04573565 -0.02040290
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_164.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_164.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d881045d27c8fd1f4f47c2b6fc156acdd36f165f
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_164.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.01170870 -0.04638690 -0.02424968
+v -0.01237751 -0.04638690 -0.02395711
+v -0.01319663 -0.04564309 -0.02382454
+v -0.01319663 -0.04478260 -0.02408054
+v -0.01194582 -0.04478260 -0.02461996
+v -0.01170870 -0.04557933 -0.02448739
+v -0.01170870 -0.04638690 0.02012935
+v -0.01319663 -0.04638690 -0.02348626
+v -0.01319663 -0.04478260 0.02011564
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+v -0.01170870 -0.04497577 -0.02466110
+v -0.01170870 -0.04478386 0.02198533
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+v -0.01319663 -0.04638690 0.01764709
+v -0.01319663 -0.04510990 0.01968135
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+f 9 16 17
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+f 13 16 14
+f 14 16 15
+f 16 19 17
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_165.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_165.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7342569e729e1642db61f47e2c1469efbb98e587
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_165.obj
@@ -0,0 +1,225 @@
+# https://github.com/mikedh/trimesh
+v 0.03765482 -0.02817906 -0.02336176
+v 0.03962538 -0.02753362 -0.02355091
+v 0.03966688 -0.02753362 -0.02355091
+v 0.03979006 -0.02753362 -0.02354068
+v 0.03765482 -0.02817906 0.01855181
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+v 0.03962538 -0.02645416 -0.02374517
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+v 0.03532780 -0.02817906 0.02068865
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+v 0.03765482 -0.02220364 -0.02392920
+v 0.03962538 -0.02220364 -0.02395476
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+v 0.03979006 -0.02267322 0.01983494
+v 0.03765525 -0.02418859 0.02146056
+v 0.03748707 -0.02430832 0.02158325
+v 0.03532780 -0.02584614 0.02228871
+v 0.03532780 -0.02645229 0.02188997
+v 0.03532780 -0.02741576 0.02125608
+v 0.03532780 -0.02220364 -0.02389341
+v 0.03537672 -0.02220364 -0.02389852
+v 0.03537672 -0.01795874 -0.02399566
+v 0.03962538 -0.01795874 -0.02400588
+v 0.03979006 -0.01812337 -0.02400077
+v 0.03979006 -0.02220364 -0.02394965
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+v 0.03765525 -0.02366289 0.02175706
+v 0.03557811 -0.02254226 0.02392968
+v 0.03532780 -0.02263955 0.02407793
+v 0.03532780 -0.01795874 -0.02399054
+v 0.03532780 -0.01791010 -0.02399054
+v 0.03532780 -0.01371010 -0.02388319
+v 0.03765482 -0.01598876 -0.02394965
+v 0.03765482 -0.01371010 -0.02388319
+v 0.03962538 -0.01370823 -0.02387808
+v 0.03979006 -0.01387286 -0.02387297
+v 0.03979006 -0.01795874 0.02229894
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+v 0.03532780 -0.00906671 -0.00705437
+v 0.03765482 -0.00906671 0.02647547
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+v 0.03979006 -0.01242671 0.02404214
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_166.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_166.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bdebca94f769479a3e04b27350834655058d3c5
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_166.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
+v -0.00496355 0.02877598 -0.02273179
+v -0.00496355 0.02878032 -0.02280849
+v -0.00286487 0.02877598 -0.02257838
+v -0.00496355 0.02877598 0.03367381
+v -0.00496355 0.03303205 -0.02376431
+v -0.00286487 0.03727944 -0.02451954
+v -0.00260277 0.02878466 -0.02254298
+v -0.00260277 0.02877598 -0.02241908
+v -0.00260277 0.03727944 -0.02449004
+v -0.00286487 0.02877598 0.03541436
+v -0.00496355 0.02878032 0.03519605
+v -0.00496355 0.03727944 -0.02459034
+v -0.00286487 0.03995766 -0.02473784
+v -0.00260277 0.04154636 -0.02485585
+v -0.00260277 0.02877598 0.03522555
+v -0.00260277 0.02878249 0.03538486
+v -0.00260277 0.02903208 0.03530816
+v -0.00260277 0.03113082 0.03445263
+v -0.00286487 0.03112865 0.03445263
+v -0.00496355 0.03096587 0.03437003
+v -0.00496355 0.04152899 -0.02466114
+v -0.00286487 0.04152899 -0.02486175
+v -0.00260277 0.04578940 -0.02451364
+v -0.00286487 0.03325343 0.03339650
+v -0.00260277 0.03322087 0.03337880
+v -0.00496355 0.03109175 0.03430513
+v -0.00496355 0.04577638 -0.02427173
+v -0.00286487 0.05002594 -0.02413013
+v -0.00260277 0.04977851 -0.02418323
+v -0.00260277 0.03352472 0.03321950
+v -0.00260277 0.03776343 0.03099513
+v -0.00282905 0.03431690 0.03283009
+v -0.00271741 0.03762452 0.03106594
+v -0.00403509 0.03926965 0.03000981
+v -0.00496355 0.03848398 0.03030481
+v -0.00496355 0.05002594 -0.02384102
+v -0.00286487 0.05094834 -0.02385872
+v -0.00260277 0.05002594 -0.02415373
+v -0.00260277 0.03936949 0.03006881
+v -0.00260277 0.03995983 0.02966169
+v -0.00354995 0.03995983 0.02956729
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+v -0.00496355 0.05094834 -0.02352831
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+v -0.00260277 0.04455013 0.02632220
+v -0.00260277 0.04654252 0.02468195
+v -0.00286487 0.04653817 0.02467015
+v -0.00496355 0.04493862 0.02559648
+v -0.00496355 0.05094834 0.01930100
+v -0.00260277 0.05094834 0.01722414
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+v -0.00496355 0.04608674 0.02458165
+v -0.00286487 0.04871504 0.02254609
+v -0.00496355 0.04853924 0.02230419
+v -0.00496355 0.05079424 0.01950751
+v -0.00316534 0.05094834 0.01960191
+v -0.00260439 0.05094834 0.01965501
+v -0.00260277 0.05093749 0.01966681
+v -0.00260277 0.04872155 0.02255789
+v -0.00286487 0.05083982 0.01979662
+v -0.00286487 0.05094834 0.01964911
+v -0.00260277 0.05084633 0.01980252
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+f 1 15 10
+f 1 10 4
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+f 1 20 26
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+f 1 44 43
+f 1 43 53
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+f 42 49 48
+f 42 48 50
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+f 62 67 63
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_167.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_167.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fdcf28d408b13e1a680f0fff2320f876c58cde9
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_167.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.04107950 0.02474249 -0.02366891
+v 0.04107950 0.02732735 -0.02326373
+v 0.04277789 0.02562900 -0.02342246
+v 0.04277789 0.02474249 -0.02356030
+v 0.04107950 0.02474249 0.01900406
+v 0.04107950 0.02869562 -0.02278337
+v 0.04277789 0.02815930 -0.02253274
+v 0.04387305 0.02483730 -0.02341411
+v 0.04356898 0.02483730 -0.02348929
+v 0.04277789 0.02474249 0.01823130
+v 0.04187387 0.02474249 0.01900406
+v 0.04107950 0.02618003 0.01900406
+v 0.04277789 0.02869562 -0.02234060
+v 0.04387305 0.02869523 -0.02205656
+v 0.04107950 0.02869562 0.01749614
+v 0.04387305 0.02483730 0.01709096
+v 0.04270789 0.02474249 0.01831067
+v 0.04207595 0.02729910 0.01766322
+v 0.04107950 0.02790817 0.01809346
+v 0.04277789 0.02869562 0.01598821
+v 0.04387305 0.02869523 0.01497736
+v 0.04107950 0.02792713 0.01808093
+v 0.04365347 0.02869523 0.01521963
+v 0.04256706 0.02869562 0.01617618
+v 0.04387305 0.02857063 0.01507343
+v 0.04277789 0.02786560 0.01661060
+v 0.04380551 0.02869523 0.01505255
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 17
+f 1 17 11
+f 1 11 5
+f 1 5 12
+f 1 12 19
+f 1 19 22
+f 1 22 15
+f 1 15 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 8
+f 4 8 16
+f 4 16 10
+f 5 11 12
+f 6 13 14
+f 6 14 7
+f 6 15 24
+f 6 24 20
+f 6 20 13
+f 7 14 8
+f 8 14 21
+f 8 21 25
+f 8 25 16
+f 10 16 17
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 13 20 21
+f 13 21 14
+f 15 22 23
+f 15 23 24
+f 16 18 17
+f 16 25 18
+f 18 25 26
+f 18 26 23
+f 18 23 22
+f 18 22 19
+f 20 24 23
+f 20 23 27
+f 20 27 21
+f 21 27 25
+f 23 26 25
+f 23 25 27
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_168.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_168.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e027807cf5d77a2af591670aaa3341295d891723
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_168.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.03979019 0.00327902 -0.02371912
+v 0.03979019 0.00737392 -0.02386238
+v 0.04107950 0.00753811 -0.02386659
+v 0.04107950 0.00327902 -0.02371491
+v 0.03979019 0.00327902 0.01900406
+v 0.03979019 0.00753811 -0.02386659
+v 0.04107950 0.01178724 -0.02396771
+v 0.04107950 0.00327902 0.01900406
+v 0.03979019 0.02802251 0.01900406
+v 0.03979019 0.01178724 -0.02394664
+v 0.04107950 0.01215543 -0.02397614
+v 0.04107950 0.02617658 0.01900406
+v 0.03979019 0.02869172 0.01865014
+v 0.04105805 0.02621638 0.01900406
+v 0.04107950 0.02761452 0.01824987
+v 0.03979019 0.01603389 -0.02399721
+v 0.04107950 0.01603389 -0.02403512
+v 0.04107950 0.02623877 0.01897457
+v 0.04107950 0.02790807 0.01809398
+v 0.04107950 0.02869421 0.01749569
+v 0.03986149 0.02869421 0.01858272
+v 0.03979019 0.02869421 0.01864592
+v 0.03979019 0.02011883 -0.02400142
+v 0.04107950 0.01882767 -0.02403934
+v 0.04107950 0.02869421 -0.02278376
+v 0.03979019 0.02869421 -0.02311662
+v 0.03979019 0.02028302 -0.02400142
+v 0.04107950 0.02028302 -0.02402670
+v 0.04107950 0.02732593 -0.02326409
+v 0.03979019 0.02861460 -0.02314190
+v 0.03979019 0.02436547 -0.02380339
+v 0.04107950 0.02307680 -0.02389187
+v 0.04107950 0.02452967 -0.02369806
+v 0.03979019 0.02452967 -0.02378232
+v 0.04107950 0.02441771 -0.02371491
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 13
+f 1 13 22
+f 1 22 26
+f 1 26 30
+f 1 30 34
+f 1 34 31
+f 1 31 27
+f 1 27 23
+f 1 23 16
+f 1 16 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 11
+f 3 11 17
+f 3 17 24
+f 3 24 28
+f 3 28 32
+f 3 32 35
+f 3 35 33
+f 3 33 29
+f 3 29 25
+f 3 25 20
+f 3 20 19
+f 3 19 15
+f 3 15 18
+f 3 18 12
+f 3 12 8
+f 3 8 4
+f 5 8 12
+f 5 12 14
+f 5 14 9
+f 6 10 11
+f 6 11 7
+f 9 14 15
+f 9 15 13
+f 10 16 17
+f 10 17 11
+f 12 18 14
+f 13 15 19
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 14 18 15
+f 16 23 24
+f 16 24 17
+f 20 25 26
+f 20 26 22
+f 20 22 21
+f 23 27 24
+f 24 27 28
+f 25 29 26
+f 26 29 30
+f 27 31 32
+f 27 32 28
+f 29 33 34
+f 29 34 30
+f 31 34 32
+f 32 34 35
+f 33 35 34
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_169.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_169.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67cf953a66f2ce30f94bde6c28ab1d0de503f98b
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_169.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.00654950 -0.04348400 0.02559104
+v -0.00654950 -0.04478211 0.02559104
+v -0.00654950 -0.04348091 0.02473313
+v -0.00666467 -0.04127598 0.03085947
+v -0.00666467 -0.04292487 0.02918765
+v -0.00666467 -0.04348091 0.02837924
+v -0.00824056 -0.04478211 0.02559104
+v -0.00654950 -0.04478211 -0.02516855
+v -0.00654950 -0.04348091 -0.02525654
+v -0.00857565 -0.04127598 0.02949012
+v -0.00666467 -0.04127598 -0.02530604
+v -0.00718454 -0.04348091 0.02807127
+v -0.00713054 -0.04348091 0.02811527
+v -0.01090176 -0.04478211 0.02311080
+v -0.00728475 -0.04478211 -0.02523454
+v -0.00654950 -0.04393398 -0.02525104
+v -0.00913197 -0.04127598 0.02891818
+v -0.00666467 -0.04348091 -0.02526754
+v -0.00694445 -0.04127598 -0.02532253
+v -0.01298451 -0.04478211 0.02059757
+v -0.01156673 -0.04127598 0.02604199
+v -0.00900313 -0.04478211 -0.02524004
+v -0.00676422 -0.04348091 -0.02527304
+v -0.01026671 -0.04127598 -0.02528954
+v -0.00986396 -0.04348091 -0.02527854
+v -0.01020880 -0.04348091 -0.02527854
+v -0.01319663 -0.04457925 0.02037759
+v -0.01300078 -0.04478211 0.02056457
+v -0.01319663 -0.04127598 0.02371024
+v -0.00987241 -0.04478211 -0.02524004
+v -0.01135396 -0.04127598 -0.02509156
+v -0.01021661 -0.04345071 -0.02527854
+v -0.01228506 -0.04348091 -0.02485508
+v -0.01319663 -0.04478211 0.02011362
+v -0.01319663 -0.04127598 -0.02472860
+v -0.01087768 -0.04478211 -0.02503107
+v -0.01319663 -0.04234069 -0.02470660
+v -0.01230783 -0.04348091 -0.02484959
+v -0.01234166 -0.04345071 -0.02484408
+v -0.01319663 -0.04478211 -0.02407417
+v -0.01194541 -0.04478211 -0.02461861
+v -0.01319663 -0.04345071 -0.02447562
+v -0.01236118 -0.04348091 -0.02482759
+v -0.01286089 -0.04478211 -0.02422265
+f 1 2 8
+f 1 8 16
+f 1 16 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 14
+f 2 14 20
+f 2 20 28
+f 2 28 34
+f 2 34 40
+f 2 40 44
+f 2 44 41
+f 2 41 36
+f 2 36 30
+f 2 30 22
+f 2 22 15
+f 2 15 8
+f 3 9 11
+f 3 11 4
+f 4 10 5
+f 4 11 19
+f 4 19 24
+f 4 24 31
+f 4 31 35
+f 4 35 29
+f 4 29 21
+f 4 21 17
+f 4 17 10
+f 5 10 12
+f 5 12 7
+f 5 7 13
+f 5 13 6
+f 6 13 7
+f 7 12 10
+f 7 10 14
+f 8 15 16
+f 9 16 11
+f 10 17 14
+f 11 16 18
+f 11 18 19
+f 14 17 21
+f 14 21 20
+f 15 22 23
+f 15 23 16
+f 16 23 18
+f 18 23 19
+f 19 23 25
+f 19 25 26
+f 19 26 24
+f 20 27 28
+f 20 21 29
+f 20 29 27
+f 22 30 26
+f 22 26 25
+f 22 25 23
+f 24 26 32
+f 24 32 31
+f 26 30 33
+f 26 33 32
+f 27 34 28
+f 27 29 35
+f 27 35 37
+f 27 37 42
+f 27 42 40
+f 27 40 34
+f 30 36 33
+f 31 32 35
+f 32 33 37
+f 32 37 35
+f 33 36 38
+f 33 38 39
+f 33 39 37
+f 36 41 38
+f 37 39 42
+f 38 41 43
+f 38 43 39
+f 39 43 42
+f 40 42 44
+f 41 42 43
+f 41 44 42
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_17.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c24119e6d5baa2419b9b746857baf161b2212452
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.00525684 0.00624537 0.04147563
+v -0.00525684 0.01178521 0.04053872
+v -0.00711463 0.01178521 0.04054496
+v -0.00711463 0.00624537 0.04131323
+v -0.00525684 0.00624537 -0.01937993
+v -0.00525684 0.01582314 0.03949562
+v -0.00711463 0.01582314 0.03950811
+v -0.01084287 0.01582314 0.03896470
+v -0.01096303 0.01564408 0.03898969
+v -0.01136305 0.01178521 0.03972048
+v -0.01136305 0.00624537 0.04000155
+v -0.01661863 0.00624537 -0.02111634
+v -0.00525684 0.01582314 -0.02020441
+v -0.01114170 0.01582314 0.03885852
+v -0.01259473 0.01582314 0.03830886
+v -0.01350702 0.01396778 0.03861492
+v -0.01356711 0.01178521 0.03867114
+v -0.01371731 0.00624537 0.03880231
+v -0.02140937 0.00624537 -0.02154107
+v -0.02140937 0.01582314 -0.02233432
+v -0.01968439 0.01582314 -0.02214694
+v -0.01487152 0.01582314 0.03657870
+v -0.02140937 0.01582314 0.02975798
+v -0.01368885 0.00753728 0.03876483
+v -0.02140937 0.00624537 0.02962057
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 18
+f 1 18 25
+f 1 25 19
+f 1 19 12
+f 1 12 5
+f 1 5 13
+f 1 13 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 6 13 21
+f 6 21 20
+f 6 20 23
+f 6 23 22
+f 6 22 15
+f 6 15 14
+f 6 14 8
+f 6 8 7
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 15 22 16
+f 16 22 23
+f 16 23 17
+f 17 24 18
+f 17 23 24
+f 18 24 23
+f 18 23 25
+f 19 25 23
+f 19 23 20
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_170.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_170.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88c89a476763fc7d6175d342e5ae3fe7250a8538
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_170.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.05662122 -0.00990250 -0.02348949
+v 0.05661898 -0.00945895 -0.02348949
+v 0.05662163 -0.00526456 -0.02359142
+v 0.05869954 -0.00526456 -0.02357966
+v 0.05869954 -0.00990250 -0.02339540
+v 0.05661898 -0.00990250 -0.02178016
+v 0.05661898 -0.00526456 -0.01906327
+v 0.05869954 -0.00526456 0.01538595
+v 0.05869954 -0.00990250 0.01524481
+v 0.05661898 -0.00990250 0.01644840
+v 0.05661898 -0.00526456 0.01644448
+v 0.05661898 -0.00569313 0.01646016
+v 0.05661898 -0.00945895 0.01645232
+v 0.05869954 -0.00756673 0.01537419
+v 0.05869954 -0.00961966 0.01526441
+v 0.05869954 -0.00936770 0.01528010
+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 2
+f 2 6 10
+f 2 10 13
+f 2 13 12
+f 2 12 11
+f 2 11 7
+f 2 7 3
+f 3 7 11
+f 3 11 8
+f 3 8 4
+f 4 8 14
+f 4 14 16
+f 4 16 15
+f 4 15 9
+f 4 9 5
+f 8 11 12
+f 8 12 13
+f 8 13 14
+f 9 15 10
+f 10 15 16
+f 10 16 14
+f 10 14 13
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_171.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_171.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de863f400db4ede4be69f172730d564aa5bd0b36
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_171.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00965728 -0.00096365 0.03773382
+v 0.01105000 -0.00096365 0.03677518
+v 0.00965728 -0.00096365 0.03358930
+v 0.00965728 -0.00175251 0.03769568
+v 0.01105000 -0.00096365 0.03358930
+v 0.01105000 -0.00526579 0.03647456
+v 0.00965728 -0.02173426 0.03358930
+v 0.00965728 -0.00529832 0.03732813
+v 0.01105000 -0.01913184 0.03358930
+v 0.01105000 -0.00946017 0.03587739
+v 0.00965728 -0.01966859 0.03432400
+v 0.00965728 -0.00946017 0.03672649
+v 0.01105000 -0.01795668 0.03393252
+v 0.00965728 -0.01795668 0.03487128
+v 0.00965728 -0.00976920 0.03667619
+v 0.00965728 -0.01375823 0.03600153
+v 0.01105000 -0.00987899 0.03580436
+v 0.01105000 -0.01596216 0.03450332
+v 0.00965728 -0.01736300 0.03504086
+v 0.00965728 -0.01429905 0.03587009
+v 0.01105000 -0.01322962 0.03521652
+v 0.01105000 -0.01239806 0.03536419
+v 0.01105000 -0.01539695 0.03465180
+v 0.01105000 -0.01455929 0.03487169
+v 0.01105000 -0.01331908 0.03519340
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 11
+f 1 11 14
+f 1 14 19
+f 1 19 20
+f 1 20 16
+f 1 16 15
+f 1 15 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 10
+f 2 10 17
+f 2 17 22
+f 2 22 21
+f 2 21 25
+f 2 25 24
+f 2 24 23
+f 2 23 18
+f 2 18 13
+f 2 13 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 8 6
+f 6 8 10
+f 7 9 11
+f 8 12 10
+f 9 13 14
+f 9 14 11
+f 10 12 15
+f 10 15 16
+f 10 16 17
+f 13 18 14
+f 14 18 19
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 18 23 20
+f 18 20 19
+f 20 24 25
+f 20 25 21
+f 20 23 24
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_172.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_172.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5445c7f0a3dd23a9d229864405cb90c9a4e6aeb5
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_172.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00702964 -0.05620470 -0.00601433
+v 0.00702964 -0.05603104 -0.00844630
+v 0.00816489 -0.05552161 -0.00601433
+v 0.00702964 -0.05589352 -0.00166201
+v 0.00816489 -0.05543177 -0.00726634
+v 0.00702964 -0.05580368 -0.01025496
+v 0.00816489 -0.05505635 -0.01025856
+v 0.00816489 -0.05514518 -0.00172506
+v 0.00702964 -0.05514970 0.00154098
+v 0.00702964 -0.05509399 -0.01268513
+v 0.00816489 -0.05477679 -0.01121694
+v 0.00816489 -0.05437376 0.00154098
+v 0.00816489 -0.05358377 0.00154278
+v 0.00702964 -0.05358377 0.00154278
+v 0.00702964 -0.05483601 -0.01354983
+v 0.00816489 -0.05428944 -0.01285086
+v 0.00816489 -0.05107777 0.00154278
+v 0.00702964 -0.05107777 0.00154278
+v 0.00702964 -0.05388290 -0.01544136
+v 0.00816489 -0.05335089 -0.01516033
+v 0.00816489 -0.05107777 -0.01686090
+v 0.00702964 -0.05107777 -0.01686090
+v 0.00816489 -0.05333232 -0.01519456
+v 0.00702964 -0.05305677 -0.01686090
+v 0.00805532 -0.05247005 -0.01686090
+v 0.00816489 -0.05249815 -0.01669697
+v 0.00816489 -0.05239828 -0.01686090
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 18
+f 1 18 22
+f 1 22 24
+f 1 24 19
+f 1 19 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 8 4
+f 3 5 7
+f 3 7 11
+f 3 11 16
+f 3 16 20
+f 3 20 23
+f 3 23 26
+f 3 26 27
+f 3 27 21
+f 3 21 17
+f 3 17 13
+f 3 13 12
+f 3 12 8
+f 4 8 9
+f 6 10 11
+f 6 11 7
+f 8 12 9
+f 9 12 13
+f 9 13 14
+f 10 15 16
+f 10 16 11
+f 13 17 18
+f 13 18 14
+f 15 19 20
+f 15 20 16
+f 17 21 22
+f 17 22 18
+f 19 23 20
+f 19 24 25
+f 19 25 26
+f 19 26 23
+f 21 27 25
+f 21 25 24
+f 21 24 22
+f 25 27 26
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_173.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_173.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70f3d2879454f09d7bb17b7ac46f459541109e50
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_173.obj
@@ -0,0 +1,207 @@
+# https://github.com/mikedh/trimesh
+v -0.01631399 -0.05303824 -0.00600022
+v -0.01631399 -0.05286493 -0.01025158
+v -0.01631399 -0.05266105 -0.00171366
+v -0.01764894 -0.05219210 -0.00173126
+v -0.01764894 -0.05249793 -0.00600022
+v -0.01764894 -0.05219210 -0.01025158
+v -0.01631399 -0.05210544 -0.01467301
+v -0.01631399 -0.05125421 0.00271949
+v -0.01764894 -0.05093819 0.00235592
+v -0.01764894 -0.05130518 -0.01447363
+v -0.01631399 -0.05047943 -0.01770467
+v -0.01631399 -0.04960781 0.00672457
+v -0.01764894 -0.04792573 0.00905256
+v -0.01764894 -0.04893498 -0.01849631
+v -0.01631399 -0.05007675 -0.01840835
+v -0.01631399 -0.04788495 0.01045404
+v -0.01631399 -0.04761990 0.01097007
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+v -0.01764894 -0.04537202 -0.02180358
+v -0.01631399 -0.04652909 -0.02179771
+v -0.01631399 -0.04366955 0.01573747
+v -0.01764894 -0.04412830 0.01428321
+v -0.01764894 -0.04141149 -0.02356863
+v -0.01631399 -0.04274696 -0.02346894
+v -0.01631399 -0.03927066 0.01975428
+v -0.01764894 -0.04341469 0.01503379
+v -0.01764894 -0.03919929 -0.02402602
+v -0.01631399 -0.03919929 -0.02421366
+v -0.01764894 -0.03960707 0.01845248
+v -0.01631399 -0.03485137 0.02357171
+v -0.01764894 -0.03784343 -0.02426058
+v -0.01696447 -0.03784343 -0.02435440
+v -0.01631399 -0.03849588 -0.02433094
+v -0.01764894 -0.03483608 0.02253966
+v -0.01631399 -0.03479530 0.02361863
+v -0.01764894 -0.03716041 -0.02437199
+v -0.01764894 -0.03494822 -0.02440131
+v -0.01631399 -0.03570770 -0.02436026
+v -0.01631399 -0.03316419 0.02489110
+v -0.01631399 -0.03070224 0.02679103
+v -0.01764894 -0.02705773 0.02722496
+v -0.01764894 -0.03315909 -0.02434854
+v -0.01631399 -0.03425500 -0.02434854
+v -0.01631399 -0.03494822 -0.02436026
+v -0.01631399 -0.02863277 0.02792863
+v -0.01631399 -0.02677738 0.02891378
+v -0.01764894 -0.02650723 0.02748884
+v -0.01764894 -0.03291443 -0.02433681
+v -0.01740353 -0.03316419 -0.02434267
+v -0.01631399 -0.03316419 -0.02425471
+v -0.01764894 -0.01774001 0.03103067
+v -0.01631399 -0.01370812 0.03359908
+v -0.01764894 -0.03070224 -0.02414330
+v -0.01631399 -0.01796429 -0.02286495
+v -0.01764894 -0.01372341 0.03232660
+v -0.01631399 -0.00946213 0.03444349
+v -0.01764894 -0.00317727 -0.02145174
+v -0.01631399 -0.00946213 -0.02208505
+v -0.01764894 -0.00946213 0.03310064
+v -0.01631399 -0.00535888 0.03511198
+v -0.01764894 -0.00096508 -0.02119959
+v -0.01631399 -0.00096508 -0.02115268
+v -0.01631399 -0.00451274 -0.02154557
+v -0.01631399 -0.00875872 -0.02200882
+v -0.01764894 -0.00580233 0.03356976
+v -0.01631399 -0.00279498 0.03534654
+v -0.01764894 -0.00521616 0.03363426
+v -0.01764894 -0.00096508 0.03386882
+v -0.01631399 -0.00096508 0.03550487
+v -0.01764894 -0.00135246 0.03386882
+f 1 2 7
+f 1 7 11
+f 1 11 15
+f 1 15 20
+f 1 20 24
+f 1 24 28
+f 1 28 33
+f 1 33 38
+f 1 38 44
+f 1 44 43
+f 1 43 50
+f 1 50 54
+f 1 54 58
+f 1 58 64
+f 1 64 63
+f 1 63 62
+f 1 62 69
+f 1 69 66
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+f 1 60 56
+f 1 56 52
+f 1 52 46
+f 1 46 45
+f 1 45 40
+f 1 40 39
+f 1 39 35
+f 1 35 30
+f 1 30 25
+f 1 25 21
+f 1 21 17
+f 1 17 16
+f 1 16 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
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+f 4 19 14
+f 4 14 10
+f 4 10 6
+f 4 6 5
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+f 7 10 11
+f 8 12 9
+f 9 12 13
+f 10 14 15
+f 10 15 11
+f 12 16 13
+f 13 16 17
+f 13 17 18
+f 14 19 20
+f 14 20 15
+f 17 21 22
+f 17 22 18
+f 19 23 20
+f 20 23 24
+f 21 25 26
+f 21 26 22
+f 23 27 28
+f 23 28 24
+f 25 29 26
+f 25 30 29
+f 27 31 28
+f 28 31 32
+f 28 32 33
+f 29 30 34
+f 30 35 34
+f 31 36 32
+f 32 36 37
+f 32 37 38
+f 32 38 33
+f 34 35 39
+f 34 39 40
+f 34 40 41
+f 37 42 43
+f 37 43 44
+f 37 44 38
+f 40 45 41
+f 41 45 46
+f 41 46 47
+f 42 48 49
+f 42 49 43
+f 43 49 50
+f 46 51 47
+f 46 52 51
+f 48 53 49
+f 49 53 50
+f 50 53 54
+f 51 52 55
+f 52 56 55
+f 53 57 58
+f 53 58 54
+f 55 56 59
+f 56 60 59
+f 57 61 62
+f 57 62 63
+f 57 63 64
+f 57 64 58
+f 59 60 65
+f 60 66 67
+f 60 67 65
+f 61 68 69
+f 61 69 62
+f 66 69 67
+f 67 69 70
+f 68 70 69
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_174.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_174.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f9ba063cdef25d0f4b9bf239511d6c5fecd0860
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_174.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.03725794 -0.00321148 -0.02346827
+v 0.03532736 -0.00321148 -0.02335001
+v 0.03725794 -0.00096072 -0.02347341
+v 0.03725794 -0.00321148 0.02748053
+v 0.03532736 0.00140852 -0.02324204
+v 0.03537650 0.00140852 -0.02324718
+v 0.03620875 0.00140852 -0.02332945
+v 0.03725794 0.00140626 -0.02343228
+v 0.03532736 -0.00321148 0.02869396
+v 0.03725794 -0.00289944 0.02751652
+v 0.03700396 -0.00321148 0.02764506
+v 0.03532736 0.00140852 0.02905388
+v 0.03725586 0.00140852 -0.02342714
+v 0.03725794 0.00140852 -0.02193605
+v 0.03532736 -0.00108418 0.02888420
+v 0.03725794 -0.00197327 0.02759879
+v 0.03725794 -0.00101635 0.02768105
+v 0.03725794 0.00131898 0.02776846
+v 0.03722128 0.00140852 0.02779417
+v 0.03725794 0.00140852 0.02776846
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 20
+f 1 20 18
+f 1 18 17
+f 1 17 16
+f 1 16 10
+f 1 10 4
+f 1 4 11
+f 1 11 9
+f 1 9 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 9 15
+f 2 15 12
+f 2 12 5
+f 4 10 11
+f 5 12 19
+f 5 19 20
+f 5 20 14
+f 5 14 13
+f 5 13 7
+f 5 7 6
+f 7 13 8
+f 8 13 14
+f 9 11 10
+f 9 10 15
+f 10 16 15
+f 12 15 17
+f 12 17 18
+f 12 18 19
+f 15 16 17
+f 18 20 19
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_175.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_175.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef34a6ac561ceed5d256015c740df57cf8d12953
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_175.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.02733949 0.00340773 -0.02274737
+v 0.02687848 0.00340773 -0.02273654
+v 0.02733949 0.01256149 -0.02308309
+v 0.02733949 0.00340773 0.03213200
+v 0.02675975 0.00340773 -0.02272571
+v 0.02647864 0.01256149 -0.02305602
+v 0.02733949 0.01256149 0.03073498
+v 0.02733949 0.00374915 0.03212118
+v 0.02699721 0.00340773 0.03219157
+v 0.02647864 0.00340773 -0.02269864
+v 0.02647864 0.01256149 0.03077288
+v 0.02647864 0.01178546 0.03097864
+v 0.02733949 0.01206504 0.03086493
+v 0.02733949 0.00385489 0.03211035
+v 0.02687848 0.00340773 0.03220240
+v 0.02733949 0.00799760 0.03166092
+v 0.02647864 0.00340773 0.03222406
+v 0.02733949 0.01176933 0.03093533
+v 0.02647864 0.00753790 0.03178545
+v 0.02687848 0.00753790 0.03175297
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 18
+f 1 18 16
+f 1 16 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 11
+f 3 11 7
+f 4 8 9
+f 5 10 6
+f 6 10 17
+f 6 17 19
+f 6 19 12
+f 6 12 11
+f 7 11 12
+f 7 12 13
+f 8 14 9
+f 9 14 16
+f 9 16 15
+f 12 18 13
+f 12 19 16
+f 12 16 18
+f 15 16 20
+f 15 20 19
+f 15 19 17
+f 16 19 20
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_176.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_176.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb99ea2be5bd48d23a19d376d83c45adbe9e0d71
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_176.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.03583351 -0.04185235 -0.00601034
+v -0.03583351 -0.04130358 -0.00176532
+v -0.03734526 -0.04055153 -0.00601034
+v -0.03734526 -0.04024693 -0.01026111
+v -0.03583351 -0.04135770 -0.01026111
+v -0.03583351 -0.04030106 0.00151269
+v -0.03734526 -0.03889451 0.00163645
+v -0.03734526 -0.03987626 -0.00176532
+v -0.03734526 -0.04023057 -0.01032154
+v -0.03583351 -0.04096877 -0.01172312
+v -0.03583351 -0.03977305 0.00275886
+v -0.03734526 -0.03833944 0.00274159
+v -0.03583351 -0.04096248 -0.01174614
+v -0.03734526 -0.03893290 -0.01423271
+v -0.03583351 -0.03752446 0.00673334
+v -0.03734526 -0.03604555 0.00673334
+v -0.03583351 -0.04023686 -0.01357078
+v -0.03734526 -0.03878438 -0.01454929
+v -0.03583351 -0.03542377 0.00967463
+v -0.03734526 -0.03542377 0.00760249
+v -0.03583351 -0.03986934 -0.01434783
+v -0.03734526 -0.03724882 -0.01666173
+v -0.03583351 -0.03784416 -0.01735244
+v -0.03583351 -0.03967551 -0.01474211
+v -0.03583351 -0.03985549 -0.01437661
+v -0.03583351 -0.03542377 -0.01972677
+v -0.03734526 -0.03542377 -0.01869646
+v -0.03708110 -0.03542377 -0.01893245
+v -0.03583351 -0.03763082 -0.01758843
+v -0.03583351 -0.03626455 -0.01906484
+v -0.03686088 -0.03542377 -0.01911664
+v -0.03688752 -0.03542377 -0.01909649
+v -0.03583351 -0.03634636 -0.01899289
+v -0.03583351 -0.03632496 -0.01901591
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 13
+f 1 13 17
+f 1 17 21
+f 1 21 25
+f 1 25 24
+f 1 24 23
+f 1 23 29
+f 1 29 33
+f 1 33 34
+f 1 34 30
+f 1 30 26
+f 1 26 19
+f 1 19 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 16
+f 3 16 20
+f 3 20 27
+f 3 27 22
+f 3 22 18
+f 3 18 14
+f 3 14 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 6 11 7
+f 7 11 12
+f 9 13 10
+f 9 14 13
+f 11 15 12
+f 12 15 16
+f 13 14 17
+f 14 18 17
+f 15 19 16
+f 16 19 20
+f 17 18 21
+f 18 22 23
+f 18 23 24
+f 18 24 25
+f 18 25 21
+f 19 26 31
+f 19 31 32
+f 19 32 28
+f 19 28 27
+f 19 27 20
+f 22 27 23
+f 23 27 28
+f 23 28 29
+f 26 30 31
+f 28 32 33
+f 28 33 29
+f 30 34 31
+f 31 34 32
+f 32 34 33
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_177.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_177.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dacbc2a856f577d582db2ddb38c88163b675751d
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_177.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.03532780 -0.04422127 -0.00600731
+v 0.03979006 -0.04135789 -0.00601164
+v 0.03532780 -0.04418043 -0.00556979
+v 0.03532780 -0.04341272 -0.01020484
+v 0.03979006 -0.04093973 -0.01028715
+v 0.03979006 -0.04094463 -0.01026116
+v 0.03979006 -0.04121578 -0.00472075
+v 0.03532780 -0.04365120 -0.00156285
+v 0.03532780 -0.04340782 -0.01021784
+v 0.03979006 -0.03952192 -0.01450635
+v 0.03979006 -0.04066532 -0.00140691
+v 0.03532780 -0.04361527 -0.00140691
+v 0.03532780 -0.04142159 -0.01450635
+v 0.03979006 -0.03781663 -0.01754729
+v 0.03979006 -0.03946639 0.00249173
+v 0.03532780 -0.04264012 0.00247874
+v 0.03532780 -0.03903516 -0.01801946
+v 0.03979006 -0.03586470 -0.01967421
+v 0.03979006 -0.03774476 0.00633406
+v 0.03532780 -0.04095116 0.00672826
+v 0.03532780 -0.03647233 -0.02027633
+v 0.03979006 -0.03374125 -0.02158888
+v 0.03979006 -0.03483238 0.01084349
+v 0.03784571 -0.03740174 0.00932302
+v 0.03532780 -0.03869705 0.01042330
+v 0.03532780 -0.04058038 0.00741702
+v 0.03962538 -0.03375759 -0.02160187
+v 0.03532780 -0.03435052 -0.02165386
+v 0.03979006 -0.03070636 -0.02295773
+v 0.03979006 -0.03274160 0.01310037
+v 0.03824367 -0.03354688 0.01385844
+v 0.03765525 -0.03460860 0.01322166
+v 0.03667412 -0.03637596 0.01215603
+v 0.03532780 -0.03839323 0.01085215
+v 0.03962538 -0.03070636 -0.02297073
+v 0.03532780 -0.03070473 -0.02288409
+v 0.03765525 -0.03070636 -0.02293174
+v 0.03962538 -0.02753427 -0.02355553
+v 0.03966688 -0.02753427 -0.02355120
+v 0.03979006 -0.02753427 -0.02353820
+v 0.03979006 -0.03058549 0.01501504
+v 0.03668461 -0.03206373 0.01668712
+v 0.03532780 -0.03690355 0.01282313
+v 0.03765525 -0.03379842 0.01410969
+v 0.03532780 -0.02818110 -0.02330428
+v 0.03765525 -0.02753427 -0.02348189
+v 0.03979006 -0.02753427 0.01676076
+v 0.03963411 -0.02753427 0.01693837
+v 0.03833671 -0.02753427 0.01840252
+v 0.03790294 -0.02922812 0.01783506
+v 0.03532780 -0.03033395 0.01910861
+v 0.03532780 -0.03068676 0.01884004
+v 0.03532780 -0.03264033 0.01721994
+v 0.03532780 -0.03479481 0.01510167
+v 0.03532780 -0.02818110 0.02069839
+v 0.03765525 -0.02753427 0.01883571
+v 0.03765656 -0.02753427 0.01888769
+v 0.03765525 -0.02753753 0.01889202
+v 0.03594461 -0.02818110 0.02016991
+f 1 2 3
+f 1 3 8
+f 1 8 12
+f 1 12 16
+f 1 16 20
+f 1 20 26
+f 1 26 25
+f 1 25 34
+f 1 34 43
+f 1 43 54
+f 1 54 53
+f 1 53 52
+f 1 52 51
+f 1 51 55
+f 1 55 45
+f 1 45 36
+f 1 36 28
+f 1 28 21
+f 1 21 17
+f 1 17 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 5
+f 2 5 10
+f 2 10 14
+f 2 14 18
+f 2 18 22
+f 2 22 29
+f 2 29 40
+f 2 40 47
+f 2 47 41
+f 2 41 30
+f 2 30 23
+f 2 23 19
+f 2 19 15
+f 2 15 11
+f 2 11 7
+f 3 7 8
+f 4 9 10
+f 4 10 5
+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 13 17 14
+f 14 17 18
+f 15 19 20
+f 15 20 16
+f 17 21 22
+f 17 22 18
+f 19 23 24
+f 19 24 25
+f 19 25 26
+f 19 26 20
+f 21 27 22
+f 21 28 27
+f 22 27 29
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 34
+f 23 34 25
+f 23 25 24
+f 27 28 35
+f 27 35 29
+f 28 36 37
+f 28 37 35
+f 29 35 38
+f 29 38 39
+f 29 39 40
+f 30 41 42
+f 30 42 31
+f 31 43 32
+f 31 42 44
+f 31 44 43
+f 32 43 33
+f 33 43 34
+f 35 37 38
+f 36 45 38
+f 36 38 37
+f 38 45 46
+f 38 46 56
+f 38 56 57
+f 38 57 49
+f 38 49 48
+f 38 48 47
+f 38 47 40
+f 38 40 39
+f 41 47 48
+f 41 48 49
+f 41 49 50
+f 41 50 42
+f 42 50 51
+f 42 51 52
+f 42 52 53
+f 42 53 54
+f 42 54 44
+f 43 44 54
+f 45 55 56
+f 45 56 46
+f 49 57 58
+f 49 58 55
+f 49 55 59
+f 49 59 50
+f 50 59 55
+f 50 55 51
+f 55 58 57
+f 55 57 56
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_178.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_178.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b92e404579460d90a7b0945f0645a083a0f4450d
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_178.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.05074276 0.01558812 0.00363909
+v -0.05074276 0.01558812 -0.01449213
+v -0.05240230 0.01558812 0.00363909
+v -0.05074276 -0.03121794 0.00363909
+v -0.05240230 0.01558812 -0.01449213
+v -0.05074276 -0.03285088 -0.01449213
+v -0.05240230 -0.02997379 0.00363909
+v -0.05074276 -0.03202469 0.00247660
+v -0.05240230 -0.03072708 -0.01449213
+v -0.05074276 -0.03332229 -0.01356214
+v -0.05193218 -0.03297237 -0.01277591
+v -0.05240230 -0.03243292 -0.01321251
+v -0.05240100 -0.03174281 -0.01449213
+v -0.05240230 -0.03084372 0.00237544
+v -0.05151616 -0.03270508 -0.00010571
+v -0.05074276 -0.03217534 0.00216424
+v -0.05240230 -0.03174281 -0.01449036
+v -0.05074276 -0.03379370 -0.01149097
+v -0.05074276 -0.03394922 -0.01026104
+v -0.05218495 -0.03314733 -0.01026104
+v -0.05240230 -0.03270022 -0.01227897
+v -0.05240230 -0.03221908 -0.00074286
+v -0.05240230 -0.03269536 -0.00263833
+v -0.05204736 -0.03302584 -0.00293650
+v -0.05074276 -0.03354585 -0.00213429
+v -0.05074276 -0.03326397 -0.00082983
+v -0.05074276 -0.03294808 0.00004692
+v -0.05074276 -0.03401726 -0.00788815
+v -0.05240230 -0.03300639 -0.00984397
+v -0.05240230 -0.03298695 -0.01026104
+v -0.05074276 -0.03406100 -0.00601220
+v -0.05227153 -0.03319107 -0.00601220
+v -0.05240230 -0.03309873 -0.00601220
+v -0.05224700 -0.03317649 -0.00567322
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 16
+f 1 16 27
+f 1 27 26
+f 1 26 25
+f 1 25 31
+f 1 31 28
+f 1 28 19
+f 1 19 18
+f 1 18 10
+f 1 10 6
+f 1 6 2
+f 2 6 13
+f 2 13 9
+f 2 9 5
+f 3 5 9
+f 3 9 17
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+f 3 12 21
+f 3 21 30
+f 3 30 29
+f 3 29 33
+f 3 33 23
+f 3 23 22
+f 3 22 14
+f 3 14 7
+f 4 7 8
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 9 13 17
+f 10 18 11
+f 11 18 19
+f 11 19 20
+f 11 20 21
+f 11 21 12
+f 12 17 13
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 19 28 20
+f 20 29 30
+f 20 30 21
+f 20 28 31
+f 20 31 32
+f 20 32 29
+f 23 33 24
+f 24 33 34
+f 24 34 31
+f 24 31 25
+f 29 32 33
+f 31 34 32
+f 32 34 33
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_179.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_179.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d548be3717a5464009af88062b487cbc54e5e6c
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_179.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.01105000 -0.00096365 0.03358598
+v 0.00965728 -0.00096365 0.03358598
+v 0.01105000 -0.01913378 0.03358598
+v 0.01105000 -0.00096365 -0.00036005
+v 0.00965728 -0.00096365 -0.00039998
+v 0.00965728 -0.02173693 0.03358598
+v 0.01105000 -0.02113420 0.03306030
+v 0.01105000 -0.00099483 -0.00039998
+v 0.01104727 -0.00096365 -0.00039998
+v 0.00965728 -0.03553729 -0.00040330
+v 0.00965728 -0.02253191 0.03329985
+v 0.01105000 -0.02240720 0.03259784
+v 0.01105000 -0.03553729 -0.00040330
+v 0.00965728 -0.05404515 -0.00040330
+v 0.00965728 -0.02262543 0.03325992
+v 0.00965728 -0.02631973 0.03159640
+v 0.01105000 -0.02319179 0.03223852
+v 0.01105000 -0.05347879 -0.00040330
+v 0.01105000 -0.05302675 0.00260769
+v 0.00965728 -0.05344762 0.00265759
+v 0.00965728 -0.02658992 0.03146664
+v 0.01105000 -0.02521300 0.03130361
+v 0.01105000 -0.05262147 0.00370229
+v 0.00965728 -0.05186286 0.00701937
+v 0.00965728 -0.02886054 0.03026557
+v 0.01105000 -0.03099606 0.02830925
+v 0.01105000 -0.05165502 0.00615766
+v 0.01105000 -0.05136925 0.00687964
+v 0.00965728 -0.05110425 0.00842007
+v 0.00965728 -0.03113635 0.02900128
+v 0.00965728 -0.03129222 0.02891145
+v 0.01105000 -0.03346931 0.02682871
+v 0.01105000 -0.04885442 0.01124475
+v 0.00965728 -0.04952470 0.01131461
+v 0.00965728 -0.03457085 0.02685533
+v 0.00965728 -0.03553729 0.02620988
+v 0.00965728 -0.03654010 0.02553448
+v 0.01105000 -0.03874837 0.02321219
+v 0.01105000 -0.04847513 0.01188687
+v 0.01105000 -0.04660979 0.01481801
+v 0.00965728 -0.04684880 0.01519730
+v 0.00965728 -0.03904973 0.02359148
+v 0.00965728 -0.04128397 0.02163516
+v 0.01105000 -0.04312852 0.01909662
+v 0.01105000 -0.04614216 0.01545681
+v 0.00965728 -0.04538355 0.01713365
+v 0.00965728 -0.04345587 0.01933949
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 12
+f 1 12 17
+f 1 17 22
+f 1 22 26
+f 1 26 32
+f 1 32 38
+f 1 38 44
+f 1 44 45
+f 1 45 40
+f 1 40 39
+f 1 39 33
+f 1 33 28
+f 1 28 27
+f 1 27 23
+f 1 23 19
+f 1 19 18
+f 1 18 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 14
+f 2 14 20
+f 2 20 24
+f 2 24 29
+f 2 29 34
+f 2 34 41
+f 2 41 46
+f 2 46 47
+f 2 47 43
+f 2 43 42
+f 2 42 37
+f 2 37 36
+f 2 36 35
+f 2 35 31
+f 2 31 30
+f 2 30 25
+f 2 25 21
+f 2 21 16
+f 2 16 15
+f 2 15 11
+f 2 11 6
+f 3 6 7
+f 4 8 9
+f 5 9 13
+f 5 13 10
+f 6 11 7
+f 7 11 12
+f 8 13 9
+f 10 13 18
+f 10 18 14
+f 11 15 12
+f 12 15 16
+f 12 16 17
+f 14 18 19
+f 14 19 20
+f 16 21 22
+f 16 22 17
+f 19 23 24
+f 19 24 20
+f 21 25 26
+f 21 26 22
+f 23 27 24
+f 24 27 28
+f 24 28 29
+f 25 30 26
+f 26 30 31
+f 26 31 32
+f 28 33 34
+f 28 34 29
+f 31 35 32
+f 32 35 36
+f 32 36 37
+f 32 37 38
+f 33 39 34
+f 34 39 40
+f 34 40 41
+f 37 42 38
+f 38 42 43
+f 38 43 44
+f 40 45 41
+f 41 45 46
+f 43 47 44
+f 44 47 46
+f 44 46 45
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_18.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5842874e4e8f7b575a00a00f411a67fd2c649376
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v -0.06692612 0.02128262 -0.01275144
+v -0.06692065 0.02128732 -0.01275935
+v -0.06971509 0.01964156 -0.01282559
+v -0.06829680 0.02041742 -0.01275144
+v -0.06692065 0.01877166 -0.01275144
+v -0.06692065 0.02089704 -0.01460121
+v -0.06829680 0.02017761 -0.01453003
+v -0.06971509 0.01942996 -0.01445786
+v -0.06971509 -0.02591787 -0.01282559
+v -0.06829680 -0.02632226 -0.01275144
+v -0.06692065 -0.02675016 -0.01275144
+v -0.06692065 0.01915253 -0.01762551
+v -0.06829680 0.01872934 -0.01724488
+v -0.06927680 0.01842840 -0.01697300
+v -0.06971509 0.01856476 -0.01621173
+v -0.06971509 -0.02561223 -0.01466152
+v -0.06829680 -0.02606364 -0.01459429
+v -0.06692065 -0.02649624 -0.01452805
+v -0.06692065 0.01636414 -0.01956130
+v -0.06829680 0.01757260 -0.01804865
+v -0.06971509 0.01767135 -0.01715590
+v -0.06971509 -0.02465299 -0.01689588
+v -0.06829680 -0.02553700 -0.01581924
+v -0.06692065 -0.02639280 -0.01477522
+v -0.06692065 0.01612903 -0.01969872
+v -0.06829680 0.01603499 -0.01894141
+v -0.06971509 0.01593154 -0.01816037
+v -0.06971509 -0.02460597 -0.01699376
+v -0.06964806 -0.02462007 -0.01701155
+v -0.06829680 -0.02549938 -0.01590327
+v -0.06692065 -0.02509969 -0.01756520
+v -0.06829680 -0.02485989 -0.01728541
+v -0.06692065 0.01552245 -0.01995775
+v -0.06813074 0.01254126 -0.02053710
+v -0.06829680 0.01275286 -0.02035024
+v -0.06971509 0.01454440 -0.01875653
+v -0.06971509 -0.02451192 -0.01705506
+v -0.06692065 -0.02208089 -0.01965127
+v -0.06692065 0.01158672 -0.02138042
+v -0.06829680 0.01245663 -0.02045405
+v -0.06874111 0.00970585 -0.02089499
+v -0.06971509 0.01174660 -0.01973926
+v -0.06971509 -0.02233011 -0.01842632
+v -0.06829680 -0.02220785 -0.01904818
+v -0.06692065 -0.02119218 -0.02006254
+v -0.06692065 0.01118234 -0.02147533
+v -0.06829680 0.01006792 -0.02103637
+v -0.06971509 0.01067450 -0.02002201
+v -0.06829680 0.00925914 -0.02117083
+v -0.06829680 0.00917921 -0.02118368
+v -0.06907790 0.00753344 -0.02108086
+v -0.06971509 0.00753344 -0.02068935
+v -0.06971509 -0.01823451 -0.02009814
+v -0.06788204 -0.01914203 -0.02063003
+v -0.06692065 -0.01961225 -0.02077141
+v -0.06692065 0.00786260 -0.02202601
+v -0.06829680 0.00753344 -0.02144172
+v -0.06971509 0.00340023 -0.02140415
+v -0.06971509 -0.01699784 -0.02047383
+v -0.06898269 -0.01630662 -0.02100671
+v -0.06829680 -0.01672981 -0.02108185
+v -0.06692065 -0.01756680 -0.02123509
+v -0.06692065 0.00753344 -0.02207643
+v -0.06971509 0.00328267 -0.02142096
+v -0.06971509 -0.01553076 -0.02080502
+v -0.06971509 -0.00520477 -0.02201118
+v -0.06829680 -0.00520477 -0.02233250
+v -0.06692065 -0.00520477 -0.02264293
+v -0.06692065 -0.01335835 -0.02171755
+v -0.06692065 0.00328737 -0.02255198
+v -0.06971509 -0.00115619 -0.02195483
+v -0.06829680 -0.00107155 -0.02240961
+v -0.06692065 -0.00098221 -0.02285055
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 11
+f 2 11 18
+f 2 18 24
+f 2 24 31
+f 2 31 38
+f 2 38 45
+f 2 45 55
+f 2 55 62
+f 2 62 69
+f 2 69 68
+f 2 68 73
+f 2 73 70
+f 2 70 63
+f 2 63 56
+f 2 56 46
+f 2 46 39
+f 2 39 33
+f 2 33 25
+f 2 25 19
+f 2 19 12
+f 2 12 6
+f 3 8 15
+f 3 15 21
+f 3 21 27
+f 3 27 36
+f 3 36 42
+f 3 42 48
+f 3 48 52
+f 3 52 58
+f 3 58 64
+f 3 64 71
+f 3 71 66
+f 3 66 65
+f 3 65 59
+f 3 59 53
+f 3 53 43
+f 3 43 37
+f 3 37 28
+f 3 28 22
+f 3 22 16
+f 3 16 9
+f 3 9 10
+f 3 10 4
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 9 16 17
+f 9 17 18
+f 9 18 11
+f 9 11 10
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+f 12 20 13
+f 13 20 14
+f 14 21 15
+f 14 20 21
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 19 25 20
+f 20 25 21
+f 21 25 26
+f 21 26 27
+f 22 28 29
+f 22 29 30
+f 22 30 23
+f 23 30 24
+f 24 30 32
+f 24 32 31
+f 25 33 34
+f 25 34 35
+f 25 35 26
+f 26 35 36
+f 26 36 27
+f 28 37 29
+f 29 32 30
+f 29 37 38
+f 29 38 32
+f 31 32 38
+f 33 39 34
+f 34 40 35
+f 34 39 41
+f 34 41 40
+f 35 40 42
+f 35 42 36
+f 37 43 44
+f 37 44 38
+f 38 44 45
+f 39 46 47
+f 39 47 41
+f 40 48 42
+f 40 41 48
+f 41 49 50
+f 41 50 51
+f 41 51 52
+f 41 52 48
+f 41 47 49
+f 43 53 54
+f 43 54 44
+f 44 54 45
+f 45 54 55
+f 46 56 49
+f 46 49 47
+f 49 56 50
+f 50 56 51
+f 51 57 58
+f 51 58 52
+f 51 56 57
+f 53 59 60
+f 53 60 54
+f 54 60 55
+f 55 61 62
+f 55 60 61
+f 56 63 57
+f 57 63 58
+f 58 63 64
+f 59 65 60
+f 60 65 66
+f 60 66 67
+f 60 67 68
+f 60 68 69
+f 60 69 62
+f 60 62 61
+f 63 70 71
+f 63 71 64
+f 66 71 72
+f 66 72 73
+f 66 73 67
+f 67 73 68
+f 70 73 71
+f 71 73 72
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_180.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_180.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6169483bfc702470bbcf542382ebc6d1b4e6bf7
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_180.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.04387431 -0.01013854 -0.02347176
+v 0.04387305 -0.00945836 -0.02345817
+v 0.04387305 -0.00096203 -0.02370731
+v 0.04387457 -0.00096203 -0.02370731
+v 0.04516249 -0.00096203 -0.02367107
+v 0.04516249 -0.01013854 -0.02341288
+v 0.04387305 -0.01013854 -0.02150130
+v 0.04387457 0.00325010 -0.02371637
+v 0.04387305 0.00325010 -0.02310485
+v 0.04516249 0.00325010 -0.02368466
+v 0.04516249 -0.01013854 0.02047637
+v 0.04387305 -0.01013854 0.02117849
+v 0.04387305 0.00325010 0.02256008
+v 0.04516249 0.00325010 0.02130079
+v 0.04516249 -0.00945836 0.02053525
+v 0.04387305 -0.00520954 0.02209804
+v 0.04387305 -0.00945836 0.02138233
+v 0.04387305 0.00040357 0.02249213
+v 0.04516249 0.00281893 0.02129173
+v 0.04516249 -0.00520954 0.02087046
+v 0.04387305 -0.00096203 0.02240606
+f 1 2 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 12
+f 2 12 17
+f 2 17 16
+f 2 16 21
+f 2 21 18
+f 2 18 13
+f 2 13 9
+f 2 9 3
+f 3 8 4
+f 3 9 8
+f 4 8 10
+f 4 10 5
+f 5 10 14
+f 5 14 19
+f 5 19 20
+f 5 20 15
+f 5 15 11
+f 5 11 6
+f 8 9 13
+f 8 13 14
+f 8 14 10
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 13 18 19
+f 13 19 14
+f 15 20 16
+f 16 20 21
+f 18 21 20
+f 18 20 19
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_181.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_181.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a214a7bdf93a62ea53c81aaa5930ca7883651b3
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_181.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01086775 0.02784747 -0.02237562
+v 0.00957843 0.02784747 -0.02215094
+v 0.00957843 0.02908625 -0.02237013
+v 0.00957843 0.03292336 -0.02301676
+v 0.01086775 0.03204533 -0.02306608
+v 0.01086775 0.02784747 0.03192978
+v 0.00957843 0.02784747 0.03277916
+v 0.01086775 0.03292336 -0.02320307
+v 0.00957843 0.03292336 0.03032418
+v 0.01086775 0.02977695 0.03125028
+v 0.00963763 0.02784747 0.03274080
+v 0.00957843 0.02849096 0.03252709
+v 0.01086775 0.03292336 0.02950768
+v 0.00957843 0.03209502 0.03079545
+v 0.00988249 0.03292336 0.03020363
+v 0.01086775 0.03014416 0.03108040
+v 0.00957843 0.02926961 0.03216542
+v 0.01086775 0.03149177 0.03045022
+v 0.00988249 0.03197824 0.03073517
+v 0.00957843 0.03179538 0.03094889
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 8
+f 1 8 13
+f 1 13 18
+f 1 18 16
+f 1 16 10
+f 1 10 6
+f 1 6 11
+f 1 11 7
+f 1 7 2
+f 2 7 12
+f 2 12 17
+f 2 17 20
+f 2 20 14
+f 2 14 9
+f 2 9 4
+f 2 4 3
+f 4 8 5
+f 4 9 15
+f 4 15 13
+f 4 13 8
+f 6 10 11
+f 7 11 10
+f 7 10 12
+f 9 14 15
+f 10 16 12
+f 12 16 17
+f 13 15 18
+f 14 19 15
+f 14 20 19
+f 15 19 18
+f 16 18 17
+f 17 18 19
+f 17 19 20
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_182.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_182.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dfb0e1b546b3bd2e66fa6cd05f545dc4b82df52
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_182.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.01236279 -0.03479870 -0.02387587
+v 0.01105013 -0.03479870 -0.02379662
+v 0.01105013 -0.02337472 -0.02309466
+v 0.01236279 -0.02468694 -0.02320788
+v 0.01236279 -0.03479870 0.02506877
+v 0.01105013 -0.03479870 0.02562920
+v 0.01105013 -0.02220830 -0.02299842
+v 0.01236279 -0.02220830 -0.02300408
+v 0.01236279 -0.03242277 0.02681234
+v 0.01105013 -0.03346990 0.02682932
+v 0.01105013 -0.01995829 -0.02280029
+v 0.01105013 -0.01912656 -0.02272669
+v 0.01236279 -0.02043878 -0.02284558
+v 0.01236279 -0.03102439 0.02765016
+v 0.01105013 -0.03099623 0.02830683
+v 0.01105013 -0.01787232 -0.02260781
+v 0.01231332 -0.01787232 -0.02261347
+v 0.01236279 -0.01787232 -0.02261347
+v 0.01236279 -0.02397284 0.03119958
+v 0.01105013 -0.02521548 0.03130714
+v 0.01105013 -0.01787232 0.03395647
+v 0.01236279 -0.01787232 0.03336773
+v 0.01236279 -0.02237895 0.03193551
+v 0.01105013 -0.02240877 0.03260350
+v 0.01105013 -0.02113631 0.03306204
+v 0.01236279 -0.01978267 0.03288089
+v 0.01236279 -0.01795848 0.03335075
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 18
+f 1 18 22
+f 1 22 27
+f 1 27 26
+f 1 26 23
+f 1 23 19
+f 1 19 14
+f 1 14 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 15
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+f 2 20 24
+f 2 24 25
+f 2 25 21
+f 2 21 16
+f 2 16 12
+f 2 12 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 8
+f 8 11 12
+f 8 12 13
+f 9 14 10
+f 10 14 15
+f 12 16 17
+f 12 17 13
+f 13 17 18
+f 14 19 20
+f 14 20 15
+f 16 21 22
+f 16 22 18
+f 16 18 17
+f 19 23 24
+f 19 24 20
+f 21 25 26
+f 21 26 27
+f 21 27 22
+f 23 26 24
+f 24 26 25
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_183.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_183.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e94684af9ccf193179f33586626c146d6e5116d
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_183.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.00279932 0.03675806 0.03062748
+v 0.00279932 0.03863191 0.02982467
+v 0.00140450 0.03675806 0.03101789
+v 0.00279932 0.03675806 -0.02378754
+v 0.00279932 0.03926182 0.02945626
+v 0.00229860 0.03882789 0.02986866
+v 0.00109201 0.03700008 0.03098489
+v 0.00076314 0.03700008 0.03102888
+v -0.00260231 0.03700008 0.03139180
+v 0.00140450 0.03675806 -0.02389202
+v 0.00190628 0.03675806 -0.02386452
+v -0.00260231 0.03700008 -0.02442539
+v -0.00260231 0.03728041 -0.02449137
+v 0.00279932 0.03728041 -0.02389752
+v 0.00279932 0.04090545 0.02838401
+v 0.00140450 0.04078852 0.02882941
+v -0.00053334 0.03946391 0.03014359
+v 0.00119829 0.04092053 0.02879641
+v -0.00120220 0.03946391 0.03014359
+v -0.00260231 0.03772167 0.03102338
+v 0.00279932 0.04090545 -0.02459585
+v -0.00260231 0.04092053 -0.02478281
+v 0.00140450 0.04090545 -0.02467283
+v 0.00140397 0.04092053 0.02874143
+v 0.00128342 0.04092053 0.02877442
+v 0.00140450 0.04090545 0.02875242
+v -0.00251877 0.04092053 0.02898337
+v 0.00087100 0.04092053 0.02887340
+v -0.00260231 0.03936816 0.03008311
+v -0.00260231 0.03776445 0.03100139
+v 0.00140397 0.04092053 -0.02467283
+v -0.00260231 0.04092053 0.02896687
+f 1 2 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 14
+f 1 14 21
+f 1 21 15
+f 1 15 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
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+f 3 12 10
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 15 16
+f 5 16 6
+f 6 17 7
+f 6 16 18
+f 6 18 17
+f 7 17 8
+f 8 17 9
+f 9 17 19
+f 9 19 20
+f 9 20 30
+f 9 30 29
+f 9 29 32
+f 9 32 22
+f 9 22 13
+f 9 13 12
+f 10 12 11
+f 13 21 14
+f 13 22 23
+f 13 23 21
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+f 15 31 24
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 16 26 25
+f 16 25 18
+f 17 27 19
+f 17 18 28
+f 17 28 27
+f 18 25 24
+f 18 24 31
+f 18 31 22
+f 18 22 32
+f 18 32 27
+f 18 27 28
+f 19 27 29
+f 19 29 30
+f 19 30 20
+f 21 23 31
+f 22 31 23
+f 27 32 29
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_184.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_184.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75324332aae827b58b62ebc953ecb9668937036e
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_184.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.01382727 0.02450816 -0.02237104
+v 0.01214702 0.02450816 -0.02182926
+v 0.01214702 0.02450942 -0.02206145
+v 0.01382727 0.02451068 -0.02240421
+v 0.01382727 0.02450816 0.03098887
+v 0.01214702 0.02450816 0.03047474
+v 0.01214702 0.02651871 -0.02240974
+v 0.01382727 0.02483821 -0.02245949
+v 0.01382727 0.02452706 0.03098335
+v 0.01341058 0.02450816 0.03133716
+v 0.01214702 0.02450942 0.03228252
+v 0.01214702 0.03501440 -0.02379736
+v 0.01382727 0.03333391 -0.02374760
+v 0.01214702 0.03032439 0.03022043
+v 0.01382727 0.02878246 0.02933589
+v 0.01214702 0.02452202 0.03228252
+v 0.01214702 0.03737768 -0.02405719
+v 0.01267886 0.03737768 -0.02410142
+v 0.01382727 0.03737768 -0.02418435
+v 0.01214702 0.03103362 0.02993848
+v 0.01382727 0.03247980 0.02767185
+v 0.01214702 0.03737768 0.02616813
+v 0.01382727 0.03737768 0.02496847
+v 0.01214702 0.03654499 0.02676519
+v 0.01382727 0.03718620 0.02510668
+v 0.01279352 0.03624139 0.02652195
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 19
+f 1 19 23
+f 1 23 25
+f 1 25 21
+f 1 21 15
+f 1 15 9
+f 1 9 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 16
+f 2 16 14
+f 2 14 20
+f 2 20 24
+f 2 24 22
+f 2 22 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 6 10 11
+f 7 12 8
+f 8 12 13
+f 9 14 10
+f 9 15 14
+f 10 16 11
+f 10 14 16
+f 12 17 18
+f 12 18 13
+f 13 18 19
+f 14 15 20
+f 15 21 20
+f 17 22 23
+f 17 23 19
+f 17 19 18
+f 20 21 25
+f 20 25 26
+f 20 26 24
+f 22 24 26
+f 22 26 25
+f 22 25 23
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_185.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_185.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2798a2be0fb23f92384cdb782a629fe1002a879c
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_185.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.02882389 0.01820081 -0.00212245
+v 0.02882389 0.04790364 -0.00212245
+v 0.03097932 0.01820081 -0.00212245
+v 0.02882389 0.01820081 0.02856148
+v 0.02882389 0.04756633 -0.00078288
+v 0.03097932 0.04546402 0.00248795
+v 0.03097932 0.04654862 -0.00196026
+v 0.03062040 0.04677833 -0.00212245
+v 0.03097932 0.04654862 -0.00212245
+v 0.03097932 0.01820081 0.02841130
+v 0.02882389 0.02023334 0.02773551
+v 0.02882389 0.04664167 0.00248795
+v 0.03097932 0.04422532 0.00646160
+v 0.03097932 0.02028568 0.02738110
+v 0.02882389 0.02543533 0.02522758
+v 0.02882389 0.02331266 0.02627580
+v 0.02882389 0.02028568 0.02771148
+v 0.02882389 0.04530119 0.00651867
+v 0.03097932 0.04419624 0.00653669
+v 0.03097932 0.02285033 0.02609259
+v 0.03097932 0.02497591 0.02498729
+v 0.02882389 0.02881997 0.02318218
+v 0.02882389 0.04395490 0.00958226
+v 0.02953392 0.04385603 0.00921583
+v 0.03097932 0.04199797 0.01078066
+v 0.03097932 0.02679907 0.02386999
+v 0.03081516 0.02885487 0.02264755
+v 0.02919146 0.03104441 0.02168343
+v 0.02882389 0.03068385 0.02200480
+v 0.02882389 0.04347802 0.01025504
+v 0.03097932 0.04171882 0.01117412
+v 0.03097932 0.02879380 0.02263254
+v 0.03097932 0.03287049 0.01978520
+v 0.02882389 0.03632782 0.01807020
+v 0.02882389 0.03110548 0.02173148
+v 0.02882389 0.04242250 0.01173278
+v 0.03017581 0.03999161 0.01367605
+v 0.03097932 0.04118961 0.01178383
+v 0.03097932 0.03375445 0.01915747
+v 0.03035664 0.03574336 0.01795907
+v 0.02882389 0.03828184 0.01622604
+v 0.02882389 0.04038997 0.01406651
+v 0.03097932 0.03867439 0.01465219
+v 0.03097932 0.03658080 0.01680571
+v 0.03097932 0.03770901 0.01568240
+f 1 2 8
+f 1 8 9
+f 1 9 3
+f 1 3 10
+f 1 10 4
+f 1 4 11
+f 1 11 17
+f 1 17 16
+f 1 16 15
+f 1 15 22
+f 1 22 29
+f 1 29 35
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+f 1 34 41
+f 1 41 42
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+f 1 12 5
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+f 2 6 7
+f 2 7 8
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+f 3 45 44
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+f 3 39 33
+f 3 33 32
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+f 3 14 10
+f 4 10 11
+f 5 12 6
+f 6 12 13
+f 7 9 8
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 12 18 13
+f 13 18 19
+f 14 20 15
+f 15 21 22
+f 15 20 21
+f 18 23 24
+f 18 24 19
+f 19 24 25
+f 21 26 22
+f 22 26 27
+f 22 27 28
+f 22 28 29
+f 23 30 24
+f 24 30 31
+f 24 31 25
+f 26 32 27
+f 27 32 33
+f 27 33 28
+f 28 33 34
+f 28 34 35
+f 28 35 29
+f 30 36 31
+f 31 36 37
+f 31 37 38
+f 33 39 40
+f 33 40 34
+f 34 40 41
+f 36 42 37
+f 37 42 43
+f 37 43 38
+f 39 44 40
+f 40 44 41
+f 41 44 45
+f 41 45 42
+f 42 45 43
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_186.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_186.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb46d1d5a750bce9249b5739f90b79638c4bbbfc
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_186.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00965728 -0.04477320 -0.02262492
+v 0.00965728 -0.04344855 -0.02325395
+v 0.01105000 -0.04344855 -0.02300080
+v 0.01105000 -0.04415416 -0.02262492
+v 0.00965728 -0.01813613 -0.02262492
+v 0.00965728 -0.03920184 -0.02393504
+v 0.01105000 -0.03920184 -0.02388247
+v 0.01105000 -0.01797613 -0.02262492
+v 0.00988102 -0.01798662 -0.02262492
+v 0.00965728 -0.02220711 -0.02299144
+v 0.00965728 -0.03495250 -0.02374217
+v 0.01105000 -0.03495250 -0.02381091
+v 0.01105000 -0.01912502 -0.02273124
+v 0.00989738 -0.01798400 -0.02262492
+v 0.00988252 -0.02220711 -0.02299401
+v 0.01105000 -0.02337436 -0.02309814
+v 0.01105000 -0.02220711 -0.02300055
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 9
+f 1 9 5
+f 1 5 10
+f 1 10 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 12
+f 3 12 16
+f 3 16 17
+f 3 17 13
+f 3 13 8
+f 3 8 4
+f 5 9 10
+f 6 11 12
+f 6 12 7
+f 8 13 14
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 10 16 12
+f 10 12 11
+f 13 17 15
+f 13 15 14
+f 15 17 16
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_187.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_187.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ed884552b754ba6db631b7b172ee5e1e21d85b2
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_187.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v 0.00594368 -0.05685932 -0.00600564
+v 0.00702954 -0.05620422 -0.00600564
+v 0.00594368 -0.05660631 -0.00159772
+v 0.00594368 -0.05660179 -0.00956547
+v 0.00702954 -0.05602802 -0.00843648
+v 0.00702954 -0.05589022 -0.00165715
+v 0.00702954 -0.05502730 0.00265354
+v 0.00594368 -0.05568918 0.00262113
+v 0.00594368 -0.05651595 -0.01024611
+v 0.00702954 -0.05580213 -0.01024611
+v 0.00702954 -0.05348669 0.00672654
+v 0.00594368 -0.05383457 0.00823366
+v 0.00594368 -0.05474041 0.00574881
+v 0.00594368 -0.05565303 0.00274537
+v 0.00594368 -0.05568014 0.00265354
+v 0.00594368 -0.05535711 -0.01421107
+v 0.00702954 -0.05509055 -0.01267694
+v 0.00702954 -0.05147170 0.01130192
+v 0.00594368 -0.05228041 0.01156661
+v 0.00594368 -0.05521479 -0.01448657
+v 0.00702954 -0.05387975 -0.01543730
+v 0.00702954 -0.05483303 -0.01354124
+v 0.00702954 -0.05012084 0.01330601
+v 0.00594368 -0.05080305 0.01394343
+v 0.00594368 -0.05284966 -0.01895391
+v 0.00702954 -0.05220360 -0.01838131
+v 0.00702954 -0.04595532 0.01923726
+v 0.00594368 -0.04698766 0.01919404
+v 0.00702954 -0.05190994 -0.01886748
+v 0.00594368 -0.05204774 -0.01992624
+v 0.00702954 -0.04266176 0.02296994
+v 0.00594368 -0.04531603 0.02130077
+v 0.00702954 -0.05097699 -0.01974258
+v 0.00594368 -0.04913142 -0.02198975
+v 0.00702954 -0.04762243 -0.02248673
+v 0.00702954 -0.04900717 -0.02139015
+v 0.00594368 -0.04328975 0.02359656
+v 0.00702954 -0.04192534 0.02372080
+v 0.00594368 -0.04311581 0.02377482
+v 0.00594368 -0.04799968 -0.02278923
+v 0.00594368 -0.04796353 -0.02280544
+v 0.00702954 -0.04345239 -0.02389661
+v 0.00702954 -0.04031018 0.02507667
+v 0.00594368 -0.04108274 0.02565467
+v 0.00594368 -0.04345239 -0.02416670
+v 0.00702954 -0.03920329 -0.02416130
+v 0.00702954 -0.03814610 0.02687009
+v 0.00594368 -0.04031018 0.02629209
+v 0.00594368 -0.03920329 -0.02425854
+v 0.00702954 -0.03378405 -0.02361571
+v 0.00702954 -0.03739612 0.02746969
+v 0.00594368 -0.03855723 0.02772898
+v 0.00594368 -0.03877861 0.02755072
+v 0.00594368 -0.03378405 -0.02361031
+v 0.00702954 -0.03378405 0.02978709
+v 0.00702954 -0.03493837 0.02907945
+v 0.00594368 -0.03586229 0.02964124
+v 0.00594368 -0.03378405 0.03092689
+v 0.00616944 -0.03378405 0.03070001
+v 0.00594368 -0.03397380 0.03081885
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 14
+f 1 14 13
+f 1 13 12
+f 1 12 19
+f 1 19 24
+f 1 24 28
+f 1 28 32
+f 1 32 37
+f 1 37 39
+f 1 39 44
+f 1 44 48
+f 1 48 53
+f 1 53 52
+f 1 52 57
+f 1 57 60
+f 1 60 58
+f 1 58 54
+f 1 54 49
+f 1 49 45
+f 1 45 41
+f 1 41 40
+f 1 40 34
+f 1 34 30
+f 1 30 25
+f 1 25 20
+f 1 20 16
+f 1 16 9
+f 1 9 4
+f 1 4 2
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+f 2 18 11
+f 2 11 7
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+f 3 7 8
+f 4 9 10
+f 4 10 5
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+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 11 18 12
+f 12 18 19
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 18 23 24
+f 18 24 19
+f 20 25 21
+f 21 25 26
+f 23 27 24
+f 24 27 28
+f 25 29 26
+f 25 30 29
+f 27 31 32
+f 27 32 28
+f 29 30 33
+f 30 34 35
+f 30 35 36
+f 30 36 33
+f 31 37 32
+f 31 38 39
+f 31 39 37
+f 34 40 35
+f 35 40 41
+f 35 41 42
+f 38 43 44
+f 38 44 39
+f 41 45 42
+f 42 45 46
+f 43 47 44
+f 44 47 48
+f 45 49 46
+f 46 49 50
+f 47 51 52
+f 47 52 53
+f 47 53 48
+f 49 54 50
+f 50 54 58
+f 50 58 59
+f 50 59 55
+f 51 56 57
+f 51 57 52
+f 55 59 56
+f 56 59 60
+f 56 60 57
+f 58 60 59
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_188.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_188.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7d000e985258c72b369fb8cda356f4bd4e438b4
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_188.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.01104727 -0.00096939 -0.00040330
+v 0.00965728 -0.00096939 -0.00040330
+v 0.01105000 -0.00100093 -0.00040330
+v 0.01105000 -0.00096939 -0.00637852
+v 0.00965728 -0.00096939 -0.02126544
+v 0.00965728 -0.05404086 -0.00040330
+v 0.01105000 -0.05347840 -0.00040330
+v 0.01105000 -0.00096939 -0.02137855
+v 0.00965728 -0.00946419 -0.02212028
+v 0.00965728 -0.05430895 -0.00176932
+v 0.01105000 -0.05368866 -0.00176932
+v 0.01105000 -0.00946419 -0.02213116
+v 0.00988263 -0.00946419 -0.02212246
+v 0.00990758 -0.01798527 -0.02262492
+v 0.00988127 -0.01799053 -0.02262492
+v 0.00965728 -0.01813772 -0.02262492
+v 0.00965728 -0.05441408 -0.00294391
+v 0.01105000 -0.05400406 -0.00526918
+v 0.01105000 -0.01798002 -0.02262492
+v 0.00965728 -0.04476807 -0.02262492
+v 0.00965728 -0.05467166 -0.00601744
+v 0.01105000 -0.05406189 -0.00601744
+v 0.01105000 -0.04414778 -0.02262492
+v 0.00965728 -0.04678664 -0.02170917
+v 0.00965728 -0.05460858 -0.00675047
+v 0.01105000 -0.05372020 -0.01023293
+v 0.01105000 -0.04649227 -0.02150906
+v 0.00965728 -0.04891034 -0.01996033
+v 0.00965728 -0.05426690 -0.01026556
+v 0.01105000 -0.05371495 -0.01026556
+v 0.01105000 -0.04871584 -0.01953617
+v 0.00965728 -0.05081326 -0.01785041
+v 0.00965728 -0.05297901 -0.01423961
+v 0.01105000 -0.05288439 -0.01312157
+v 0.01105000 -0.05048734 -0.01747193
+v 0.01105000 -0.05079749 -0.01701296
+v 0.01105000 -0.05236924 -0.01448323
+v 0.00965728 -0.05287388 -0.01447018
+v 0.00965728 -0.05292644 -0.01438100
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 9
+f 2 9 16
+f 2 16 20
+f 2 20 24
+f 2 24 28
+f 2 28 32
+f 2 32 38
+f 2 38 39
+f 2 39 33
+f 2 33 29
+f 2 29 25
+f 2 25 21
+f 2 21 17
+f 2 17 10
+f 2 10 6
+f 3 7 11
+f 3 11 18
+f 3 18 22
+f 3 22 26
+f 3 26 30
+f 3 30 34
+f 3 34 37
+f 3 37 36
+f 3 36 35
+f 3 35 31
+f 3 31 27
+f 3 27 23
+f 3 23 19
+f 3 19 12
+f 3 12 8
+f 3 8 4
+f 5 8 9
+f 6 10 7
+f 7 10 11
+f 8 12 13
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 10 17 18
+f 10 18 11
+f 12 19 14
+f 12 14 13
+f 14 19 23
+f 14 23 20
+f 14 20 16
+f 14 16 15
+f 17 21 18
+f 18 21 22
+f 20 23 24
+f 21 25 26
+f 21 26 22
+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 29 33 34
+f 29 34 30
+f 31 35 32
+f 32 35 36
+f 32 36 37
+f 32 37 38
+f 33 39 34
+f 34 39 37
+f 37 39 38
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_189.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_189.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25533ade5d16d5ec56ba26f6a24a9fa2e7533059
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_189.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.02733964 0.03915733 -0.02182438
+v 0.02733964 0.04053963 -0.02131146
+v 0.02882368 0.03915733 -0.02098438
+v 0.02733964 0.03915733 0.01614289
+v 0.02733964 0.04217045 -0.02024473
+v 0.02882368 0.03943118 -0.02088031
+v 0.02882368 0.03915733 0.01529546
+v 0.02737334 0.03915733 0.01613174
+v 0.02733964 0.03921640 0.01609086
+v 0.02733964 0.04458447 -0.01826739
+v 0.02882368 0.04074290 -0.01996969
+v 0.02882368 0.04039158 0.01406519
+v 0.02733964 0.04082958 0.01449263
+v 0.02733964 0.04490512 -0.01793659
+v 0.02882368 0.04406362 -0.01704827
+v 0.02882368 0.04400225 -0.01711146
+v 0.02882368 0.04312778 -0.01801093
+v 0.02882368 0.04052198 0.01391652
+v 0.02733964 0.04250874 0.01257103
+v 0.02733964 0.04699313 -0.01541659
+v 0.02882368 0.04479925 -0.01609677
+v 0.02759795 0.04282478 0.01204696
+v 0.02882368 0.04242436 0.01172732
+v 0.02733964 0.04315999 0.01175705
+v 0.02771766 0.04699313 -0.01484048
+v 0.02733964 0.04699313 0.00395174
+v 0.02882368 0.04595372 -0.01450969
+v 0.02882368 0.04347833 0.01025174
+v 0.02882368 0.04396083 0.00957156
+v 0.02733964 0.04415951 0.01034466
+v 0.02789955 0.04699313 -0.01450969
+v 0.02807665 0.04679675 -0.01450969
+v 0.02733964 0.04604194 0.00654979
+v 0.02882368 0.04530247 0.00651262
+v 0.02882368 0.04664333 0.00248360
+v 0.02818386 0.04699313 0.00248360
+v 0.02875103 0.04699313 -0.01269960
+v 0.02882368 0.04699313 -0.01254349
+v 0.02733964 0.04417638 0.01031864
+v 0.02822439 0.04699313 -0.01382207
+v 0.02882368 0.04699313 0.00104519
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 19
+f 1 19 24
+f 1 24 30
+f 1 30 39
+f 1 39 33
+f 1 33 26
+f 1 26 20
+f 1 20 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 11
+f 3 11 17
+f 3 17 16
+f 3 16 15
+f 3 15 21
+f 3 21 27
+f 3 27 38
+f 3 38 41
+f 3 41 35
+f 3 35 34
+f 3 34 29
+f 3 29 28
+f 3 28 23
+f 3 23 18
+f 3 18 12
+f 3 12 7
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 7 12 13
+f 7 13 8
+f 8 13 9
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 12 18 13
+f 13 18 19
+f 14 20 15
+f 15 20 21
+f 18 22 19
+f 18 23 22
+f 19 22 24
+f 20 25 21
+f 20 26 36
+f 20 36 41
+f 20 41 38
+f 20 38 37
+f 20 37 40
+f 20 40 31
+f 20 31 25
+f 21 25 27
+f 22 23 28
+f 22 28 29
+f 22 29 24
+f 24 29 30
+f 25 31 32
+f 25 32 27
+f 26 33 34
+f 26 34 35
+f 26 35 36
+f 27 32 37
+f 27 37 38
+f 29 39 30
+f 29 34 33
+f 29 33 39
+f 31 40 32
+f 32 40 37
+f 35 41 36
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_19.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..747c8ec3bb7d7d6ec66a99b71b28d3f096ffdd9e
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.01485875 0.01049392 -0.02137603
+v 0.01427540 0.01049392 -0.02129718
+v 0.01485875 0.02450731 -0.02263759
+v 0.01485875 0.01049392 0.03331375
+v 0.01395061 0.01049392 -0.02124866
+v 0.00562500 0.02415478 -0.02113949
+v 0.00957960 0.02450731 -0.02155799
+v 0.01485875 0.02450731 0.03012346
+v 0.01485875 0.01603700 0.03282853
+v 0.00852540 0.01049392 0.03793542
+v 0.00559144 0.01049392 -0.01962926
+v 0.00559144 0.01582438 -0.01964745
+v 0.00562500 0.02415478 0.03560032
+v 0.00957960 0.02450731 0.03407189
+v 0.01342714 0.02450731 0.03131830
+v 0.01485875 0.02046351 0.03182171
+v 0.01485875 0.02008629 0.03197334
+v 0.01207084 0.01836754 0.03439335
+v 0.01000509 0.01998341 0.03520608
+v 0.00687516 0.01049392 0.03883913
+v 0.00559144 0.01049392 0.03932435
+v 0.00559144 0.01582438 0.03815377
+v 0.00562591 0.02415478 0.03592784
+v 0.01150201 0.02119738 0.03402337
+v 0.01060023 0.02450731 0.03343505
+v 0.00563498 0.02415478 0.03592784
+v 0.00821785 0.02415478 0.03496348
+v 0.00856260 0.02415478 0.03480578
+v 0.00859798 0.02415478 0.03478759
+v 0.00563498 0.02028244 0.03714088
+v 0.00702667 0.01262418 0.03828113
+v 0.00562047 0.01143903 0.03911813
+v 0.00559144 0.01143354 0.03913026
+v 0.00562410 0.01049392 0.03931222
+v 0.00562500 0.01582576 0.03814770
+v 0.00559144 0.01580792 0.03815983
+v 0.00562500 0.02028244 0.03714088
+v 0.00559144 0.01151584 0.03911206
+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 20
+f 1 20 34
+f 1 34 21
+f 1 21 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 14
+f 3 14 25
+f 3 25 15
+f 3 15 8
+f 4 9 10
+f 5 11 6
+f 6 11 12
+f 6 12 22
+f 6 22 13
+f 6 13 14
+f 6 14 7
+f 8 15 16
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 20
+f 11 21 33
+f 11 33 38
+f 11 38 36
+f 11 36 22
+f 11 22 12
+f 13 22 23
+f 13 23 14
+f 14 24 25
+f 14 23 26
+f 14 26 27
+f 14 27 28
+f 14 28 29
+f 14 29 24
+f 15 17 16
+f 15 25 17
+f 17 25 24
+f 17 24 18
+f 18 24 19
+f 19 24 29
+f 19 29 28
+f 19 28 30
+f 19 30 31
+f 19 31 20
+f 20 32 33
+f 20 33 34
+f 20 31 30
+f 20 30 35
+f 20 35 32
+f 21 34 33
+f 22 36 23
+f 23 36 37
+f 23 37 30
+f 23 30 26
+f 26 30 27
+f 27 30 28
+f 30 36 35
+f 30 37 36
+f 32 35 33
+f 33 35 38
+f 35 36 38
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_190.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_190.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9be957247b2b5d0da139c53c79470ec5f740d4ed
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_190.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v 0.01485894 0.04148125 -0.02433372
+v 0.01382769 0.04187488 -0.02441609
+v 0.01382920 0.04187488 -0.02442982
+v 0.01629446 0.04148125 -0.02421016
+v 0.01485894 0.04148125 0.02178600
+v 0.01382769 0.04577851 -0.02429253
+v 0.01382769 0.04187488 0.02232143
+v 0.01639552 0.04162588 -0.02419643
+v 0.01639552 0.04148125 -0.02420101
+v 0.01639552 0.04148125 0.02060075
+v 0.01639552 0.04203083 0.02023922
+v 0.01382769 0.04601242 -0.02424677
+v 0.01413163 0.04577851 -0.02423761
+v 0.01485869 0.04505286 -0.02420558
+v 0.01639552 0.04351606 -0.02412779
+v 0.01528809 0.04246973 0.02079753
+v 0.01382769 0.04547794 0.01983651
+v 0.01639552 0.04476235 0.01829888
+v 0.01382769 0.04603254 -0.02424219
+v 0.01485894 0.04577976 -0.02402253
+v 0.01639552 0.04538865 -0.02365643
+v 0.01485869 0.04540625 0.01905854
+v 0.01408714 0.04573072 0.01943837
+v 0.01382769 0.04636455 0.01914091
+v 0.01639552 0.04569425 0.01756668
+v 0.01382769 0.05033105 -0.02272287
+v 0.01639552 0.04820066 -0.02270456
+v 0.01639552 0.04577976 -0.02355575
+v 0.01485869 0.04647774 0.01821193
+v 0.01571824 0.04731153 0.01684362
+v 0.01382769 0.04966578 0.01625786
+v 0.01639552 0.04701725 0.01651871
+v 0.01382769 0.05092087 -0.02239795
+v 0.01455449 0.05045052 -0.02246202
+v 0.01639552 0.04976512 -0.02201354
+v 0.01639552 0.04795542 0.01566294
+v 0.01382769 0.05108813 0.01481176
+v 0.01639552 0.04927717 0.01442277
+v 0.01573333 0.05169681 0.01260599
+v 0.01382769 0.05197977 -0.02181219
+v 0.01382769 0.05224890 -0.02165660
+v 0.01485869 0.05248785 -0.02116236
+v 0.01625247 0.05214829 -0.02087863
+v 0.01639552 0.05193827 -0.02092439
+v 0.01382769 0.05401584 0.01144362
+v 0.01639552 0.05137990 0.01230853
+v 0.01639552 0.05225896 0.01131090
+v 0.01382769 0.05273812 -0.02136829
+v 0.01382769 0.05320469 -0.02086032
+v 0.01472168 0.05432899 -0.01921744
+v 0.01639552 0.05427366 -0.01789032
+v 0.01639552 0.05208164 -0.02080998
+v 0.01639552 0.05296197 0.01043226
+v 0.01639552 0.05326379 0.01005243
+v 0.01485869 0.05393536 0.01060158
+v 0.01404440 0.05429252 0.01088989
+v 0.01401850 0.05432899 0.01086243
+v 0.01382769 0.05432899 0.01099057
+v 0.01382769 0.05340465 -0.02064066
+v 0.01382769 0.05432899 -0.01962473
+v 0.01485869 0.05432899 -0.01908015
+v 0.01639552 0.05427366 0.00830429
+v 0.01485869 0.05432899 0.00993802
+v 0.01407155 0.05432899 0.01081209
+v 0.01628214 0.05427366 0.00843243
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 7
+f 1 7 2
+f 2 6 3
+f 2 7 17
+f 2 17 24
+f 2 24 31
+f 2 31 37
+f 2 37 45
+f 2 45 58
+f 2 58 60
+f 2 60 59
+f 2 59 49
+f 2 49 48
+f 2 48 41
+f 2 41 40
+f 2 40 33
+f 2 33 26
+f 2 26 19
+f 2 19 12
+f 2 12 6
+f 3 6 8
+f 3 8 9
+f 3 9 4
+f 5 10 11
+f 5 11 7
+f 6 12 13
+f 6 13 14
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+f 6 15 8
+f 7 11 16
+f 7 16 17
+f 8 15 21
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+f 8 28 27
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+f 8 44 52
+f 8 52 51
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+f 8 62 54
+f 8 54 53
+f 8 53 47
+f 8 47 46
+f 8 46 38
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+f 8 36 32
+f 8 32 25
+f 8 25 18
+f 8 18 11
+f 8 11 10
+f 8 10 9
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+f 11 18 17
+f 12 19 13
+f 13 19 20
+f 13 20 14
+f 14 20 21
+f 14 21 15
+f 17 18 22
+f 17 22 23
+f 17 23 24
+f 18 25 22
+f 19 26 20
+f 20 26 27
+f 20 27 28
+f 20 28 21
+f 22 25 23
+f 23 25 29
+f 23 29 24
+f 24 29 30
+f 24 30 31
+f 25 32 30
+f 25 30 29
+f 26 33 34
+f 26 34 27
+f 27 34 35
+f 30 32 36
+f 30 36 31
+f 31 36 38
+f 31 38 39
+f 31 39 37
+f 33 40 34
+f 34 40 41
+f 34 41 42
+f 34 42 43
+f 34 43 44
+f 34 44 35
+f 37 39 45
+f 38 46 39
+f 39 46 47
+f 39 47 45
+f 41 48 42
+f 42 48 49
+f 42 49 50
+f 42 50 43
+f 43 50 51
+f 43 51 52
+f 43 52 44
+f 45 47 53
+f 45 53 54
+f 45 54 55
+f 45 55 56
+f 45 56 57
+f 45 57 58
+f 49 59 50
+f 50 59 60
+f 50 60 58
+f 50 58 57
+f 50 57 64
+f 50 64 63
+f 50 63 61
+f 50 61 51
+f 51 61 63
+f 51 63 62
+f 54 63 64
+f 54 64 55
+f 54 62 65
+f 54 65 63
+f 55 64 56
+f 56 64 57
+f 62 63 65
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_191.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_191.obj
new file mode 100644
index 0000000000000000000000000000000000000000..157d3eab3a415093d1f162b82784c35b2b62817a
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_191.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.03725586 0.00141079 -0.02342965
+v 0.03725794 0.00990653 -0.02366830
+v 0.03725794 0.00328889 -0.02344003
+v 0.03725794 0.00141079 -0.02193555
+v 0.03537650 0.00141079 -0.02324808
+v 0.03532736 0.01603363 -0.02362161
+v 0.03537650 0.01603363 -0.02362679
+v 0.03725794 0.01415326 -0.02376686
+v 0.03532736 0.00141079 -0.02324289
+v 0.03725794 0.00141079 0.02776932
+v 0.03532736 0.02028263 -0.02368905
+v 0.03725794 0.01840226 -0.02382393
+v 0.03532736 0.00141079 0.02905073
+v 0.03725794 0.00328889 0.02790421
+v 0.03564314 0.00328889 0.02897810
+v 0.03532736 0.02033259 -0.02368905
+v 0.03725794 0.02028263 -0.02382912
+v 0.03532736 0.00285059 0.02915448
+v 0.03568113 0.00753789 0.02884321
+v 0.03532736 0.00753789 0.02909223
+v 0.03725794 0.00753789 0.02768632
+v 0.03532736 0.00328889 0.02917005
+v 0.03532736 0.02458160 -0.02358010
+v 0.03725794 0.02265126 -0.02376686
+v 0.03532736 0.01178690 0.02879652
+v 0.03725794 0.01178690 0.02708972
+v 0.03532736 0.02460885 -0.02356454
+v 0.03532774 0.02460885 -0.02357491
+v 0.03725794 0.02460885 -0.02366830
+v 0.03725794 0.02453164 -0.02367349
+v 0.03532736 0.01579063 0.02773820
+v 0.03725794 0.01390572 0.02661243
+v 0.03725794 0.01589510 0.02611958
+v 0.03532736 0.02460885 0.02367092
+v 0.03725794 0.02460885 0.02244658
+v 0.03532736 0.01583605 0.02772263
+v 0.03725794 0.01745072 0.02557486
+v 0.03532736 0.02449076 0.02374874
+v 0.03543338 0.02460885 0.02362422
+v 0.03544472 0.02460885 0.02361904
+v 0.03725794 0.02399341 0.02288236
+v 0.03532736 0.02028263 0.02573050
+v 0.03725794 0.02181327 0.02389918
+v 0.03625127 0.02028263 0.02518577
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 12
+f 2 12 17
+f 2 17 24
+f 2 24 30
+f 2 30 29
+f 2 29 35
+f 2 35 41
+f 2 41 43
+f 2 43 37
+f 2 37 33
+f 2 33 32
+f 2 32 26
+f 2 26 21
+f 2 21 14
+f 2 14 10
+f 2 10 4
+f 2 4 3
+f 2 5 9
+f 2 9 6
+f 6 11 7
+f 6 9 13
+f 6 13 18
+f 6 18 22
+f 6 22 20
+f 6 20 25
+f 6 25 31
+f 6 31 36
+f 6 36 42
+f 6 42 38
+f 6 38 34
+f 6 34 27
+f 6 27 23
+f 6 23 16
+f 6 16 11
+f 7 11 8
+f 8 11 12
+f 10 14 15
+f 10 15 13
+f 11 16 17
+f 11 17 12
+f 13 15 18
+f 14 19 20
+f 14 20 15
+f 14 21 19
+f 15 20 22
+f 15 22 18
+f 16 23 17
+f 17 23 24
+f 19 25 20
+f 19 21 25
+f 21 26 25
+f 23 27 28
+f 23 28 29
+f 23 29 30
+f 23 30 24
+f 25 26 32
+f 25 32 33
+f 25 33 31
+f 27 34 39
+f 27 39 40
+f 27 40 35
+f 27 35 29
+f 27 29 28
+f 31 33 36
+f 33 37 36
+f 34 38 39
+f 35 40 41
+f 36 37 43
+f 36 43 44
+f 36 44 42
+f 38 41 40
+f 38 40 39
+f 38 42 41
+f 41 42 43
+f 42 44 43
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_192.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_192.obj
new file mode 100644
index 0000000000000000000000000000000000000000..debb3ac0d474dc306707f4343bc2095de1a3498d
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_192.obj
@@ -0,0 +1,282 @@
+# https://github.com/mikedh/trimesh
+v -0.03268625 -0.04456120 -0.00601096
+v -0.03268625 -0.04419219 -0.00176174
+v -0.03311657 -0.04419496 -0.00601096
+v -0.03268625 -0.04449739 -0.00657400
+v -0.03294722 -0.04395913 -0.00176174
+v -0.03440081 -0.04291589 -0.00411012
+v -0.03440081 -0.04308514 -0.00601096
+v -0.03268625 -0.04366780 0.00019204
+v -0.03440081 -0.04275219 -0.00852778
+v -0.03440081 -0.04247751 -0.01029869
+v -0.03268625 -0.04387034 -0.01038050
+v -0.03440081 -0.04263011 -0.00176174
+v -0.03268625 -0.04317947 0.00200145
+v -0.03440081 -0.04188098 0.00104862
+v -0.03440081 -0.04193647 -0.01222841
+v -0.03268625 -0.04378433 -0.01068367
+v -0.03268625 -0.04302688 0.00235275
+v -0.03440081 -0.04080723 0.00353656
+v -0.03440081 -0.04163960 -0.01297912
+v -0.03268625 -0.04242202 -0.01418218
+v -0.03268625 -0.04069625 0.00673190
+v -0.03428383 -0.04089047 0.00359431
+v -0.03440081 -0.03894273 0.00673190
+v -0.03440081 -0.04123174 -0.01385014
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+v -0.03268625 -0.04239150 -0.01424474
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_193.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_193.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9432eb46220667ebc865d53ce4f293eec05b4ff4
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_193.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.04720810 -0.01013854 -0.02332587
+v 0.04516249 -0.01013481 -0.02341440
+v 0.04877119 -0.01013854 -0.02329488
+v 0.04720810 -0.01013854 0.01980804
+v 0.04516249 -0.00095900 -0.02366229
+v 0.04877119 -0.00095900 -0.02361803
+v 0.04516249 -0.01013481 0.02047204
+v 0.04877119 -0.01013854 0.01937865
+v 0.04516249 0.00891820 -0.02384822
+v 0.04877119 0.00328475 -0.02364459
+v 0.04516249 -0.01001915 0.02048533
+v 0.04877119 -0.00945581 0.01941849
+v 0.04516249 -0.00520833 0.02086159
+v 0.04516249 -0.00945581 0.02052959
+v 0.04674042 0.00891820 -0.02375968
+v 0.04877119 0.00861041 -0.02366672
+v 0.04516249 0.00891820 0.02118917
+v 0.04877119 -0.00520833 0.01944947
+v 0.04516249 0.00695955 0.02137509
+v 0.04516249 0.00281840 0.02129099
+v 0.04720810 0.00891820 -0.02371984
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+v 0.04877119 0.00333884 0.01892712
+v 0.04536808 0.00891820 0.02102096
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+v 0.04720810 0.00891820 0.01924142
+v 0.04788032 0.00861041 0.01869251
+v 0.04877119 0.00715914 0.01840034
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_194.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_194.obj
new file mode 100644
index 0000000000000000000000000000000000000000..941d22708d172c2aaa609b37e359c30a5a8c2ce2
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_194.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v 0.05662183 -0.00526139 -0.02359043
+v 0.05661898 -0.00520745 -0.02359043
+v 0.05661898 0.00328987 -0.02408523
+v 0.05662183 0.00328987 -0.02408523
+v 0.05869954 -0.00520745 -0.02358245
+v 0.05869954 -0.00526139 -0.02357846
+v 0.05661898 -0.00526139 -0.01906540
+v 0.05661898 0.00753536 -0.02420095
+v 0.05662183 0.00753536 -0.02420893
+v 0.05869954 0.00328987 -0.02402138
+v 0.05869954 0.00753536 -0.02418100
+v 0.05869954 -0.00526139 0.01538704
+v 0.05661898 -0.00526139 0.01644447
+v 0.05661898 0.01178402 -0.02406528
+v 0.05662183 0.01178402 -0.02406528
+v 0.05869954 0.00970887 -0.02410518
+v 0.05869954 -0.00096196 0.01542295
+v 0.05661898 -0.00095879 0.01655620
+v 0.05661898 0.01603268 -0.02293203
+v 0.05662183 0.01603268 -0.02293203
+v 0.05869954 0.01395436 -0.02339889
+v 0.05869954 0.01178402 -0.02397749
+v 0.05661898 0.00362304 0.01628087
+v 0.05661898 0.00165895 0.01640457
+v 0.05869954 0.00343266 0.01503190
+v 0.05661898 0.01890108 -0.02141171
+v 0.05869954 0.01620403 -0.02258886
+v 0.05662183 0.01890108 -0.02141171
+v 0.05869954 0.01870753 -0.02130397
+v 0.05661898 0.00397524 0.01618909
+v 0.05869954 0.00665644 0.01420590
+v 0.05661898 0.02102700 -0.01957617
+v 0.05661938 0.01907877 -0.02126407
+v 0.05836677 0.01907877 -0.02102864
+v 0.05869954 0.01952299 -0.02059769
+v 0.05661898 0.00749729 0.01510772
+v 0.05869954 0.00752584 0.01393855
+v 0.05661898 0.02338137 -0.01745331
+v 0.05662183 0.02102700 -0.01957617
+v 0.05869954 0.02191544 -0.01812768
+v 0.05869954 0.00966128 0.01328015
+v 0.05661898 0.00753536 0.01509575
+v 0.05661898 0.02546287 -0.01466009
+v 0.05869954 0.02323224 -0.01648366
+v 0.05869954 0.02280071 -0.01706226
+v 0.05869954 0.00985483 0.01319635
+v 0.05661898 0.01073376 0.01363928
+v 0.05662183 0.01073376 0.01363928
+v 0.05661898 0.02667813 -0.01173119
+v 0.05869954 0.02432059 -0.01445658
+v 0.05869954 0.01812370 0.00924992
+v 0.05661898 0.01285333 0.01262175
+v 0.05661898 0.02714774 -0.01025876
+v 0.05869954 0.02529470 -0.01137605
+v 0.05869954 0.01845052 0.00906238
+v 0.05662183 0.01890743 0.00938160
+v 0.05662183 0.01603268 0.01101764
+v 0.05661898 0.01602951 0.01101764
+v 0.05661898 0.02708110 -0.00601306
+v 0.05869954 0.02562152 -0.01025876
+v 0.05662183 0.02103335 0.00743433
+v 0.05662142 0.01907877 0.00922598
+v 0.05869954 0.02239457 0.00498826
+v 0.05661898 0.01890743 0.00938160
+v 0.05869954 0.02463154 -0.00167558
+v 0.05869954 0.02551364 -0.00601306
+v 0.05661898 0.02575796 -0.00145611
+v 0.05662183 0.02298792 0.00530749
+v 0.05661898 0.02103335 0.00743433
+v 0.05869954 0.02255956 0.00480870
+v 0.05869954 0.02340676 0.00248234
+v 0.05661898 0.02443481 0.00248234
+v 0.05661898 0.02298792 0.00530749
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_195.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_195.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd751c7e10c3f0fc5d2156b9d76e92d8a7f7f553
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_195.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.02647864 0.01256149 0.03077817
+v 0.02733949 0.01256149 0.03073774
+v 0.02647864 0.01450877 0.03027681
+v 0.02647864 0.01256149 0.02045178
+v 0.02733949 0.01437742 0.03025861
+v 0.02733949 0.01256149 0.02045178
+v 0.02647864 0.01643937 0.02963394
+v 0.02647864 0.03386066 0.02045178
+v 0.02733949 0.01650192 0.02951365
+v 0.02733949 0.03348329 0.02045178
+v 0.02647864 0.01657698 0.02958138
+v 0.02647864 0.03151725 0.02204986
+v 0.02733949 0.03135463 0.02193463
+v 0.02686474 0.03369804 0.02045178
+v 0.02733949 0.02028598 0.02794084
+v 0.02647864 0.02026722 0.02811672
+v 0.02727065 0.03351457 0.02045178
+v 0.02733949 0.02923222 0.02330528
+v 0.02647864 0.02876520 0.02382686
+v 0.02733949 0.02361137 0.02641149
+v 0.02647864 0.02383654 0.02649437
+v 0.02733949 0.02879022 0.02358426
+v 0.02647864 0.02840243 0.02405530
+v 0.02733949 0.02574838 0.02539260
+v 0.02647864 0.02595687 0.02550075
+f 1 2 3
+f 1 3 7
+f 1 7 11
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+f 1 16 21
+f 1 21 25
+f 1 25 23
+f 1 23 19
+f 1 19 12
+f 1 12 8
+f 1 8 4
+f 1 4 6
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+f 15 21 16
+f 18 19 22
+f 19 23 22
+f 20 24 25
+f 20 25 21
+f 22 23 24
+f 23 25 24
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_196.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_196.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10bbfac83680b92e88ca383e80ff18116ea0c7ad
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_196.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.00720452 0.04722797 -0.02387466
+v -0.00915376 0.04722797 -0.02370468
+v -0.00720452 0.05002691 -0.02353010
+v -0.00720452 0.04722797 0.02305873
+v -0.00915376 0.05002691 -0.02328662
+v -0.00915376 0.04722797 0.02254878
+v -0.00720986 0.05207358 -0.02284558
+v -0.00720452 0.05196022 -0.02288233
+v -0.00720452 0.04831036 0.02209396
+v -0.00915376 0.04810593 0.02183210
+v -0.00752186 0.04722797 0.02297603
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+f 19 22 20
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+f 20 22 24
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_197.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_197.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e369e4b3278298559cef90459b92b88e2b4d8c9
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_197.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00816500 -0.00096365 0.03884295
+v 0.00965715 -0.00096365 0.03773359
+v 0.00816500 -0.00096365 0.02906546
+v 0.00816500 -0.00375151 0.03870894
+v 0.00965715 -0.00175257 0.03769530
+v 0.00965715 -0.00096365 0.02906546
+v 0.00816500 -0.01796541 0.02906546
+v 0.00816500 -0.00406275 0.03867544
+v 0.00965715 -0.00529773 0.03732775
+v 0.00965715 -0.01796541 0.02906546
+v 0.00816500 -0.01796541 0.03591305
+v 0.00816500 -0.01373120 0.03702050
+v 0.00965715 -0.01375783 0.03600111
+v 0.00965715 -0.00976828 0.03667592
+v 0.00965715 -0.00946037 0.03672569
+v 0.00965715 -0.01796541 0.03486687
+v 0.00965715 -0.01795542 0.03487069
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+v 0.00816500 -0.01583665 0.03651033
+v 0.00965715 -0.01430042 0.03586998
+v 0.00965715 -0.01736290 0.03504011
+v 0.00816500 -0.01699174 0.03618680
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+f 8 14 15
+f 8 15 9
+f 11 17 18
+f 11 16 17
+f 12 19 20
+f 12 20 13
+f 17 21 18
+f 18 21 22
+f 19 22 21
+f 19 21 20
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_198.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_198.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3d1d54654671746fd5b4dc421bad29a0a20d13f
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_198.obj
@@ -0,0 +1,207 @@
+# https://github.com/mikedh/trimesh
+v 0.00279932 0.03924309 -0.02425397
+v 0.00279932 0.04335184 -0.02516939
+v 0.00555066 0.04340685 -0.02519475
+v 0.00555066 0.03924309 -0.02414329
+v 0.00279932 0.03924309 -0.00232542
+v 0.00279932 0.04359392 -0.02517400
+v 0.00288389 0.04344647 -0.02518783
+v 0.00555066 0.04344427 -0.02519475
+v 0.00555066 0.03924309 -0.00163828
+v 0.00399024 0.03924309 -0.00163828
+v 0.00279932 0.04597729 -0.00232311
+v 0.00279932 0.04478671 -0.02517400
+v 0.00288389 0.04471408 -0.02518783
+v 0.00399024 0.04520704 -0.02519014
+v 0.00555066 0.04590467 -0.02518783
+v 0.00555066 0.06057468 -0.00163828
+v 0.00399024 0.06066271 -0.00163828
+v 0.00279932 0.06089379 -0.00232311
+v 0.00279932 0.04670793 -0.02502412
+v 0.00399024 0.04733294 -0.02508868
+v 0.00439718 0.04754641 -0.02510944
+v 0.00555066 0.04621057 -0.02517861
+v 0.00555066 0.06136694 -0.00601476
+v 0.00399024 0.06153640 -0.00601476
+v 0.00279932 0.06166404 -0.00601707
+v 0.00279932 0.06106764 -0.00311401
+v 0.00279932 0.04886244 -0.02477048
+v 0.00398997 0.04788312 -0.02502642
+v 0.00555066 0.04933560 -0.02472205
+v 0.00555066 0.06136694 -0.00605857
+v 0.00279932 0.06172346 -0.01036819
+v 0.00399024 0.04906711 -0.02475203
+v 0.00279932 0.04990118 -0.02452836
+v 0.00555066 0.04964810 -0.02465057
+v 0.00399024 0.06156501 -0.01045351
+v 0.00555066 0.06135594 -0.01057110
+v 0.00398997 0.06156501 -0.01045581
+v 0.00399024 0.06143076 -0.01102766
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+v 0.00399024 0.04979114 -0.02458140
+v 0.00279932 0.05276432 -0.02339850
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+v 0.00555066 0.06116447 -0.01137584
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+v 0.00399024 0.06112046 -0.01231201
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+v 0.00399024 0.05657597 -0.02083902
+v 0.00398997 0.05656057 -0.02086207
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_199.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_199.obj
new file mode 100644
index 0000000000000000000000000000000000000000..716e3dc758f5816f10094cb9669a6744b8e1ce75
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_199.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.01086775 0.02450849 -0.02179758
+v 0.00957843 0.02450849 -0.02156546
+v 0.00957843 0.02451698 -0.02157099
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+v 0.01086775 0.02784697 -0.02237786
+v 0.01086775 0.02451077 0.03324650
+v 0.01060105 0.02450849 0.03344545
+v 0.00966944 0.02784697 0.03272148
+v 0.00957843 0.02784697 0.03277674
+v 0.01086775 0.02784697 0.03193119
+v 0.01086775 0.02515069 0.03301439
+f 1 2 3
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+f 5 9 10
+f 6 10 11
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+f 7 11 13
+f 7 13 8
+f 9 14 10
+f 10 14 11
+f 11 14 13
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_2.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04d709cfeb25077d660d0fd9d9613c03f4f5f254
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,426 @@
+# https://github.com/mikedh/trimesh
+v -0.07499134 -0.00520637 0.00757854
+v -0.07499134 -0.00096105 0.00751894
+v -0.07509800 -0.00520637 0.00752978
+v -0.07499134 -0.00945578 0.00705027
+v -0.07509800 -0.00096105 0.00747018
+v -0.07499134 0.00329246 0.00679561
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+v -0.07509800 -0.00945578 0.00699879
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+v -0.07857936 -0.00096105 0.00552233
+v -0.07808682 0.00328427 0.00520265
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+v -0.07820905 -0.00945578 0.00518911
+v -0.07769614 -0.01267665 0.00487756
+v -0.07795619 -0.01795461 0.00134759
+v -0.07723835 -0.02009776 0.00037773
+v -0.07535925 -0.01784397 0.00329273
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+v -0.07499134 -0.01740551 0.00378579
+v -0.07499134 -0.01465179 0.00545189
+v -0.07499134 -0.01389779 0.00581762
+v -0.07535925 -0.01393877 0.00565507
+v -0.08033383 -0.00945578 0.00358531
+v -0.08182344 -0.01218082 0.00086537
+v -0.08070413 -0.00096105 0.00400252
+v -0.08021159 0.00328427 0.00363408
+v -0.08208709 0.00645187 0.00100624
+v -0.07622091 0.00894333 0.00411088
+v -0.07937151 0.00769760 0.00255856
+v -0.07499134 0.00760335 0.00530289
+v -0.08273303 -0.00096105 0.00187857
+v -0.08270187 -0.00520637 0.00193547
+v -0.08229441 -0.00945578 0.00146137
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+v -0.08482664 -0.00520637 -0.00095786
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+f 1 44 68
+f 1 68 87
+f 1 87 86
+f 1 86 103
+f 1 103 102
+f 1 102 121
+f 1 121 123
+f 1 123 122
+f 1 122 125
+f 1 125 137
+f 1 137 129
+f 1 129 139
+f 1 139 143
+f 1 143 142
+f 1 142 141
+f 1 141 140
+f 1 140 135
+f 1 135 116
+f 1 116 115
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+f 1 112 94
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+f 83 103 86
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+f 83 107 102
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+f 85 88 108
+f 85 108 109
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+f 88 101 108
+f 89 91 110
+f 89 110 101
+f 90 111 91
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+f 91 111 110
+f 92 94 93
+f 94 112 95
+f 95 112 113
+f 95 113 96
+f 96 114 97
+f 96 113 115
+f 96 115 116
+f 96 116 114
+f 97 114 117
+f 97 117 98
+f 98 117 99
+f 99 118 100
+f 99 117 118
+f 100 118 111
+f 101 110 119
+f 101 119 120
+f 101 120 108
+f 102 107 121
+f 105 122 123
+f 105 123 107
+f 105 107 106
+f 105 109 124
+f 105 124 125
+f 105 125 122
+f 107 123 121
+f 108 120 126
+f 108 126 109
+f 109 126 127
+f 109 127 128
+f 109 128 129
+f 109 129 124
+f 110 111 119
+f 111 118 130
+f 111 130 131
+f 111 131 132
+f 111 132 133
+f 111 133 127
+f 111 127 119
+f 114 134 117
+f 114 116 134
+f 116 135 134
+f 117 134 118
+f 118 134 136
+f 118 136 130
+f 119 127 120
+f 120 127 126
+f 124 137 125
+f 124 129 137
+f 127 133 138
+f 127 138 139
+f 127 139 128
+f 128 139 129
+f 130 136 131
+f 131 136 134
+f 131 134 135
+f 131 135 140
+f 131 140 141
+f 131 141 142
+f 131 142 132
+f 132 142 133
+f 133 142 143
+f 133 143 138
+f 138 143 139
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_20.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c60d42ebd78343302549f9da574f2bdf6a830e7
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v -0.05897707 0.02442049 -0.01696004
+v -0.05811616 0.02441050 -0.01769797
+v -0.06073504 0.02328159 -0.01767012
+v -0.06073504 0.02363125 -0.01696004
+v -0.05897707 -0.02661020 -0.01696004
+v -0.05811616 0.02400090 -0.01835016
+v -0.05897707 0.02376612 -0.01812666
+v -0.05811616 -0.02622557 -0.01769797
+v -0.06073504 0.02282204 -0.01818748
+v -0.06073504 -0.02645535 -0.01696004
+v -0.05811616 0.02305681 -0.01940393
+v -0.05883171 0.02185297 -0.02034998
+v -0.05897707 0.02192790 -0.02018510
+v -0.06073504 -0.02568609 -0.01818235
+v -0.05811616 -0.02589589 -0.01820507
+v -0.05897707 0.02180801 -0.02030088
+v -0.06073504 0.02123357 -0.01970438
+v -0.05811616 0.02092887 -0.02118024
+v -0.06073504 0.01920553 -0.02146017
+v -0.06073504 -0.02427246 -0.01949993
+v -0.05811616 -0.02361809 -0.02030161
+v -0.05811616 0.02020956 -0.02164557
+v -0.05897707 0.01987988 -0.02158475
+v -0.05811616 0.01604358 -0.02342774
+v -0.05897707 0.01687278 -0.02287081
+v -0.06073504 0.01856615 -0.02173277
+v -0.06073504 -0.02339331 -0.02030674
+v -0.05897707 -0.02352318 -0.02032213
+v -0.05811616 -0.02357813 -0.02033312
+v -0.05811616 0.01602860 -0.02343214
+v -0.05897707 0.01605357 -0.02315734
+v -0.06073504 0.01609853 -0.02259674
+v -0.05811616 -0.02146018 -0.02170786
+v -0.06073504 -0.02127036 -0.02150927
+v -0.05811616 -0.02355315 -0.02035144
+v -0.05811616 0.01597365 -0.02344240
+v -0.06073504 0.01178270 -0.02360728
+v -0.05811616 -0.01799852 -0.02303642
+v -0.06073504 -0.01795356 -0.02256743
+v -0.05897707 -0.01795356 -0.02289426
+v -0.05811616 -0.01794857 -0.02305401
+v -0.05811616 0.01178270 -0.02421550
+v -0.05897707 0.01178270 -0.02401618
+v -0.06073504 0.00753680 -0.02398320
+v -0.06073504 -0.01370767 -0.02312363
+v -0.05897707 -0.01370767 -0.02346511
+v -0.05811616 -0.01370267 -0.02363293
+v -0.05811616 0.00753181 -0.02444560
+v -0.06073504 0.00328591 -0.02402791
+v -0.06073504 -0.00682432 -0.02359409
+v -0.05811616 -0.00944179 -0.02384763
+v -0.06073504 -0.00256843 -0.02383298
+v -0.05897707 0.00328591 -0.02426167
+v -0.05811616 0.00328591 -0.02437599
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 5
+f 1 5 8
+f 1 8 2
+f 2 6 7
+f 2 7 3
+f 2 8 15
+f 2 15 21
+f 2 21 29
+f 2 29 35
+f 2 35 33
+f 2 33 38
+f 2 38 41
+f 2 41 47
+f 2 47 51
+f 2 51 54
+f 2 54 48
+f 2 48 42
+f 2 42 36
+f 2 36 30
+f 2 30 24
+f 2 24 22
+f 2 22 18
+f 2 18 11
+f 2 11 6
+f 3 9 17
+f 3 17 19
+f 3 19 26
+f 3 26 32
+f 3 32 37
+f 3 37 44
+f 3 44 49
+f 3 49 52
+f 3 52 50
+f 3 50 45
+f 3 45 39
+f 3 39 34
+f 3 34 27
+f 3 27 20
+f 3 20 14
+f 3 14 10
+f 3 10 4
+f 3 7 9
+f 5 10 8
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 9
+f 8 10 14
+f 8 14 15
+f 9 13 16
+f 9 16 17
+f 11 18 12
+f 12 16 13
+f 12 18 19
+f 12 19 16
+f 14 20 15
+f 15 20 21
+f 16 19 17
+f 18 22 23
+f 18 23 19
+f 19 24 25
+f 19 25 26
+f 19 23 24
+f 20 27 21
+f 21 27 28
+f 21 28 29
+f 22 24 23
+f 24 30 31
+f 24 31 32
+f 24 32 25
+f 25 32 26
+f 27 33 28
+f 27 34 33
+f 28 33 35
+f 28 35 29
+f 30 36 37
+f 30 37 31
+f 31 37 32
+f 33 34 38
+f 34 39 40
+f 34 40 41
+f 34 41 38
+f 36 42 43
+f 36 43 37
+f 37 43 44
+f 39 45 46
+f 39 46 47
+f 39 47 40
+f 40 47 41
+f 42 48 44
+f 42 44 43
+f 44 48 49
+f 45 47 46
+f 45 50 47
+f 47 50 52
+f 47 52 51
+f 48 53 49
+f 48 54 53
+f 49 53 52
+f 51 52 54
+f 52 53 54
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_200.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_200.obj
new file mode 100644
index 0000000000000000000000000000000000000000..897ebb628ae64c39a74fddfd0d71360fa7daf60b
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_200.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.03308729 0.00355895 -0.02301907
+v 0.03098407 0.00355895 -0.02283615
+v 0.03097953 0.01193359 -0.02321814
+v 0.03308729 0.01178574 -0.02335264
+v 0.03308729 0.00355895 0.03048640
+v 0.03097953 0.00355895 -0.02246492
+v 0.03097953 0.00753710 -0.02299217
+v 0.03097953 0.00768610 -0.02300293
+v 0.03097953 0.01526648 -0.02333650
+v 0.03308729 0.01407453 -0.02343334
+v 0.03308729 0.00671649 0.03054020
+v 0.03128179 0.00355895 0.03140640
+v 0.03097953 0.00355895 0.03149249
+v 0.03188734 0.01526648 -0.02339030
+v 0.03097953 0.01526648 0.02985693
+v 0.03308729 0.01526648 -0.02346025
+v 0.03308729 0.01093647 0.03055634
+v 0.03112767 0.00355895 0.03147097
+v 0.03098902 0.00355895 0.03149249
+v 0.03097953 0.00738926 0.03137412
+v 0.03097953 0.01436105 0.03030348
+v 0.03112767 0.01526648 0.02986230
+v 0.03308729 0.01526648 0.02899072
+v 0.03112767 0.00753710 0.03134184
+v 0.03308729 0.01383384 0.03034652
+v 0.03097953 0.01163789 0.03091681
+v 0.03097953 0.01427051 0.03033038
+v 0.03112767 0.01436105 0.03030886
+v 0.03308729 0.01422811 0.03026043
+v 0.03211181 0.01526648 0.02942651
+v 0.03112767 0.01178574 0.03088453
+v 0.03097953 0.01178574 0.03088453
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 23
+f 1 23 29
+f 1 29 25
+f 1 25 17
+f 1 17 11
+f 1 11 5
+f 1 5 12
+f 1 12 18
+f 1 18 19
+f 1 19 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 9 4
+f 3 8 7
+f 3 7 6
+f 3 6 13
+f 3 13 20
+f 3 20 26
+f 3 26 32
+f 3 32 27
+f 3 27 21
+f 3 21 15
+f 3 15 9
+f 4 9 10
+f 5 11 12
+f 9 14 10
+f 9 15 22
+f 9 22 30
+f 9 30 23
+f 9 23 16
+f 9 16 14
+f 10 14 16
+f 11 17 12
+f 12 17 18
+f 13 19 20
+f 15 21 28
+f 15 28 22
+f 17 24 18
+f 17 25 24
+f 18 24 20
+f 18 20 19
+f 20 24 31
+f 20 31 26
+f 21 27 28
+f 22 28 29
+f 22 29 30
+f 23 30 29
+f 24 25 31
+f 25 29 31
+f 26 31 32
+f 27 32 31
+f 27 31 28
+f 28 31 29
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_201.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_201.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fe2c41943bb50a7378fec81acdb42fd279b39ad
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_201.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.00446582 -0.04127598 0.02715222
+v 0.00278258 -0.04127598 0.02920330
+v 0.00446582 -0.04206947 0.02649883
+v 0.00446582 -0.04127598 -0.02441450
+v 0.00203302 -0.04127598 0.03011237
+v 0.00373914 -0.04348096 0.02608975
+v 0.00446582 -0.04348096 0.02519773
+v 0.00025936 -0.04246945 0.03116916
+v 0.00446582 -0.04345074 -0.02443722
+v 0.00138370 -0.04345074 -0.02495426
+v 0.00138370 -0.04127598 -0.02489176
+v 0.00071912 -0.04127598 0.03159528
+v 0.00137607 -0.04348096 0.02887945
+v 0.00446582 -0.04348096 -0.02442586
+v -0.00286415 -0.04127598 0.03273729
+v -0.00228564 -0.04268941 0.03140210
+v -0.00110574 -0.04348096 0.03035668
+v -0.00106108 -0.04348096 0.03034532
+v 0.00138370 -0.04348096 -0.02494857
+v -0.00018841 -0.04127598 -0.02501675
+v -0.00666423 -0.04348096 -0.02526675
+v -0.00666423 -0.04127598 -0.02530652
+v -0.00455501 -0.04127598 0.03206686
+v -0.00594518 -0.04206775 0.03082825
+v -0.00286415 -0.04273949 0.03145324
+v -0.00286415 -0.04348096 0.03067485
+v -0.00666423 -0.04348096 0.02838514
+v -0.00666423 -0.04127598 0.03085666
+v -0.00629817 -0.04127598 0.03124870
+v -0.00666423 -0.04222575 0.02989646
+v -0.00666423 -0.04292470 0.02918626
+v -0.00295894 -0.04348096 0.03061803
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 9
+f 1 9 4
+f 1 4 11
+f 1 11 20
+f 1 20 22
+f 1 22 28
+f 1 28 29
+f 1 29 23
+f 1 23 15
+f 1 15 12
+f 1 12 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 5 12 8
+f 6 13 18
+f 6 18 17
+f 6 17 26
+f 6 26 32
+f 6 32 27
+f 6 27 21
+f 6 21 19
+f 6 19 14
+f 6 14 7
+f 6 8 13
+f 8 12 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 13
+f 9 14 19
+f 9 19 10
+f 10 20 11
+f 10 19 21
+f 10 21 22
+f 10 22 20
+f 15 23 24
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 16 26 17
+f 21 27 31
+f 21 31 30
+f 21 30 28
+f 21 28 22
+f 23 29 24
+f 24 26 25
+f 24 29 28
+f 24 28 30
+f 24 30 31
+f 24 31 26
+f 26 31 32
+f 27 32 31
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_202.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_202.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53085e9f629aa9ca16b1a03c436734ad122ebdf0
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_202.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00963463 -0.04348665 0.02559244
+v -0.00823957 -0.04478244 0.02559244
+v -0.00718333 -0.04348117 0.02807615
+v -0.00723633 -0.04348117 0.02802192
+v -0.00290350 -0.04348117 0.02559244
+v -0.00821969 -0.04478244 0.02561185
+v 0.00003427 -0.04478244 0.02559244
+v -0.00716062 -0.04351760 0.02805326
+v -0.00712938 -0.04348117 0.02812292
+v 0.00003427 -0.04348117 0.02559244
+v -0.00632112 -0.04478244 0.02719849
+v 0.00003427 -0.04478244 0.02582181
+v -0.00312592 -0.04478244 0.02914785
+v -0.00286470 -0.04478244 0.02930507
+v -0.00286470 -0.04348117 0.03067479
+v 0.00003427 -0.04348117 0.02969265
+v 0.00003427 -0.04478028 0.02781096
+v 0.00003048 -0.04478244 0.02781047
+v -0.00275870 -0.04478244 0.02928566
+v -0.00106077 -0.04348117 0.03035039
+v -0.00110715 -0.04348117 0.03035885
+v -0.00095761 -0.04348117 0.03028870
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 7
+f 1 7 2
+f 2 6 3
+f 2 7 12
+f 2 12 18
+f 2 18 19
+f 2 19 14
+f 2 14 13
+f 2 13 11
+f 2 11 6
+f 3 8 9
+f 3 9 15
+f 3 15 21
+f 3 21 20
+f 3 20 22
+f 3 22 16
+f 3 16 10
+f 3 10 5
+f 3 5 4
+f 3 6 8
+f 6 11 8
+f 7 10 16
+f 7 16 17
+f 7 17 12
+f 8 11 9
+f 9 11 13
+f 9 13 14
+f 9 14 15
+f 12 17 18
+f 14 19 20
+f 14 20 21
+f 14 21 15
+f 16 22 18
+f 16 18 17
+f 18 22 20
+f 18 20 19
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_203.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_203.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e0500ab0d285cc51bf94006e3dc636a26816c97
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_203.obj
@@ -0,0 +1,207 @@
+# https://github.com/mikedh/trimesh
+v 0.03722430 0.02460885 -0.02366487
+v 0.03725794 0.02460885 -0.02366487
+v 0.03532774 0.02460885 -0.02357681
+v 0.03725794 0.02690116 -0.02344705
+v 0.03725794 0.02460885 0.02244796
+v 0.03532736 0.02460885 -0.02356291
+v 0.03532736 0.02878322 -0.02316898
+v 0.03537650 0.02878322 -0.02316898
+v 0.03725794 0.02878322 -0.02315044
+v 0.03725794 0.02642675 0.02161839
+v 0.03544472 0.02460885 0.02362047
+v 0.03532736 0.02460885 0.02367145
+v 0.03532736 0.02884155 -0.02315508
+v 0.03725794 0.03138272 -0.02232551
+v 0.03532736 0.03341061 -0.02170913
+v 0.03725794 0.03054863 0.01910188
+v 0.03532736 0.02842159 0.02127544
+v 0.03541165 0.03341061 -0.02170449
+v 0.03725794 0.03321424 -0.02164888
+v 0.03532736 0.03351171 -0.02164888
+v 0.03685127 0.03518963 -0.02091200
+v 0.03725794 0.03518963 -0.02091200
+v 0.03725794 0.03204767 0.01813328
+v 0.03537650 0.03257263 0.01850867
+v 0.03532736 0.03257846 0.01852257
+v 0.03532736 0.03731278 -0.01878942
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_204.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_204.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a6b2f0edd3ce385b74326963a87da609291b78f
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_204.obj
@@ -0,0 +1,243 @@
+# https://github.com/mikedh/trimesh
+v 0.05869954 -0.00989816 -0.02339566
+v 0.05869954 0.00328763 -0.02401599
+v 0.06120218 -0.00520733 -0.02357401
+v 0.06087000 -0.00989816 -0.02330649
+v 0.05869954 -0.00989816 0.01523931
+v 0.05869954 0.00753685 -0.02418271
+v 0.06087000 0.00753685 -0.02415169
+v 0.06120218 -0.00945655 -0.02329486
+v 0.06090503 -0.00989816 -0.02330261
+v 0.06120218 0.00720650 -0.02412067
+v 0.06044840 -0.00989816 0.01427392
+v 0.05869954 -0.00936267 0.01528195
+v 0.05869954 0.00970318 -0.02410517
+v 0.06120218 0.00753685 -0.02412455
+v 0.05869954 0.01178259 -0.02397722
+v 0.06087000 0.01178259 -0.02388030
+v 0.06120218 0.01144877 -0.02388030
+v 0.06120218 -0.00989816 -0.02325221
+v 0.06120218 -0.00989816 0.01379704
+v 0.06120218 -0.00916794 0.01390947
+v 0.06120218 -0.00520733 0.01413434
+v 0.05869954 -0.00756492 0.01537500
+v 0.05869954 0.01395588 -0.02339954
+v 0.06053732 0.01211640 -0.02381051
+v 0.06120218 0.01178259 -0.02381439
+v 0.06089351 0.01211640 -0.02376399
+v 0.06120218 -0.00479006 0.01413046
+v 0.05869954 -0.00096159 0.01542540
+v 0.05869954 0.01620567 -0.02258923
+v 0.06120218 0.01640040 -0.02217439
+v 0.06120218 -0.00092334 0.01406455
+v 0.06119605 -0.00112850 0.01407231
+v 0.05869954 0.00343367 0.01503382
+v 0.05869954 0.01870930 -0.02130205
+v 0.05999104 0.01858760 -0.02123226
+v 0.06120218 0.01642126 -0.02216663
+v 0.06027324 0.00328763 0.01408782
+v 0.06120218 0.00328763 0.01347912
+v 0.05869954 0.00657017 0.01422739
+v 0.05938277 0.00753685 0.01355278
+v 0.05869954 0.01952298 -0.02060030
+v 0.05869954 0.02191534 -0.01812673
+v 0.06120218 0.01837201 -0.02105391
+v 0.06120218 0.00753685 0.01223458
+v 0.05869954 0.00665710 0.01420413
+v 0.05883182 0.00979359 0.01316120
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+v 0.05869954 0.02279856 -0.01706441
+v 0.06120218 0.02006196 -0.01906886
+v 0.06120218 0.01148702 0.01066824
+v 0.05869954 0.00984923 0.01319609
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+v 0.06120218 0.02216570 -0.01595170
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+v 0.05869954 0.01812512 0.00924924
+v 0.06120218 0.01603528 0.00837302
+v 0.06120218 0.01772176 0.00705482
+v 0.06120218 0.01933868 0.00576375
+v 0.06034527 0.01977682 0.00619023
+v 0.05889111 0.02252038 0.00476347
+v 0.05869954 0.02239520 0.00498834
+v 0.05869954 0.01845198 0.00906314
+v 0.05869954 0.02432161 -0.01445515
+v 0.06120218 0.02277075 -0.01468390
+v 0.06120218 0.02066700 0.00399581
+v 0.06120218 0.02174148 0.00248376
+v 0.05967012 0.02293070 0.00248376
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+v 0.05869954 0.02255863 0.00481000
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+v 0.05869954 0.02529524 -0.01137676
+v 0.06120218 0.02325409 -0.00184693
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_205.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_205.obj
new file mode 100644
index 0000000000000000000000000000000000000000..153aef512ec4f1a4d3f43c039263a5042529222e
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_205.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
+v 0.00140450 0.04090602 -0.02467689
+v -0.00260231 0.04092054 -0.02478105
+v 0.00142406 0.04090602 -0.02467689
+v 0.00140450 0.04090602 -0.00209639
+v -0.00260231 0.04154929 -0.02485744
+v 0.00279932 0.04335253 -0.02516993
+v -0.00260231 0.04092054 -0.00152927
+v 0.00279932 0.04090602 -0.02459587
+v 0.00279932 0.04165097 -0.02478105
+v 0.00279932 0.04090602 -0.00209639
+v -0.00260231 0.04579281 -0.02451717
+v 0.00140450 0.04598994 -0.02494540
+v 0.00279932 0.04478848 -0.02517688
+v 0.00279932 0.04359324 -0.02517688
+v 0.00140397 0.04092054 -0.00152927
+v -0.00260231 0.06128114 -0.00152927
+v 0.00279932 0.06085368 -0.00209639
+v -0.00260231 0.04978317 -0.02418385
+v 0.00279932 0.04670792 -0.02502179
+v 0.00140397 0.06091801 -0.00152927
+v -0.00260231 0.06138075 -0.00202695
+v 0.00138705 0.06092423 -0.00152927
+v 0.00279932 0.06106949 -0.00311257
+v -0.00260231 0.05002803 -0.02415375
+v 0.00279932 0.04886184 -0.02477179
+v -0.00260231 0.06209872 -0.00601528
+v 0.00138388 0.06182066 -0.00601528
+v 0.00279932 0.06166711 -0.00601528
+v 0.00140397 0.06181859 -0.00601528
+v -0.00260231 0.05401217 -0.02298943
+v 0.00138388 0.05002803 -0.02447088
+v 0.00140397 0.05001143 -0.02447550
+v 0.00279932 0.04989938 -0.02453106
+v 0.00140397 0.06182066 -0.00607546
+v 0.00138388 0.06191819 -0.01026287
+v -0.00260231 0.06210287 -0.00627685
+v 0.00279932 0.06172728 -0.01036935
+v 0.00140450 0.06191611 -0.01026750
+v -0.00260231 0.05427363 -0.02288758
+v 0.00279932 0.05276505 -0.02339914
+v 0.00140397 0.06190574 -0.01030453
+v -0.00260231 0.06200119 -0.01026287
+v 0.00279932 0.06148450 -0.01137627
+v 0.00138388 0.05427363 -0.02279499
+v 0.00140450 0.05425288 -0.02280425
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+v 0.00279932 0.05435455 -0.02258203
+v 0.00279932 0.06095743 -0.01306141
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+v -0.00260231 0.06194517 -0.01044573
+v -0.00260231 0.05684049 -0.02132743
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+v 0.00279932 0.05655828 -0.02106817
+v 0.00140450 0.06100309 -0.01317715
+v 0.00279932 0.05999045 -0.01501276
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+v 0.00138388 0.06000705 -0.01529053
+v -0.00260231 0.06009628 -0.01539238
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+v 0.00140397 0.05811043 -0.01877656
+v 0.00279932 0.05719533 -0.02003810
+v 0.00279932 0.05789878 -0.01882286
+v 0.00138388 0.05812288 -0.01875804
+f 1 2 3
+f 1 3 8
+f 1 8 10
+f 1 10 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
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+f 2 26 36
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+f 52 62 53
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+f 52 64 61
+f 53 62 54
+f 54 62 61
+f 54 61 64
+f 54 64 65
+f 55 57 58
+f 56 64 57
+f 56 66 64
+f 57 64 67
+f 57 67 63
+f 57 63 58
+f 58 63 59
+f 63 67 64
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_206.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_206.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86cbe62c038bdf2ca6af454107a11a0f36fd82a4
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_206.obj
@@ -0,0 +1,234 @@
+# https://github.com/mikedh/trimesh
+v 0.00957856 0.04578517 -0.02498250
+v 0.00957856 0.04630930 -0.02497322
+v 0.01012768 0.04578517 -0.02491754
+v 0.00957856 0.04578517 0.02241466
+v 0.00957856 0.04958037 -0.02427265
+v 0.01086775 0.04850421 -0.02426337
+v 0.01086775 0.04827371 -0.02430977
+v 0.01086775 0.04578517 -0.02479228
+v 0.00967107 0.04578517 0.02236827
+v 0.01074356 0.04698025 0.02090683
+v 0.00957856 0.04955395 0.01939435
+v 0.00957856 0.04963910 -0.02425409
+v 0.01086775 0.04980647 -0.02380406
+v 0.01086775 0.04578517 0.02156563
+v 0.01086775 0.04693474 0.02085115
+v 0.01086775 0.04707862 0.02074444
+v 0.00957856 0.04971838 0.01925052
+v 0.00957856 0.05025132 -0.02391541
+v 0.00988259 0.05347981 -0.02205033
+v 0.00982466 0.05025132 -0.02385046
+v 0.01086775 0.05025132 -0.02356745
+v 0.01086775 0.04985051 -0.02378550
+v 0.01086775 0.04920746 0.01887936
+v 0.01086775 0.04930729 0.01879121
+v 0.01086775 0.05127316 0.01698645
+v 0.00994632 0.05025132 0.01852212
+v 0.00957856 0.04984317 0.01913454
+v 0.00957856 0.05355029 -0.02206425
+v 0.00957856 0.05372647 -0.02190186
+v 0.00988259 0.05560425 -0.02001823
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_207.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_207.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0dbc7c3126a548b8d15ebeb9d0b736a6c3feeca
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_207.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.03308729 0.04063531 -0.01608838
+v 0.03308729 0.04191199 -0.01461258
+v 0.03532715 0.04063531 -0.01499499
+v 0.03308729 0.04063531 0.01142123
+v 0.03532715 0.04076138 -0.01484418
+v 0.03308729 0.04454390 -0.01052451
+v 0.03532715 0.04063531 0.01037093
+v 0.03490044 0.04063531 0.01062408
+v 0.03308729 0.04114734 0.01083953
+v 0.03532715 0.04312127 -0.01086653
+v 0.03308729 0.04493326 -0.00953347
+v 0.03532715 0.04394751 -0.00876595
+v 0.03532715 0.04095436 0.00974345
+v 0.03308729 0.04311109 0.00736548
+v 0.03503179 0.04063531 0.01056484
+v 0.03308729 0.04538419 -0.00717166
+v 0.03532715 0.04395672 -0.00871478
+v 0.03532715 0.04259615 0.00646331
+v 0.03511884 0.04269410 0.00645792
+v 0.03308729 0.04380980 0.00514101
+v 0.03308729 0.04558784 -0.00601095
+v 0.03532715 0.04443238 -0.00601095
+v 0.03532715 0.04266161 0.00627210
+v 0.03532715 0.04279932 0.00585737
+v 0.03308729 0.04457057 0.00248296
+v 0.03308729 0.04554323 -0.00186633
+v 0.03532715 0.04447117 -0.00176130
+v 0.03532715 0.04447117 -0.00177476
+v 0.03532715 0.04374677 0.00248296
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 20
+f 1 20 25
+f 1 25 26
+f 1 26 21
+f 1 21 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
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+f 19 23 24
+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_croissant/new_croissant_0/collision/model_normalized_collision_208.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_208.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3858323d35b5bce12f51a317acadca31058c6572
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_208.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01485864 0.05427495 -0.01914081
+v 0.01214744 0.05438001 -0.02033868
+v 0.01382722 0.05433004 -0.01962377
+v 0.01472139 0.05433004 -0.01921706
+v 0.01518553 0.05427495 -0.01888980
+v 0.01485864 0.05427495 0.01001166
+v 0.01214744 0.05699299 -0.01745997
+v 0.01296383 0.05687487 -0.01730428
+v 0.01214744 0.05438001 0.01212144
+v 0.01639577 0.05427495 -0.01789210
+v 0.01579564 0.05614226 -0.01603333
+v 0.01639577 0.05543179 -0.01643686
+v 0.01407177 0.05433004 0.01081236
+v 0.01401853 0.05433004 0.01086002
+v 0.01382722 0.05433004 0.01099347
+v 0.01639577 0.05427495 0.00830858
+v 0.01214744 0.05746777 -0.01656077
+v 0.01214744 0.05791699 -0.01545187
+v 0.01382722 0.05761884 -0.01468612
+v 0.01428013 0.05749957 -0.01457173
+v 0.01485864 0.05698220 -0.01513413
+v 0.01485864 0.05638533 -0.01645274
+v 0.01382722 0.05458787 0.01066620
+v 0.01235538 0.05657842 0.00916330
+v 0.01214744 0.05650061 0.00939525
+v 0.01639577 0.05686124 -0.01341517
+v 0.01639577 0.05588442 -0.01568064
+v 0.01518761 0.05575494 0.00773030
+v 0.01639577 0.05509786 0.00724098
+v 0.01214744 0.05828330 -0.01453996
+v 0.01382722 0.05766540 -0.01456856
+v 0.01485864 0.05732466 -0.01425717
+v 0.01382722 0.05779830 -0.01415232
+v 0.01382722 0.05891823 -0.01028545
+v 0.01413166 0.05880635 -0.01025685
+v 0.01485864 0.05824127 -0.01106708
+v 0.01391539 0.05703956 0.00648159
+v 0.01382722 0.05706512 0.00648794
+v 0.01214744 0.05753251 0.00659280
+v 0.01214744 0.05660511 0.00921731
+v 0.01639577 0.05652787 0.00490879
+v 0.01639577 0.05704581 -0.01277016
+v 0.01639577 0.05651311 0.00493738
+v 0.01214744 0.05890857 -0.01257316
+v 0.01214744 0.05939187 -0.01090821
+v 0.01214744 0.05953215 -0.01042207
+v 0.01382722 0.05897843 -0.00983426
+v 0.01485864 0.05839972 -0.01026003
+v 0.01413166 0.05925103 -0.00600552
+v 0.01413166 0.05821969 0.00248127
+v 0.01382722 0.05831056 0.00248445
+v 0.01214744 0.05881316 0.00248445
+v 0.01639577 0.05700151 0.00248127
+v 0.01639577 0.05748368 -0.01053964
+v 0.01214744 0.05992344 -0.00747347
+v 0.01214744 0.06007678 -0.00600552
+v 0.01485864 0.05873877 -0.00701592
+v 0.01639577 0.05765518 -0.00914159
+v 0.01639577 0.05753819 -0.01026003
+v 0.01639577 0.05763587 -0.00176689
+v 0.01485864 0.05880408 -0.00600869
+v 0.01413166 0.05901818 -0.00176689
+v 0.01214744 0.05964686 -0.00186539
+v 0.01639577 0.05785793 -0.00600869
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 16
+f 1 16 6
+f 1 6 9
+f 1 9 2
+f 2 7 8
+f 2 8 4
+f 2 4 3
+f 2 9 25
+f 2 25 40
+f 2 40 39
+f 2 39 52
+f 2 52 63
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_209.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_209.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4313c15211c51bf07a3d584d984db4a70182ee4
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_209.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00335974 -0.04638690 -0.02398002
+v 0.00335974 -0.04478260 -0.02421964
+v 0.00446648 -0.04478260 -0.02403170
+v 0.00446648 -0.04638690 -0.02353836
+v 0.00335974 -0.04638690 0.02319280
+v 0.00335974 -0.04478260 0.02378011
+v 0.00446648 -0.04478260 0.02364386
+v 0.00446648 -0.04638690 0.02200408
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+v 0.00432304 -0.04478574 0.02378011
+v 0.00446648 -0.04572963 0.02279343
+v 0.00446648 -0.04613609 0.02233768
+v 0.00427245 -0.04638690 0.02228599
+v 0.00412382 -0.04638690 0.02247863
+v 0.00417896 -0.04629597 0.02253971
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
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+f 1 17 9
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+f 1 5 10
+f 1 10 6
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+f 3 15 8
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+f 6 10 13
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+f 7 13 14
+f 8 15 16
+f 9 17 18
+f 9 18 10
+f 10 18 14
+f 10 14 13
+f 11 13 12
+f 14 18 15
+f 15 18 16
+f 16 18 17
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_21.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98f2d9f7bd1252ccd40432e920e983e9a43f812f
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,204 @@
+# https://github.com/mikedh/trimesh
+v -0.06283815 -0.02783109 -0.01025954
+v -0.06283815 -0.02742965 -0.00649781
+v -0.06481242 -0.02750065 -0.01025954
+v -0.06283815 -0.02726580 -0.01450930
+v -0.06283815 -0.02737504 -0.00600978
+v -0.06481242 -0.02703641 -0.00600978
+v -0.06481242 -0.02730949 -0.00847486
+v -0.06481242 -0.02691625 -0.01450930
+v -0.06283815 -0.02710195 -0.01486552
+v -0.06283815 -0.02614342 -0.00225161
+v -0.06481242 -0.02644928 -0.00422866
+v -0.06481242 -0.02608061 -0.01631535
+v -0.06481242 -0.02532690 -0.01785424
+v -0.06283815 -0.02550987 -0.01810360
+v -0.06283815 -0.02596046 -0.00173509
+v -0.06481242 -0.02552898 -0.00161397
+v -0.06481242 -0.02255509 -0.02001653
+v -0.06283815 -0.02313403 -0.02023739
+v -0.06283815 -0.02477800 0.00066230
+v -0.06481242 -0.02498555 -0.00051324
+v -0.06481242 -0.02239124 -0.02010558
+v -0.06481242 -0.02077731 -0.02097833
+v -0.06283815 -0.02278448 -0.02042619
+v -0.06283815 -0.02467150 0.00086535
+v -0.06481242 -0.02445030 0.00050556
+v -0.06481242 -0.02059162 -0.02107451
+v -0.06283815 -0.02104221 -0.02132387
+v -0.06283815 -0.02338800 0.00260016
+v -0.06481242 -0.02432741 0.00067655
+v -0.06481242 -0.02443938 0.00052337
+v -0.06481242 -0.01787442 -0.02168366
+v -0.06283815 -0.01793996 -0.02215031
+v -0.06481242 -0.02284456 0.00255029
+v -0.06283815 -0.02306030 0.00300982
+v -0.06481242 -0.02268344 0.00275334
+v -0.06481242 -0.01370989 -0.02220018
+v -0.06283815 -0.01370989 -0.02268821
+v -0.06283815 -0.02117329 0.00526116
+v -0.06481242 -0.02175222 0.00385763
+v -0.06481242 -0.00699747 -0.02286632
+v -0.06283815 -0.01322106 -0.02273096
+v -0.06481242 -0.02068446 0.00506524
+v -0.06283815 -0.02094936 0.00551408
+v -0.06481242 -0.00521149 -0.02301950
+v -0.06283815 -0.00521149 -0.02335435
+v -0.06481242 -0.02061892 0.00513648
+v -0.06283815 -0.01826220 0.00760155
+v -0.06481242 -0.01983517 0.00574562
+v -0.06481242 -0.00096230 -0.02327954
+v -0.06283815 -0.00096230 -0.02363933
+v -0.06283815 -0.01806285 0.00774761
+v -0.06481242 -0.01818574 0.00695679
+v -0.06481242 0.00006177 -0.02321186
+v -0.06283815 0.00006177 -0.02361796
+v -0.06283815 -0.01392562 0.01018062
+v -0.06481242 -0.01430248 0.00922594
+v -0.06481242 0.00006177 0.01166251
+v -0.06283815 0.00006177 0.01275256
+v -0.06283815 -0.01016798 0.01172663
+v -0.06481242 -0.01312275 0.00971040
+v -0.06481242 -0.00284112 0.01164826
+v -0.06481242 -0.00521149 0.01160552
+v -0.06283815 -0.00096230 0.01272406
+v -0.06283815 -0.00972831 0.01185487
+v -0.06481242 -0.00979658 0.01088594
+v -0.06481242 -0.01140505 0.01041573
+v -0.06481242 -0.00958631 0.01094650
+v -0.06283815 -0.00521149 0.01254595
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_210.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_210.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d54ca3869d9e399afb80bd8c3df5804365e2bff5
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_210.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_211.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_211.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a7842e9e369c209fd6f48adbb928404aa084ed4
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_211.obj
@@ -0,0 +1,327 @@
+# https://github.com/mikedh/trimesh
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+v -0.03440081 -0.04291544 -0.00410442
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_212.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_212.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c98a818e16ca9ce0f34e55f4a27eba038a8bdc39
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_212.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.02882389 0.00340828 -0.00212245
+v 0.02882389 0.01819937 -0.00212245
+v 0.03097953 0.00340828 -0.00212245
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+f 18 20 24
+f 20 23 22
+f 20 22 25
+f 20 25 24
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_213.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_213.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e28750ee36c3e85679c3dbfa16a8c581b0fe9be3
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_213.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.03961970 -0.00945327 -0.02369531
+v 0.03979006 -0.00945327 -0.02368505
+v 0.03765525 -0.00945327 -0.02363890
+v 0.03962538 -0.00321148 -0.02368505
+v 0.03979006 -0.00321148 -0.02368505
+v 0.03979006 -0.00945327 0.02483443
+v 0.03533173 -0.00906468 -0.02356197
+v 0.03537672 -0.00906468 -0.02356710
+v 0.03765525 -0.00945327 0.02640884
+v 0.03532780 -0.00906468 -0.00705375
+v 0.03535051 -0.00321148 -0.02335171
+v 0.03979006 -0.00321148 0.02582934
+v 0.03979006 -0.00659510 0.02543958
+v 0.03566940 -0.00906468 0.02799351
+v 0.03532780 -0.00521061 -0.02340812
+v 0.03532780 -0.00321148 -0.02334658
+v 0.03532780 -0.00906468 0.02821916
+v 0.03867439 -0.00321148 0.02656269
+v 0.03979006 -0.00521000 0.02564472
+v 0.03532780 -0.00321148 0.02869609
+v 0.03765525 -0.00321148 0.02722425
+v 0.03700437 -0.00321148 0.02764478
+f 1 2 6
+f 1 6 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 12
+f 2 12 19
+f 2 19 13
+f 2 13 6
+f 3 7 8
+f 3 8 4
+f 3 9 17
+f 3 17 10
+f 3 10 7
+f 4 8 11
+f 4 11 16
+f 4 16 20
+f 4 20 22
+f 4 22 21
+f 4 21 18
+f 4 18 12
+f 4 12 5
+f 6 13 14
+f 6 14 9
+f 7 15 16
+f 7 16 11
+f 7 11 8
+f 7 10 15
+f 9 14 17
+f 10 17 20
+f 10 20 16
+f 10 16 15
+f 12 18 19
+f 13 19 14
+f 14 19 17
+f 17 19 18
+f 17 18 21
+f 17 21 22
+f 17 22 20
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_214.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_214.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd86f4e7491c209fc0f84933395d00b5514248c0
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_214.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.02882368 0.01549631 -0.02332397
+v 0.02740095 0.01549631 -0.02330821
+v 0.02733964 0.01980649 -0.02360773
+v 0.02882368 0.01833002 -0.02351314
+v 0.02882368 0.01549631 0.02974348
+v 0.02733964 0.01549631 -0.02330296
+v 0.02733964 0.01555837 -0.02330821
+v 0.02733964 0.02405462 -0.02375486
+v 0.02882368 0.02251771 -0.02366553
+v 0.02882368 0.02028504 -0.02358671
+v 0.02882368 0.01649587 0.02941243
+v 0.02733964 0.01549631 0.02984858
+v 0.02733964 0.02832070 -0.02383368
+v 0.02882368 0.02683607 -0.02371808
+v 0.02733964 0.02028504 0.02794111
+v 0.02733964 0.01650240 0.02951228
+v 0.02882368 0.02028504 0.02770990
+v 0.02733964 0.03218011 -0.02360247
+v 0.02769834 0.03218011 -0.02355518
+v 0.02882368 0.03101559 -0.02346585
+v 0.02733964 0.02361200 0.02641199
+v 0.02882368 0.02330985 0.02627536
+v 0.02733964 0.03218011 0.02134118
+v 0.02772783 0.03218011 -0.02354992
+v 0.02882368 0.03108582 -0.02346059
+v 0.02733964 0.02574831 0.02538732
+v 0.02882368 0.02543146 0.02522442
+v 0.02733964 0.03135531 0.02192971
+v 0.02882368 0.03110379 0.02173003
+v 0.02882368 0.03197268 0.02105742
+v 0.02882368 0.03218011 0.02089453
+v 0.02882368 0.03218011 -0.02321363
+v 0.02733964 0.02878945 0.02357969
+v 0.02882368 0.02881722 0.02318033
+v 0.02733964 0.02923206 0.02330119
+v 0.02882368 0.03059584 0.02206108
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 9
+f 1 9 14
+f 1 14 20
+f 1 20 25
+f 1 25 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 36
+f 1 36 34
+f 1 34 27
+f 1 27 22
+f 1 22 17
+f 1 17 11
+f 1 11 5
+f 1 5 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 7 6
+f 3 6 12
+f 3 12 16
+f 3 16 15
+f 3 15 21
+f 3 21 26
+f 3 26 33
+f 3 33 35
+f 3 35 28
+f 3 28 23
+f 3 23 18
+f 3 18 13
+f 3 13 8
+f 5 11 12
+f 8 13 9
+f 9 13 14
+f 11 15 16
+f 11 16 12
+f 11 17 15
+f 13 18 19
+f 13 19 14
+f 14 19 20
+f 15 17 21
+f 17 22 21
+f 18 23 31
+f 18 31 32
+f 18 32 24
+f 18 24 19
+f 19 24 25
+f 19 25 20
+f 21 22 26
+f 22 27 26
+f 23 28 29
+f 23 29 30
+f 23 30 31
+f 24 32 25
+f 26 27 33
+f 27 34 33
+f 28 35 36
+f 28 36 29
+f 33 34 35
+f 34 36 35
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_215.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_215.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1016747617bcb13331a4e8f546c16d410a4c3b2
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_215.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.02140937 0.01582363 -0.02233095
+v -0.02140937 0.01603505 -0.02235824
+v -0.01986093 0.01582363 -0.02216717
+v -0.02140937 0.01582363 0.02975623
+v -0.02140937 0.01758455 -0.02253294
+v -0.01986093 0.01603505 -0.02219447
+v -0.01968580 0.01582363 -0.02214533
+v -0.01900785 0.01582363 0.03214741
+v -0.02140937 0.01603505 0.02976715
+v -0.02140937 0.02028389 -0.02282775
+v -0.01986093 0.02028389 -0.02266396
+v -0.01900785 0.02453137 -0.02301336
+v -0.01900785 0.01582363 -0.02201977
+v -0.01900785 0.02028389 -0.02253840
+v -0.01900785 0.01603505 0.03214741
+v -0.02140937 0.01964555 0.02915025
+v -0.02140937 0.02975820 -0.02362480
+v -0.01900785 0.02975820 -0.02357567
+v -0.01900785 0.02357385 0.03073891
+v -0.01900785 0.02679970 0.03009471
+v -0.02140937 0.02352611 0.02835865
+v -0.02140937 0.02975820 0.02463541
+v -0.01900785 0.02975820 0.02875718
+v -0.01900785 0.02842422 0.02950511
+v -0.02140937 0.02820598 0.02729955
+v -0.02140937 0.02732211 0.02752884
+v -0.02140937 0.02975684 0.02562900
+v -0.02140890 0.02975820 0.02562900
+v -0.01900785 0.02965727 0.02882269
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 21
+f 1 21 26
+f 1 26 25
+f 1 25 27
+f 1 27 22
+f 1 22 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 6 7
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 7 12 14
+f 7 14 13
+f 8 15 9
+f 8 13 14
+f 8 14 12
+f 8 12 18
+f 8 18 23
+f 8 23 29
+f 8 29 24
+f 8 24 20
+f 8 20 19
+f 8 19 15
+f 9 15 16
+f 10 17 18
+f 10 18 11
+f 11 18 12
+f 15 19 16
+f 16 19 20
+f 16 20 21
+f 17 22 28
+f 17 28 23
+f 17 23 18
+f 20 24 25
+f 20 25 26
+f 20 26 21
+f 22 27 28
+f 23 28 25
+f 23 25 29
+f 24 29 25
+f 25 28 27
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_216.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_216.obj
new file mode 100644
index 0000000000000000000000000000000000000000..264816fb5baadbb3f292e2f4141baea66bd9fb02
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_216.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00965116 -0.01796541 -0.02260980
+v 0.00816500 -0.01796541 -0.02251875
+v 0.00816500 -0.01795542 -0.02251875
+v 0.00816500 -0.01199024 -0.02223043
+v 0.00816500 -0.01025095 -0.02214444
+v 0.00816500 -0.00946037 -0.02210397
+v 0.00965715 -0.00946037 -0.02211915
+v 0.00965715 -0.01773073 -0.02259462
+v 0.00965715 -0.01795542 -0.02260474
+v 0.00965715 -0.01796541 -0.01798654
+v 0.00816500 -0.01796541 0.02906546
+v 0.00816500 -0.00096365 -0.02121372
+v 0.00965715 -0.00096365 -0.02126430
+v 0.00965715 -0.01796541 0.02906546
+v 0.00816500 -0.00096365 0.02906546
+v 0.00965715 -0.00096365 0.02906546
+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 14
+f 1 14 11
+f 1 11 2
+f 2 11 15
+f 2 15 12
+f 2 12 6
+f 2 6 5
+f 2 5 4
+f 2 4 3
+f 6 12 13
+f 6 13 7
+f 7 13 16
+f 7 16 14
+f 7 14 10
+f 7 10 9
+f 7 9 8
+f 11 14 16
+f 11 16 15
+f 12 15 16
+f 12 16 13
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_217.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_217.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1229a998d91c38314704e0469a10f5c5720c62f
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_217.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.01386990 0.02025199 -0.02179563
+v -0.01386990 0.02027064 -0.02180156
+v -0.01132644 0.02025199 -0.02145187
+v -0.01386990 0.02025199 0.03587924
+v -0.01132644 0.02144221 -0.02173044
+v -0.01386990 0.02453378 -0.02265504
+v -0.01132644 0.02450209 -0.02244167
+v -0.01132644 0.02025199 0.03566587
+v -0.01132893 0.02025199 0.03706462
+v -0.01386990 0.02665883 0.03449234
+v -0.01386990 0.02878201 -0.02333663
+v -0.01136254 0.02977277 -0.02348481
+v -0.01132644 0.02977277 -0.02347888
+v -0.01132644 0.02411157 0.03577848
+v -0.01132644 0.02753681 0.03470571
+v -0.01381462 0.02695894 0.03445085
+v -0.01386990 0.02690768 0.03442714
+v -0.01386990 0.02977277 -0.02346110
+v -0.01132644 0.02977277 0.03034942
+v -0.01132644 0.02967490 0.03379889
+v -0.01136254 0.02965067 0.03380481
+v -0.01136254 0.02977277 0.03374555
+v -0.01350188 0.02977277 0.03288614
+v -0.01386990 0.02977277 0.03273797
+v -0.01386990 0.02701394 0.03439158
+v -0.01132744 0.02977277 0.03375147
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 17
+f 1 17 25
+f 1 25 24
+f 1 24 18
+f 1 18 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 13
+f 3 13 19
+f 3 19 20
+f 3 20 15
+f 3 15 14
+f 3 14 8
+f 4 9 10
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 8 14 9
+f 9 15 16
+f 9 16 10
+f 9 14 15
+f 10 16 17
+f 11 18 12
+f 12 18 24
+f 12 24 23
+f 12 23 22
+f 12 22 26
+f 12 26 19
+f 12 19 13
+f 15 20 21
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 19 26 20
+f 20 26 21
+f 21 26 22
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_218.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_218.obj
new file mode 100644
index 0000000000000000000000000000000000000000..744306bd75171b5c60cb83fb3b819712353a52df
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_218.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00816489 -0.00096895 0.00866390
+v 0.00816489 -0.00096895 0.00154279
+v 0.00702964 -0.00096895 0.00866390
+v 0.00816489 -0.05180311 0.00866390
+v 0.00702964 -0.00096895 0.00154279
+v 0.00816489 -0.05437027 0.00154279
+v 0.00702964 -0.05263584 0.00866390
+v 0.00816489 -0.05278436 0.00685435
+v 0.00702964 -0.05514997 0.00154279
+v 0.00816489 -0.05434906 0.00261974
+v 0.00702964 -0.05347919 0.00674840
+v 0.00703187 -0.05348450 0.00673376
+v 0.00702964 -0.05502797 0.00265459
+v 0.00816489 -0.05434375 0.00265459
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 13
+f 3 13 11
+f 3 11 7
+f 4 7 8
+f 6 10 9
+f 7 11 12
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 9 10 13
+f 10 14 13
+f 11 13 12
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_219.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_219.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d342e7ed9e39aa0158047f47f252ce618eee394
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_219.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00446648 -0.04348117 0.02519617
+v 0.00436756 -0.04348117 0.02531929
+v 0.00446648 -0.04422085 0.02452168
+v 0.00446648 -0.04348117 -0.02443257
+v 0.00373934 -0.04348117 0.02609549
+v 0.00446648 -0.04478244 0.02364377
+v 0.00325126 -0.04478244 0.02550665
+v 0.00359791 -0.04478244 0.02507840
+v 0.00446648 -0.04478244 -0.02403108
+v 0.00138484 -0.04478244 -0.02489293
+v 0.00138484 -0.04348117 -0.02495717
+v 0.00137660 -0.04348117 0.02888446
+v 0.00281308 -0.04478244 0.02602055
+v 0.00003427 -0.04478244 -0.02493041
+v 0.00003427 -0.04446337 -0.02494646
+v 0.00003427 -0.04354232 -0.02498929
+v 0.00093798 -0.04348117 -0.02496788
+v 0.00003427 -0.04348117 0.02968743
+v 0.00117920 -0.04478244 0.02774425
+v 0.00003427 -0.04478244 0.02581713
+v 0.00003427 -0.04348117 -0.02498929
+v 0.00003427 -0.04478028 0.02780849
+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 21
+f 1 21 18
+f 1 18 12
+f 1 12 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 5 12 7
+f 6 8 7
+f 6 7 13
+f 6 13 19
+f 6 19 20
+f 6 20 14
+f 6 14 10
+f 6 10 9
+f 7 12 13
+f 10 14 15
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 12 18 19
+f 12 19 13
+f 14 20 22
+f 14 22 18
+f 14 18 21
+f 14 21 16
+f 14 16 15
+f 16 21 17
+f 18 22 19
+f 19 22 20
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_22.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da780350bbf787b78217531a83ae9c1953d50dfd
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.02647887 0.04678258 -0.01695809
+v 0.02647887 0.04767061 -0.01598238
+v 0.02733967 0.04699328 -0.01541704
+v 0.02733967 0.04678258 -0.01564623
+v 0.02647887 0.04678258 0.00534135
+v 0.02733967 0.04719988 -0.01519003
+v 0.02647887 0.04856724 -0.01451118
+v 0.02733967 0.04761383 -0.01451118
+v 0.02771750 0.04699328 -0.01484078
+v 0.02789953 0.04699328 -0.01450900
+v 0.02822433 0.04699328 -0.01382142
+v 0.02882368 0.04699328 -0.01254448
+v 0.02733967 0.04678258 0.00437655
+v 0.02686037 0.04678258 0.00534135
+v 0.02647887 0.04715766 0.00534135
+v 0.02647887 0.04885940 -0.01395020
+v 0.02882368 0.04754322 -0.01151857
+v 0.02882368 0.04699328 0.00104561
+v 0.02733645 0.04678258 0.00438747
+v 0.02818370 0.04699328 0.00248407
+v 0.02647887 0.04855940 0.00248407
+v 0.02647887 0.04933051 -0.01257722
+v 0.02882368 0.04842416 -0.00903673
+v 0.02733967 0.04838568 -0.01303779
+v 0.02870638 0.04763288 -0.01158405
+v 0.02882368 0.04756750 -0.00078794
+v 0.02647887 0.05024993 -0.00187061
+v 0.02647887 0.05011356 -0.01021980
+v 0.02712550 0.04955279 -0.01020671
+v 0.02733967 0.04941083 -0.01005828
+v 0.02882368 0.04851681 -0.00831204
+v 0.02882368 0.04826687 -0.00333745
+v 0.02647887 0.05030858 -0.00223732
+v 0.02647887 0.05059924 -0.00583893
+v 0.02882368 0.04855977 -0.00598518
+v 0.02882368 0.04849514 -0.00530633
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 19
+f 1 19 14
+f 1 14 5
+f 1 5 15
+f 1 15 21
+f 1 21 27
+f 1 27 33
+f 1 33 34
+f 1 34 28
+f 1 28 22
+f 1 22 16
+f 1 16 7
+f 1 7 2
+f 2 6 3
+f 2 7 8
+f 2 8 6
+f 3 6 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 18
+f 4 18 13
+f 5 14 15
+f 6 8 9
+f 7 16 17
+f 7 17 8
+f 8 10 9
+f 8 17 10
+f 10 17 11
+f 11 17 12
+f 12 17 23
+f 12 23 31
+f 12 31 35
+f 12 35 36
+f 12 36 32
+f 12 32 26
+f 12 26 18
+f 13 18 19
+f 14 19 20
+f 14 20 15
+f 15 20 21
+f 16 22 23
+f 16 23 24
+f 16 24 17
+f 17 24 25
+f 17 25 23
+f 18 26 27
+f 18 27 21
+f 18 21 20
+f 18 20 19
+f 22 28 29
+f 22 29 30
+f 22 30 23
+f 23 30 28
+f 23 28 31
+f 23 25 24
+f 26 32 27
+f 27 32 33
+f 28 30 29
+f 28 34 31
+f 31 34 35
+f 32 36 33
+f 33 36 35
+f 33 35 34
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_220.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_220.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91f23e4dddcfa0f6ec07f804c0856a03b233bdb7
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_220.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.05074276 0.01558338 -0.01449258
+v -0.05074276 0.01558812 -0.01904438
+v -0.05240230 0.01558338 -0.01449258
+v -0.05074276 -0.03284628 -0.01449258
+v -0.05240230 0.01558812 -0.01904438
+v -0.05074276 0.01558812 -0.02413685
+v -0.05240230 -0.03072229 -0.01449258
+v -0.05240100 -0.03173687 -0.01449258
+v -0.05240230 -0.03161835 -0.01495133
+v -0.05100998 -0.03237691 -0.01561053
+v -0.05074276 -0.03261871 -0.01536670
+v -0.05240230 0.01558812 -0.02396916
+v -0.05074276 0.01178107 -0.02429298
+v -0.05240230 0.01178107 -0.02430743
+v -0.05240230 -0.03157568 -0.01511035
+v -0.05074276 -0.03245277 -0.01575798
+v -0.05240230 -0.03038094 -0.01716988
+v -0.05240230 0.00608235 -0.02433731
+v -0.05074276 0.00442298 -0.02429394
+v -0.05074276 -0.03037146 -0.01858178
+v -0.05240230 -0.02975986 -0.01802184
+v -0.05240230 0.00555135 -0.02433346
+v -0.05074276 0.00328514 -0.02428527
+v -0.05074276 -0.02915775 -0.02003897
+v -0.05240230 -0.02776863 -0.02008331
+v -0.05129832 -0.02827592 -0.02065674
+v -0.05240230 0.00328514 -0.02431515
+v -0.05074276 -0.01256414 -0.02413396
+v -0.05074276 -0.02844186 -0.02077528
+v -0.05240230 -0.02587696 -0.02135257
+v -0.05240230 -0.02553560 -0.02151930
+v -0.05074276 -0.02770226 -0.02117524
+v -0.05240230 0.00183438 -0.02430069
+v -0.05240230 -0.01090477 -0.02416191
+v -0.05074276 -0.01681210 -0.02403566
+v -0.05240230 -0.02421759 -0.02202045
+v -0.05074276 -0.02567783 -0.02209851
+v -0.05074276 -0.02626572 -0.02187300
+v -0.05240230 -0.01515274 -0.02402698
+v -0.05074276 -0.02106481 -0.02361160
+v -0.05240230 -0.02392839 -0.02212839
+v -0.05074276 -0.02223110 -0.02325309
+v -0.05240230 -0.02226429 -0.02268640
+v -0.05240230 -0.01940070 -0.02356535
+v -0.05240230 -0.01994592 -0.02339862
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 11
+f 1 11 16
+f 1 16 20
+f 1 20 24
+f 1 24 29
+f 1 29 32
+f 1 32 38
+f 1 38 37
+f 1 37 42
+f 1 42 40
+f 1 40 35
+f 1 35 28
+f 1 28 23
+f 1 23 19
+f 1 19 13
+f 1 13 6
+f 1 6 2
+f 2 6 12
+f 2 12 5
+f 3 5 12
+f 3 12 14
+f 3 14 18
+f 3 18 22
+f 3 22 27
+f 3 27 33
+f 3 33 34
+f 3 34 39
+f 3 39 44
+f 3 44 45
+f 3 45 43
+f 3 43 41
+f 3 41 36
+f 3 36 31
+f 3 31 30
+f 3 30 25
+f 3 25 21
+f 3 21 17
+f 3 17 15
+f 3 15 9
+f 3 9 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 6 13 14
+f 6 14 12
+f 7 9 8
+f 9 15 10
+f 10 16 11
+f 10 15 17
+f 10 17 16
+f 13 18 14
+f 13 19 18
+f 16 17 21
+f 16 21 20
+f 18 19 22
+f 19 23 22
+f 20 21 24
+f 21 25 26
+f 21 26 24
+f 22 23 27
+f 23 28 27
+f 24 26 29
+f 25 30 26
+f 26 30 31
+f 26 31 32
+f 26 32 29
+f 27 28 33
+f 28 34 33
+f 28 35 34
+f 31 36 37
+f 31 37 38
+f 31 38 32
+f 34 35 39
+f 35 40 39
+f 36 41 37
+f 37 41 43
+f 37 43 42
+f 39 40 44
+f 40 45 44
+f 40 42 43
+f 40 43 45
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_221.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_221.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5b7047ebb571595cc45ef8426ed6fc1ee9e3ede
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_221.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.00335974 -0.04478260 0.02378011
+v -0.01017177 -0.04478260 0.02378011
+v 0.00335974 -0.04575774 0.02378011
+v 0.00335974 -0.04478260 -0.02421551
+v -0.01090189 -0.04478260 0.02311310
+v -0.01011720 -0.04484008 0.02378011
+v 0.00273582 -0.04638690 0.02378011
+v 0.00335974 -0.04638690 0.02318988
+v 0.00335974 -0.04638690 -0.02398038
+v 0.00138326 -0.04638690 -0.02481054
+v 0.00138326 -0.04478260 -0.02489211
+v -0.01147418 -0.04478260 0.02223976
+v -0.01170870 -0.04478386 0.02198063
+v -0.01015997 -0.04633586 0.02241731
+v -0.00930448 -0.04567969 0.02378011
+v -0.00811122 -0.04638690 0.02378011
+v -0.00410811 -0.04638690 -0.02503127
+v -0.00507717 -0.04536118 -0.02512724
+v -0.00567307 -0.04478260 -0.02517523
+v -0.01170870 -0.04478260 0.02186067
+v -0.01170870 -0.04546515 0.02119366
+v -0.01170870 -0.04638690 0.02012837
+v -0.01021307 -0.04638690 0.02227815
+v -0.00992692 -0.04638690 0.02252287
+v -0.00760087 -0.04638690 -0.02513204
+v -0.00790914 -0.04597935 -0.02520402
+v -0.00728375 -0.04478260 -0.02523761
+v -0.01170870 -0.04478260 -0.02471456
+v -0.01170870 -0.04638690 -0.02424910
+v -0.00881478 -0.04638690 -0.02513204
+v -0.00956113 -0.04597935 -0.02520402
+v -0.00900211 -0.04478260 -0.02524241
+v -0.01087681 -0.04478260 -0.02503607
+v -0.01170870 -0.04490164 -0.02468097
+v -0.01170870 -0.04557933 -0.02448903
+v -0.01146828 -0.04638690 -0.02435467
+v -0.00997707 -0.04638690 -0.02493050
+v -0.00987087 -0.04478260 -0.02524241
+f 1 2 6
+f 1 6 15
+f 1 15 16
+f 1 16 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 11
+f 1 11 19
+f 1 19 27
+f 1 27 32
+f 1 32 38
+f 1 38 33
+f 1 33 28
+f 1 28 20
+f 1 20 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 15
+f 7 16 24
+f 7 24 23
+f 7 23 22
+f 7 22 29
+f 7 29 36
+f 7 36 37
+f 7 37 30
+f 7 30 25
+f 7 25 17
+f 7 17 10
+f 7 10 9
+f 7 9 8
+f 10 17 18
+f 10 18 11
+f 11 18 19
+f 12 20 13
+f 13 20 28
+f 13 28 34
+f 13 34 35
+f 13 35 29
+f 13 29 22
+f 13 22 21
+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 17 25 26
+f 17 26 18
+f 18 26 27
+f 18 27 19
+f 25 30 31
+f 25 31 26
+f 26 31 38
+f 26 38 32
+f 26 32 27
+f 28 33 34
+f 29 35 36
+f 30 37 31
+f 31 37 33
+f 31 33 38
+f 33 37 36
+f 33 36 34
+f 34 36 35
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_222.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_222.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b49b3f59e866362fb744cc804cf135dfc60f2e8b
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_222.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.05240230 -0.00415569 -0.02417873
+v -0.05385238 -0.00415569 -0.02417455
+v -0.05449704 0.00328883 -0.02434615
+v -0.05240230 -0.00294099 -0.02420385
+v -0.05240230 -0.00415569 0.01822783
+v -0.05442363 -0.00415569 -0.02416199
+v -0.05449704 0.00393290 -0.02435871
+v -0.05385238 0.00328883 -0.02434197
+v -0.05449704 -0.00415569 -0.02415781
+v -0.05240230 0.00183872 -0.02430011
+v -0.05240230 -0.00095980 0.01836177
+v -0.05242198 -0.00415569 0.01822365
+v -0.05449704 0.00753557 -0.02438801
+v -0.05240230 0.00555438 -0.02433360
+v -0.05449704 -0.00415569 0.01749957
+v -0.05240230 0.00328883 0.01837014
+v -0.05342547 0.00328883 0.01815250
+v -0.05366640 -0.00095980 0.01806042
+v -0.05336703 -0.00415569 0.01800182
+v -0.05385238 0.00753557 -0.02437545
+v -0.05240230 0.00608546 -0.02433778
+v -0.05449704 0.01178420 -0.02430430
+v -0.05385238 0.01178420 -0.02431685
+v -0.05240230 0.01178420 -0.02430430
+v -0.05429076 -0.00415569 0.01759165
+v -0.05449704 -0.00095980 0.01775488
+v -0.05240230 0.00753557 0.01790556
+v -0.05276461 0.00753557 0.01784696
+v -0.05449704 0.00328883 0.01764188
+v -0.05449704 0.00136414 0.01775488
+v -0.05449704 0.00753557 0.01704336
+v -0.05449704 0.01508366 -0.02386902
+v -0.05402256 0.01508366 -0.02391506
+v -0.05385238 0.01508366 -0.02392761
+v -0.05240230 0.01508366 -0.02397365
+v -0.05240230 0.00881807 0.01765862
+v -0.05449704 0.00787079 0.01695128
+v -0.05449704 0.01508366 0.01437307
+v -0.05240230 0.01508366 0.01500088
+v -0.05240230 0.00961657 0.01743679
+v -0.05449704 0.01156762 0.01578774
+v -0.05240230 0.00965988 0.01742424
+v -0.05240230 0.01024934 0.01722752
+v -0.05417265 0.01508366 0.01451119
+v -0.05395326 0.01508366 0.01460327
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 14
+f 1 14 21
+f 1 21 24
+f 1 24 35
+f 1 35 39
+f 1 39 43
+f 1 43 42
+f 1 42 40
+f 1 40 36
+f 1 36 27
+f 1 27 16
+f 1 16 11
+f 1 11 5
+f 1 5 12
+f 1 12 19
+f 1 19 25
+f 1 25 15
+f 1 15 9
+f 1 9 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 9
+f 3 9 15
+f 3 15 26
+f 3 26 30
+f 3 30 29
+f 3 29 31
+f 3 31 37
+f 3 37 41
+f 3 41 38
+f 3 38 32
+f 3 32 22
+f 3 22 13
+f 3 13 7
+f 4 8 10
+f 5 11 12
+f 7 13 8
+f 8 13 14
+f 8 14 10
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 13 20 21
+f 13 21 14
+f 13 22 23
+f 13 23 24
+f 13 24 20
+f 15 25 26
+f 16 27 28
+f 16 28 17
+f 17 29 30
+f 17 30 26
+f 17 26 18
+f 17 28 31
+f 17 31 29
+f 18 26 19
+f 19 26 25
+f 20 24 21
+f 22 32 33
+f 22 33 34
+f 22 34 35
+f 22 35 23
+f 23 35 24
+f 27 36 28
+f 28 36 37
+f 28 37 31
+f 32 38 44
+f 32 44 45
+f 32 45 39
+f 32 39 35
+f 32 35 34
+f 32 34 33
+f 36 40 37
+f 37 40 42
+f 37 42 41
+f 38 41 43
+f 38 43 44
+f 39 45 43
+f 41 42 43
+f 43 45 44
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_223.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_223.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5561906ec3ad33f0442a3f9c188adf1ce572682
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_223.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.00260231 0.02877598 -0.02242850
+v -0.00260231 0.02878323 -0.02255147
+v 0.00279932 0.02877679 -0.02200689
+v 0.00138388 0.02877598 -0.02201860
+v -0.00260231 0.02877598 0.03522630
+v -0.00260231 0.03699952 -0.02443113
+v 0.00279932 0.03161751 -0.02266272
+v 0.00140397 0.02877598 -0.02197761
+v 0.00279932 0.02877679 0.03467002
+v 0.00119882 0.02877598 0.03506234
+v -0.00260231 0.02878000 0.03539026
+v 0.00140292 0.03699952 -0.02395097
+v 0.00279932 0.03675722 -0.02378115
+v 0.00279932 0.03586451 -0.02359963
+v -0.00260231 0.03699952 0.03139085
+v 0.00140397 0.02877598 0.03501550
+v 0.00279932 0.03020077 0.03397319
+v -0.00034511 0.03115627 0.03447092
+v 0.00136379 0.02877598 0.03502721
+v -0.00260231 0.02902954 0.03531414
+v 0.00140397 0.03699952 -0.02379286
+v 0.00279932 0.03675722 0.03062376
+v -0.00260231 0.03352448 0.03322952
+v 0.00076314 0.03699952 0.03102780
+v 0.00279932 0.03298434 0.03256198
+v -0.00260231 0.03321940 0.03338763
+v -0.00260231 0.03113131 0.03445336
+v 0.00279932 0.03674676 0.03062961
+v 0.00127496 0.03699952 0.03093411
+v 0.00109201 0.03699952 0.03098095
+v 0.00140397 0.03699952 0.03089312
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 19
+f 1 19 10
+f 1 10 5
+f 1 5 11
+f 1 11 20
+f 1 20 27
+f 1 27 26
+f 1 26 23
+f 1 23 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 14
+f 3 14 13
+f 3 13 22
+f 3 22 28
+f 3 28 25
+f 3 25 17
+f 3 17 9
+f 3 9 16
+f 3 16 8
+f 5 10 11
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 6 15 24
+f 6 24 30
+f 6 30 29
+f 6 29 31
+f 6 31 21
+f 6 21 12
+f 9 17 18
+f 9 18 19
+f 9 19 16
+f 10 19 18
+f 10 18 11
+f 11 18 20
+f 12 21 13
+f 13 21 31
+f 13 31 22
+f 15 23 18
+f 15 18 24
+f 17 25 18
+f 18 23 26
+f 18 26 27
+f 18 27 20
+f 18 25 28
+f 18 28 29
+f 18 29 30
+f 18 30 24
+f 22 31 29
+f 22 29 28
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_224.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_224.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d34faa2b75239eb62fbb0d1198b05551a322884
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_224.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.02686028 0.04678258 0.00534135
+v 0.02647864 0.04678258 0.00534135
+v 0.02733949 0.04644090 0.00534135
+v 0.02733629 0.04678258 0.00438765
+v 0.02647864 0.04678258 -0.01695735
+v 0.02647864 0.01256149 0.00534135
+v 0.02733949 0.04678258 0.00437620
+v 0.02733949 0.01256149 0.00534135
+v 0.02647864 0.04553646 -0.01832059
+v 0.02733949 0.04678258 -0.01564566
+v 0.02733949 0.04490336 -0.01793682
+v 0.02647864 0.01256149 -0.02305470
+v 0.02733949 0.01256149 -0.02308620
+v 0.02733949 0.04458179 -0.01826904
+v 0.02656501 0.04534218 -0.01840365
+v 0.02647864 0.04526514 -0.01855830
+v 0.02647864 0.02068464 -0.02366472
+v 0.02733949 0.01557627 -0.02331245
+v 0.02733949 0.04216661 -0.02024517
+v 0.02647864 0.04285666 -0.02056879
+v 0.02647864 0.02493548 -0.02383369
+v 0.02687848 0.02028602 -0.02363894
+v 0.02733949 0.01980701 -0.02360744
+v 0.02733949 0.04053863 -0.02131055
+v 0.02647864 0.04118179 -0.02156258
+v 0.02647864 0.02918297 -0.02391675
+v 0.02733949 0.02405785 -0.02375636
+v 0.02733949 0.02028602 -0.02362749
+v 0.02733949 0.03763440 -0.02239313
+v 0.02647864 0.04010317 -0.02196067
+v 0.02647864 0.03343046 -0.02367618
+v 0.02733949 0.02832208 -0.02383083
+v 0.02733949 0.02830533 -0.02383083
+v 0.02733949 0.03761095 -0.02240172
+v 0.02647864 0.03832110 -0.02254491
+v 0.02733949 0.03759420 -0.02240745
+v 0.02647864 0.03759420 -0.02271962
+v 0.02733949 0.03306868 -0.02346997
+v 0.02733949 0.03256957 -0.02358453
+v 0.02733949 0.03758415 -0.02241031
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 4
+f 1 4 7
+f 1 7 10
+f 1 10 5
+f 1 5 2
+f 2 5 9
+f 2 9 16
+f 2 16 20
+f 2 20 25
+f 2 25 30
+f 2 30 35
+f 2 35 37
+f 2 37 31
+f 2 31 26
+f 2 26 21
+f 2 21 17
+f 2 17 12
+f 2 12 6
+f 3 7 4
+f 3 8 13
+f 3 13 18
+f 3 18 23
+f 3 23 28
+f 3 28 27
+f 3 27 33
+f 3 33 32
+f 3 32 39
+f 3 39 38
+f 3 38 40
+f 3 40 36
+f 3 36 34
+f 3 34 29
+f 3 29 24
+f 3 24 19
+f 3 19 14
+f 3 14 11
+f 3 11 10
+f 3 10 7
+f 5 10 11
+f 5 11 9
+f 6 12 13
+f 6 13 8
+f 9 11 14
+f 9 14 15
+f 9 15 16
+f 12 17 13
+f 13 17 18
+f 14 19 20
+f 14 20 16
+f 14 16 15
+f 17 21 22
+f 17 22 18
+f 18 22 23
+f 19 24 20
+f 20 24 25
+f 21 26 27
+f 21 27 28
+f 21 28 22
+f 22 28 23
+f 24 29 25
+f 25 29 30
+f 26 31 32
+f 26 32 33
+f 26 33 27
+f 29 34 30
+f 30 34 36
+f 30 36 35
+f 31 37 38
+f 31 38 39
+f 31 39 32
+f 35 36 40
+f 35 40 37
+f 37 40 38
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_225.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_225.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9379baf4d1740c0f994b3df7fa817828d6b7a469
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_225.obj
@@ -0,0 +1,219 @@
+# https://github.com/mikedh/trimesh
+v 0.04387431 0.02370691 -0.02363392
+v 0.04387305 0.02453412 -0.02352079
+v 0.04387457 0.02453412 -0.02352079
+v 0.04412536 0.02370691 -0.02359352
+v 0.04387305 0.02370691 -0.01632925
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+v 0.04387305 0.03310212 0.01139860
+v 0.04387305 0.03562852 -0.01704840
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+v 0.04516249 0.03248452 0.01043703
+v 0.04387305 0.03327972 0.01122891
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+v 0.04390953 0.03684612 -0.01530708
+v 0.04427695 0.03684612 -0.01491922
+v 0.04516249 0.03559332 -0.01574342
+v 0.04516249 0.03420452 0.00849774
+v 0.04387305 0.03344452 0.01105518
+v 0.04387305 0.03728452 -0.01472933
+v 0.04392442 0.03734372 -0.01459196
+v 0.04481186 0.03684612 -0.01420411
+v 0.04516249 0.03664932 -0.01405058
+v 0.04516249 0.03481892 0.00773818
+v 0.04387305 0.03695012 0.00666349
+v 0.04393679 0.03684612 0.00672005
+v 0.04387659 0.03684612 0.00679278
+v 0.04387305 0.03741412 -0.01454348
+v 0.04387305 0.03901092 -0.01129921
+v 0.04516249 0.03684612 -0.01362636
+v 0.04516249 0.03617252 0.00583525
+v 0.04422949 0.03684612 0.00628371
+v 0.04387305 0.03710212 0.00645340
+v 0.04387305 0.03934532 -0.01026088
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+v 0.04516249 0.03820772 -0.01066894
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+v 0.04425915 0.03684612 0.00623927
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+v 0.04387305 0.03735812 0.00590798
+v 0.04387305 0.03965412 -0.00853976
+v 0.04516249 0.03874852 -0.00833371
+v 0.04516249 0.03837252 -0.01026088
+v 0.04516249 0.03774212 0.00248189
+v 0.04387305 0.03895972 0.00248189
+v 0.04516249 0.03794852 0.00178294
+v 0.04516249 0.03864132 -0.00060078
+v 0.04387305 0.04005253 -0.00601059
+v 0.04516249 0.03908292 -0.00645906
+v 0.04516249 0.03894372 -0.00176435
+v 0.04387305 0.03995333 -0.00176435
+v 0.04516249 0.03915332 -0.00601059
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+f 1 3 4
+f 1 4 7
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+f 1 10 16
+f 1 16 11
+f 1 11 5
+f 1 5 2
+f 2 6 3
+f 2 5 11
+f 2 11 17
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+f 2 23 27
+f 2 27 31
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+f 2 12 6
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+f 9 45 52
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+f 9 30 26
+f 9 26 22
+f 9 22 21
+f 9 21 20
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+f 9 16 10
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+f 16 20 17
+f 17 20 21
+f 17 21 22
+f 17 22 23
+f 18 24 19
+f 19 24 25
+f 22 26 27
+f 22 27 23
+f 24 28 25
+f 25 28 29
+f 26 30 31
+f 26 31 27
+f 28 32 29
+f 29 32 33
+f 30 34 31
+f 31 34 35
+f 32 36 37
+f 32 37 33
+f 33 37 38
+f 33 38 39
+f 34 40 41
+f 34 41 35
+f 36 42 37
+f 37 42 43
+f 37 43 38
+f 38 43 44
+f 38 44 39
+f 39 44 45
+f 40 46 41
+f 41 46 48
+f 41 48 49
+f 41 49 47
+f 42 50 43
+f 43 50 44
+f 44 50 45
+f 45 51 52
+f 45 50 51
+f 46 53 54
+f 46 54 48
+f 47 49 48
+f 47 48 55
+f 48 54 55
+f 51 56 57
+f 51 57 58
+f 51 58 52
+f 53 59 60
+f 53 60 54
+f 54 60 55
+f 55 60 61
+f 55 61 62
+f 56 63 64
+f 56 64 57
+f 57 65 58
+f 57 64 65
+f 59 66 61
+f 59 61 60
+f 61 67 62
+f 61 66 68
+f 61 68 69
+f 61 69 67
+f 63 70 71
+f 63 71 64
+f 67 69 72
+f 67 72 73
+f 70 73 74
+f 70 74 71
+f 72 74 73
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_226.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_226.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b2f74368d033b4cea34e86bf34c0790799f0fa5
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_226.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.01485875 0.03305263 -0.02385287
+v 0.01382754 0.03305263 -0.02369570
+v 0.01382754 0.03333582 -0.02374640
+v 0.01639552 0.03352664 -0.02414691
+v 0.01485875 0.03305263 0.02652585
+v 0.01382754 0.03305263 0.02736237
+v 0.01382754 0.03758808 -0.02422296
+v 0.01639552 0.03501687 -0.02430408
+v 0.01639552 0.03352664 0.02508095
+v 0.01639552 0.03735151 0.02306824
+v 0.01382754 0.03530352 0.02613548
+v 0.01382754 0.04185070 -0.02443082
+v 0.01639552 0.03926395 -0.02441562
+v 0.01382754 0.03718746 0.02510631
+v 0.01639552 0.03955060 0.02185656
+v 0.01382754 0.04187315 -0.02441562
+v 0.01382930 0.04187315 -0.02442575
+v 0.01485875 0.04187315 -0.02431422
+v 0.01639552 0.04148030 -0.02420268
+v 0.01382754 0.04110386 0.02280968
+v 0.01639552 0.03957736 0.02184135
+v 0.01485900 0.04067129 0.02231791
+v 0.01382754 0.04187315 0.02231791
+v 0.01485875 0.04187315 0.02152702
+v 0.01639552 0.04148030 0.02059924
+v 0.01382754 0.04152606 0.02255619
+v 0.01639552 0.03967665 0.02178051
+v 0.01639552 0.04128345 0.02073106
+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 11
+f 2 11 14
+f 2 14 20
+f 2 20 26
+f 2 26 23
+f 2 23 16
+f 2 16 12
+f 2 12 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 13
+f 4 13 19
+f 4 19 25
+f 4 25 28
+f 4 28 27
+f 4 27 21
+f 4 21 15
+f 4 15 10
+f 4 10 9
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 7 12 8
+f 8 12 13
+f 10 14 11
+f 10 15 14
+f 12 16 17
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 14 15 21
+f 14 21 22
+f 14 22 20
+f 16 23 24
+f 16 24 18
+f 16 18 17
+f 18 24 25
+f 18 25 19
+f 20 22 26
+f 21 27 22
+f 22 27 28
+f 22 28 26
+f 23 26 24
+f 24 26 28
+f 24 28 25
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_227.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_227.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15f6fcb9c1b3445526c5e32ba413abbbd050377e
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_227.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.01086775 0.03292388 -0.02320130
+v 0.00957856 0.03292388 -0.02301722
+v 0.00957856 0.03333554 -0.02309843
+v 0.00957856 0.03756668 -0.02392140
+v 0.01086775 0.03629520 -0.02383477
+v 0.01086775 0.03292388 0.02950655
+v 0.00957856 0.03292388 0.03032952
+v 0.00957856 0.04189979 -0.02473354
+v 0.01086775 0.04059180 -0.02457653
+v 0.01086775 0.03482733 0.02851574
+v 0.00988259 0.03292388 0.03020499
+v 0.00957856 0.03425327 0.02962025
+v 0.00957856 0.04577718 -0.02498259
+v 0.01086775 0.04499792 -0.02481475
+v 0.01086775 0.03714747 0.02724339
+v 0.01009991 0.03750751 0.02753034
+v 0.00957856 0.03698507 0.02810425
+v 0.01013462 0.04577718 -0.02491221
+v 0.00957856 0.04578473 -0.02497718
+v 0.01012768 0.04578473 -0.02491221
+v 0.01086775 0.04578473 -0.02478768
+v 0.01086775 0.03827921 0.02659909
+v 0.00975335 0.03829684 0.02727046
+v 0.00957856 0.03869465 0.02713510
+v 0.00957856 0.04578473 0.02240845
+v 0.01086775 0.04578473 0.02156382
+v 0.00957856 0.04116837 0.02558662
+v 0.01086775 0.04040926 0.02525635
+v 0.00967107 0.04578473 0.02236514
+v 0.00957856 0.04563367 0.02252756
+v 0.01086775 0.04496645 0.02226226
+v 0.01086775 0.04249776 0.02393527
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 21
+f 1 21 26
+f 1 26 31
+f 1 31 32
+f 1 32 28
+f 1 28 22
+f 1 22 15
+f 1 15 10
+f 1 10 6
+f 1 6 11
+f 1 11 7
+f 1 7 2
+f 2 7 12
+f 2 12 17
+f 2 17 24
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+f 2 27 30
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+f 2 25 19
+f 2 19 13
+f 2 13 8
+f 2 8 4
+f 2 4 3
+f 4 8 5
+f 5 8 9
+f 6 10 11
+f 7 11 12
+f 8 13 9
+f 9 13 14
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 13 18 14
+f 13 19 20
+f 13 20 18
+f 14 18 21
+f 15 22 16
+f 16 23 17
+f 16 22 23
+f 17 23 24
+f 18 20 21
+f 19 25 29
+f 19 29 26
+f 19 26 21
+f 19 21 20
+f 22 27 24
+f 22 24 23
+f 22 28 27
+f 25 30 29
+f 26 29 31
+f 27 28 32
+f 27 32 31
+f 27 31 30
+f 29 30 31
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_228.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_228.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4ac8fbe8dcbb1d9287694d432331533a2a3b2a8
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_228.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00816489 -0.00096365 0.00154278
+v 0.00702964 -0.00096365 0.00154278
+v 0.00816489 -0.03121068 0.00154278
+v 0.00816489 -0.00096365 -0.01686090
+v 0.00702964 -0.00096365 -0.01686090
+v 0.00702964 -0.03121068 0.00154278
+v 0.00816489 -0.05107777 0.00154098
+v 0.00816489 -0.05107777 -0.01686090
+v 0.00702964 -0.05107777 -0.01686090
+v 0.00702964 -0.05107777 0.00154098
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 10
+f 2 10 6
+f 3 6 10
+f 3 10 7
+f 4 8 9
+f 4 9 5
+f 7 10 9
+f 7 9 8
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_229.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_229.obj
new file mode 100644
index 0000000000000000000000000000000000000000..931a8ad1e4c87655f49e63583672039a77e21023
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_229.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.00279932 0.03924309 -0.00232183
+v 0.00279932 0.06089689 -0.00232183
+v 0.00398997 0.03924309 -0.00232183
+v 0.00279932 0.03924309 0.02947142
+v 0.00555066 0.06050901 -0.00098985
+v 0.00555066 0.06057472 -0.00163717
+v 0.00398997 0.06076760 -0.00232183
+v 0.00279932 0.06063406 -0.00063196
+v 0.00555066 0.03924521 -0.00163717
+v 0.00398997 0.03924309 0.02908863
+v 0.00335815 0.03924309 0.02929403
+v 0.00279932 0.03926640 0.02945897
+v 0.00555066 0.06050689 -0.00097740
+v 0.00279932 0.06049841 0.00001847
+v 0.00303821 0.06057896 -0.00041411
+v 0.00555066 0.03924521 0.02859692
+v 0.00279932 0.04278069 0.02724004
+v 0.00398997 0.04030077 0.02847554
+v 0.00416880 0.04408637 0.02608856
+v 0.00555066 0.05974595 0.00248326
+v 0.00279932 0.05997487 0.00237745
+v 0.00398997 0.05987525 0.00242724
+v 0.00555066 0.04165731 0.02718402
+v 0.00279932 0.04428137 0.02623172
+v 0.00399024 0.04411180 0.02610723
+v 0.00555066 0.04179296 0.02709999
+v 0.00555066 0.04555525 0.02454496
+v 0.00555066 0.04562519 0.02449205
+v 0.00279932 0.04627591 0.02475347
+v 0.00555066 0.05832158 0.00673439
+v 0.00279932 0.05835338 0.00673439
+v 0.00398997 0.05834278 0.00673439
+v 0.00555066 0.04841246 0.02228868
+v 0.00279932 0.04721913 0.02400345
+v 0.00555066 0.05697776 0.01000521
+v 0.00279932 0.05692265 0.00999899
+v 0.00399024 0.05694172 0.01001455
+v 0.00555066 0.05696292 0.01003944
+v 0.00555066 0.04847393 0.02222644
+v 0.00398997 0.04859899 0.02244118
+v 0.00279932 0.04870921 0.02258433
+v 0.00279932 0.05625710 0.01141499
+v 0.00399024 0.05693324 0.01003322
+v 0.00399024 0.05654960 0.01084859
+v 0.00555066 0.05592644 0.01216190
+v 0.00555066 0.05053418 0.02002307
+v 0.00399024 0.04990042 0.02105007
+v 0.00279932 0.04941503 0.02183120
+v 0.00279932 0.05590948 0.01212455
+v 0.00398997 0.05591796 0.01214011
+v 0.00555066 0.05419473 0.01522732
+v 0.00555066 0.05251388 0.01788506
+v 0.00398997 0.05193100 0.01863196
+v 0.00279932 0.05148588 0.01919836
+v 0.00279932 0.05409934 0.01523043
+v 0.00398997 0.05414386 0.01523043
+v 0.00555066 0.05254356 0.01784149
+v 0.00279932 0.05246514 0.01778236
+f 1 2 7
+f 1 7 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 12
+f 1 12 17
+f 1 17 24
+f 1 24 29
+f 1 29 34
+f 1 34 41
+f 1 41 48
+f 1 48 54
+f 1 54 58
+f 1 58 55
+f 1 55 49
+f 1 49 42
+f 1 42 36
+f 1 36 31
+f 1 31 21
+f 1 21 14
+f 1 14 8
+f 1 8 2
+f 2 5 6
+f 2 6 7
+f 2 8 5
+f 3 7 6
+f 3 6 9
+f 3 9 16
+f 3 16 10
+f 4 11 12
+f 5 13 20
+f 5 20 30
+f 5 30 35
+f 5 35 38
+f 5 38 45
+f 5 45 51
+f 5 51 57
+f 5 57 52
+f 5 52 46
+f 5 46 39
+f 5 39 33
+f 5 33 28
+f 5 28 27
+f 5 27 26
+f 5 26 23
+f 5 23 16
+f 5 16 9
+f 5 9 6
+f 5 8 13
+f 8 14 15
+f 8 15 13
+f 10 16 11
+f 11 16 12
+f 12 16 18
+f 12 18 19
+f 12 19 17
+f 13 15 20
+f 14 21 15
+f 15 21 22
+f 15 22 20
+f 16 23 18
+f 17 19 25
+f 17 25 24
+f 18 23 19
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 19 29 25
+f 19 23 26
+f 20 22 30
+f 21 31 32
+f 21 32 30
+f 21 30 22
+f 24 25 29
+f 28 33 29
+f 29 33 34
+f 30 32 35
+f 31 36 37
+f 31 37 38
+f 31 38 35
+f 31 35 32
+f 33 39 40
+f 33 40 34
+f 34 40 41
+f 36 42 43
+f 36 43 37
+f 37 43 38
+f 38 43 44
+f 38 44 45
+f 39 46 47
+f 39 47 40
+f 40 47 48
+f 40 48 41
+f 42 44 43
+f 42 49 50
+f 42 50 44
+f 44 50 45
+f 45 50 51
+f 46 52 47
+f 47 52 48
+f 48 52 53
+f 48 53 54
+f 49 55 56
+f 49 56 51
+f 49 51 50
+f 51 56 57
+f 52 57 58
+f 52 58 53
+f 53 58 54
+f 55 58 57
+f 55 57 56
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_23.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3d573779233c070b6ff05d7c805f2c093cfd8a4
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.06073550 -0.02820562 -0.01026064
+v -0.06073550 -0.02808696 -0.00772548
+v -0.06283775 -0.02783328 -0.01026064
+v -0.06073550 -0.02799490 -0.01184647
+v -0.06073550 -0.02790284 -0.00601234
+v -0.06283775 -0.02743025 -0.00649973
+v -0.06283775 -0.02726658 -0.01450894
+v -0.06073550 -0.02762460 -0.01461805
+v -0.06073550 -0.02750185 -0.00402640
+v -0.06283775 -0.02737501 -0.00601234
+v -0.06283775 -0.02710086 -0.01486538
+v -0.06073550 -0.02654439 -0.01682222
+v -0.06073550 -0.02677557 -0.00181132
+v -0.06283775 -0.02614340 -0.00225506
+v -0.06283775 -0.02551124 -0.01810617
+v -0.06235037 -0.02555624 -0.01816800
+v -0.06073550 -0.02568718 -0.01817891
+v -0.06073550 -0.02676125 -0.00176767
+v -0.06283775 -0.02596132 -0.00173494
+v -0.06283775 -0.02313600 -0.02023759
+v -0.06235037 -0.02327921 -0.02029215
+v -0.06073550 -0.02450058 -0.01928827
+v -0.06073550 -0.02618637 -0.00028732
+v -0.06073550 -0.02548873 0.00112757
+v -0.06283775 -0.02477882 0.00066200
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+v -0.06073550 -0.00730518 -0.02355476
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+v -0.06283775 -0.00730518 0.01218479
+v -0.06073550 -0.00730518 0.01360331
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+v -0.06073550 -0.01688796 0.00975875
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+v -0.06283775 -0.00972747 0.01185380
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+v -0.06073550 -0.00822172 0.01345055
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+v -0.06283775 -0.01392761 0.01018067
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+v -0.06073550 -0.00859407 0.01338508
+v -0.06283775 -0.01016733 0.01172650
+v -0.06073550 -0.01378031 0.01156646
+v -0.06073550 -0.01199837 0.01238847
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+f 1 27 31
+f 1 31 36
+f 1 36 41
+f 1 41 46
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+f 1 57 61
+f 1 61 60
+f 1 60 64
+f 1 64 63
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+f 59 63 64
+f 59 64 62
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_230.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_230.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dab9044534bc54d67ae4c64234b85b0f66f78101
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_230.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.05240230 -0.02284596 -0.02249182
+v -0.05343613 -0.02284596 -0.02214693
+v -0.05449704 -0.02219282 -0.02209707
+v -0.05449704 -0.02173179 -0.02227159
+v -0.05240230 -0.02226783 -0.02268297
+v -0.05240230 -0.02284596 0.01145330
+v -0.05351282 -0.02284596 -0.02211784
+v -0.05371828 -0.02284596 -0.02203889
+v -0.05409638 -0.02284596 -0.02179372
+v -0.05449211 -0.02284596 -0.02153609
+v -0.05449704 -0.02284596 -0.01514100
+v -0.05449704 -0.01795568 -0.02345171
+v -0.05240230 -0.01994984 -0.02339770
+v -0.05240230 -0.02082618 0.01307804
+v -0.05289297 -0.02284596 0.01115827
+v -0.05449704 -0.02284596 0.01008618
+v -0.05449704 -0.01731169 -0.02353897
+v -0.05240230 -0.01940648 -0.02356391
+v -0.05240230 -0.02006693 0.01357669
+v -0.05449704 -0.01723851 0.01386341
+v -0.05449704 -0.02037978 0.01176079
+v -0.05449704 -0.02200438 0.01067209
+v -0.05386755 -0.02224588 0.01098374
+v -0.05364180 -0.02284596 0.01070533
+v -0.05354625 -0.02284596 0.01076351
+v -0.05448535 -0.02284596 0.01009865
+v -0.05449704 -0.01370756 -0.02395867
+v -0.05240230 -0.01515653 -0.02402515
+v -0.05240230 -0.01789896 0.01486485
+v -0.05240230 -0.01613897 0.01566268
+v -0.05449704 -0.01441375 0.01508093
+v -0.05449704 -0.01306357 -0.02399191
+v -0.05385238 -0.01370756 -0.02402100
+v -0.05385238 -0.00945943 -0.02418721
+v -0.05240230 -0.01091024 -0.02416228
+v -0.05240230 -0.01410273 0.01652699
+v -0.05449704 -0.01353558 0.01544244
+v -0.05449704 -0.00945943 -0.02413319
+v -0.05385238 -0.00415569 -0.02417475
+v -0.05240230 -0.00415569 -0.02417890
+v -0.05240230 -0.00945943 -0.02417059
+v -0.05449704 -0.00881545 -0.02415812
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+v -0.05240230 -0.01241409 0.01699239
+v -0.05449704 -0.00943748 0.01653946
+v -0.05240230 -0.00415569 0.01823069
+v -0.05449704 -0.00415569 -0.02415812
+v -0.05240230 -0.00958018 0.01771127
+v -0.05240230 -0.00945943 0.01774035
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+v -0.05240230 -0.00521131 0.01826393
+v -0.05449704 -0.00415569 0.01749934
+v -0.05240230 -0.00929844 0.01776944
+v -0.05326800 -0.00521131 0.01798137
+v -0.05336703 -0.00415569 0.01800214
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+f 1 13 18
+f 1 18 28
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+f 1 41 40
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+f 1 54 49
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+f 42 47 43
+f 44 48 45
+f 45 48 49
+f 45 49 50
+f 46 51 52
+f 49 54 50
+f 50 54 55
+f 50 55 56
+f 50 56 53
+f 51 56 52
+f 52 56 55
+f 52 55 54
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_24.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..230ce27dc277a775bd44a08e696740e6365e08fc
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.04516249 0.00892006 0.02119908
+v 0.04516249 0.00892006 0.01904757
+v 0.04536753 0.00892006 0.02102573
+v 0.04516249 0.01171544 0.02089725
+v 0.04720811 0.00892006 0.01904757
+v 0.04516249 0.01793728 0.01904757
+v 0.04720811 0.00892006 0.01924387
+v 0.04518452 0.01178605 0.02087093
+v 0.04516249 0.01173662 0.02089494
+v 0.04720811 0.00993512 0.01904757
+v 0.04516249 0.01707493 0.01937214
+v 0.04539236 0.01742181 0.01904757
+v 0.04686711 0.01178605 0.01904757
+v 0.04626620 0.01470764 0.01904757
+v 0.04516249 0.01191757 0.02085471
+v 0.04516249 0.01178605 0.02088820
+v 0.04516249 0.01603428 0.01970366
+v 0.04555015 0.01696195 0.01904757
+v 0.04586772 0.01603428 0.01904757
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 15
+f 1 15 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 18
+f 2 18 19
+f 2 19 14
+f 2 14 13
+f 2 13 10
+f 2 10 5
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 7
+f 6 11 12
+f 7 10 8
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 8 10 13
+f 11 17 18
+f 11 18 12
+f 14 19 15
+f 15 19 17
+f 17 19 18
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_25.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fd48905879fb74d00baa0b485c8ee8c08adccee
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,282 @@
+# https://github.com/mikedh/trimesh
+v -0.04080636 -0.03845094 -0.00987981
+v -0.04536920 -0.03661675 -0.00681809
+v -0.04375356 -0.03727810 -0.01026140
+v -0.04080636 -0.03843139 -0.01025691
+v -0.04080636 -0.03843139 -0.00600552
+v -0.04536920 -0.03660046 -0.01026140
+v -0.04536920 -0.03659720 -0.00600552
+v -0.04346322 -0.03717711 -0.01272604
+v -0.04080636 -0.03776678 -0.01307172
+v -0.04080636 -0.03838578 -0.00566433
+v -0.04536920 -0.03655159 -0.01077768
+v -0.04329080 -0.03709566 -0.00381921
+v -0.04536920 -0.03627141 -0.00413347
+v -0.04536920 -0.03572083 -0.01428833
+v -0.04506903 -0.03586744 -0.01428833
+v -0.04080636 -0.03672426 -0.01537475
+v -0.04080636 -0.03766253 -0.01339496
+v -0.04080636 -0.03767882 -0.00213571
+v -0.04496585 -0.03606943 -0.00214469
+v -0.04536920 -0.03589024 -0.00210429
+v -0.04536920 -0.03561006 -0.01456667
+v -0.04535446 -0.03385732 -0.01796061
+v -0.04080636 -0.03447306 -0.01862952
+v -0.04080636 -0.03764298 -0.00199654
+v -0.04535446 -0.03447306 0.00248381
+v -0.04536920 -0.03446654 0.00248381
+v -0.04536920 -0.03385406 -0.01795612
+v -0.04535446 -0.03201987 -0.02008406
+v -0.04080636 -0.03283760 -0.02059135
+v -0.04080636 -0.03619648 0.00224138
+v -0.04080636 -0.03611503 0.00247034
+v -0.04536920 -0.03325787 0.00524924
+v -0.04536920 -0.03200684 -0.02008855
+v -0.04536920 -0.02989247 -0.02174062
+v -0.04247739 -0.03175924 -0.02104478
+v -0.04247739 -0.03244340 -0.02051055
+v -0.04110608 -0.03264213 -0.02071256
+v -0.04080636 -0.03266493 -0.02073052
+v -0.04080636 -0.03605965 0.00257808
+v -0.04535446 -0.03326113 0.00525372
+v -0.04536920 -0.03154422 0.00735922
+v -0.04536920 -0.02645540 -0.02336576
+v -0.04535446 -0.02645214 -0.02337025
+v -0.04247739 -0.02921157 -0.02249483
+v -0.04110608 -0.03052450 -0.02207732
+v -0.04080636 -0.03056686 -0.02207732
+v -0.04080636 -0.03375307 0.00670378
+v -0.04247739 -0.03242385 0.00762409
+v -0.04535446 -0.03153445 0.00737718
+v -0.04535446 -0.02940705 0.00959940
+v -0.04536920 -0.02940379 0.00959491
+v -0.04247739 -0.03210132 0.00801915
+v -0.04536920 -0.02643911 -0.02337025
+v -0.04536920 -0.02220386 -0.02417833
+v -0.04247739 -0.02507732 -0.02389999
+v -0.04247739 -0.02645214 -0.02363512
+v -0.04110608 -0.02645214 -0.02376082
+v -0.04080636 -0.02681051 -0.02363512
+v -0.04080636 -0.03359995 0.00689233
+v -0.04181988 -0.03222838 0.00816281
+v -0.04247739 -0.03025084 0.00983733
+v -0.04080636 -0.02747838 0.01263867
+v -0.04536920 -0.02927347 0.00970265
+v -0.04536920 -0.01796209 -0.02425914
+v -0.04535446 -0.01796209 -0.02426363
+v -0.04247739 -0.02220386 -0.02422771
+v -0.04080636 -0.02440294 -0.02400774
+v -0.04080636 -0.02645214 -0.02376980
+v -0.04080636 -0.03092848 0.00979244
+v -0.04080636 -0.03073301 0.00997650
+v -0.04080636 -0.02201490 0.01668356
+v -0.04535446 -0.01989076 0.01722677
+v -0.04536920 -0.01989728 0.01721779
+v -0.04536920 -0.01794580 -0.02425914
+v -0.04110608 -0.01795884 -0.02421873
+v -0.04080636 -0.01825530 -0.02422322
+v -0.04080636 -0.02219735 -0.02425465
+v -0.04536920 -0.00517163 -0.02386408
+v -0.04080636 -0.01828788 0.01866785
+v -0.04535446 -0.01776662 0.01822340
+v -0.04536920 -0.01776988 0.01821891
+v -0.04080636 -0.01795884 -0.02421424
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+v -0.04080636 -0.00516838 -0.02319966
+v -0.04080636 -0.01401028 -0.02391795
+v -0.04080636 -0.01747015 -0.02417833
+v -0.04536920 -0.00517163 0.01966897
+v -0.04080636 -0.01341083 0.02018973
+v -0.04535446 -0.01371055 0.01937716
+v -0.04536920 -0.01372684 0.01936818
+v -0.04247739 -0.00516838 -0.00744210
+v -0.04080636 -0.00516838 0.02159938
+v -0.04536920 -0.00946227 0.01967795
+v -0.04194316 -0.00516838 0.02061173
+v -0.04536920 -0.01371055 0.01937267
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+f 83 94 92
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+f 87 92 94
+f 87 94 91
+f 88 92 89
+f 89 92 95
+f 89 95 90
+f 92 93 95
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_26.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a91952ef29998e7788c810d4e5fb9f89e5820946
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,219 @@
+# https://github.com/mikedh/trimesh
+v -0.06283815 0.00006450 -0.02361635
+v -0.06481242 0.00006450 -0.02321203
+v -0.06283815 0.00328901 -0.02368433
+v -0.06283815 0.00006450 0.01275081
+v -0.06481242 0.00328901 -0.02315836
+v -0.06481242 0.00006450 0.01166308
+v -0.06283815 0.00753733 -0.02353048
+v -0.06283815 0.00328901 0.01286888
+v -0.06481242 0.00753733 -0.02284349
+v -0.06481242 0.00150737 0.01170244
+v -0.06283815 0.01174300 -0.02304028
+v -0.06283815 0.00753733 0.01254328
+v -0.06481242 0.01156232 -0.02227459
+v -0.06481242 0.00588869 0.01136611
+v -0.06283815 0.01228752 -0.02291148
+v -0.06283815 0.00800407 0.01242521
+v -0.06327499 0.00753733 0.01224988
+v -0.06481242 0.01430755 -0.02161623
+v -0.06481242 0.00753733 0.01104408
+v -0.06481242 0.01504028 -0.02142659
+v -0.06283815 0.01599132 -0.02194183
+v -0.06283815 0.00921107 0.01208529
+v -0.06283815 0.01178064 0.01133390
+v -0.06481242 0.01178565 0.00984544
+v -0.06481242 0.01167273 0.00987764
+v -0.06481242 0.01720082 -0.02035318
+v -0.06404197 0.01763745 -0.02056786
+v -0.06283815 0.01646057 -0.02171999
+v -0.06283815 0.01551203 0.00969159
+v -0.06470167 0.01436777 0.00909405
+v -0.06481242 0.01374545 0.00921213
+v -0.06481242 0.01812426 -0.01970556
+v -0.06481242 0.01986575 -0.01831728
+v -0.06283815 0.02054578 -0.01898995
+v -0.06283815 0.02026223 -0.01921537
+v -0.06283815 0.01648064 0.00912268
+v -0.06356763 0.01720082 0.00820312
+v -0.06481242 0.01451833 0.00886148
+v -0.06481242 0.01432762 0.00897956
+v -0.06481242 0.01428496 0.00900460
+v -0.06481242 0.02188076 -0.01568385
+v -0.06415794 0.02217184 -0.01611679
+v -0.06283815 0.02076159 -0.01873591
+v -0.06283815 0.01754711 0.00845001
+v -0.06283815 0.01875913 0.00738018
+v -0.06283815 0.01984317 0.00637475
+v -0.06481242 0.01897493 0.00548024
+v -0.06481242 0.01646809 0.00740164
+v -0.06481242 0.02279416 -0.01334381
+v -0.06283815 0.02398359 -0.01404868
+v -0.06283815 0.02365486 -0.01487163
+v -0.06283815 0.02208150 0.00394526
+v -0.06481242 0.01908283 0.00535859
+v -0.06481242 0.02280671 -0.01331161
+v -0.06283815 0.02527590 -0.01025954
+v -0.06283815 0.02288700 0.00271084
+v -0.06366543 0.02170008 0.00345865
+v -0.06481242 0.01936639 0.00503298
+v -0.06481242 0.02375273 -0.01025954
+v -0.06283815 0.02569998 -0.00601241
+v -0.06283815 0.02340644 0.00184138
+v -0.06481242 0.02091968 0.00277524
+v -0.06461546 0.02254071 0.00062484
+v -0.06481242 0.02214675 0.00090393
+v -0.06481242 0.02410153 -0.00601241
+v -0.06301927 0.02555946 -0.00601241
+v -0.06283815 0.02567489 -0.00574406
+v -0.06283815 0.02462598 -0.00086720
+v -0.06481242 0.02234498 0.00055328
+v -0.06283815 0.02483677 -0.00147904
+v -0.06481242 0.02316805 -0.00173308
+v -0.06481242 0.02271888 -0.00041637
+v -0.06481242 0.02239768 0.00044594
+v -0.06481242 0.02238012 0.00048888
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 15
+f 1 15 21
+f 1 21 28
+f 1 28 35
+f 1 35 34
+f 1 34 43
+f 1 43 51
+f 1 51 50
+f 1 50 55
+f 1 55 60
+f 1 60 67
+f 1 67 70
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+f 1 61 56
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+f 1 52 46
+f 1 46 45
+f 1 45 44
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+f 1 29 23
+f 1 23 22
+f 1 22 16
+f 1 16 12
+f 1 12 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 14
+f 2 14 19
+f 2 19 25
+f 2 25 24
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+f 6 8 10
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+f 9 13 11
+f 10 12 14
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+f 49 54 50
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+f 63 71 72
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+f 65 67 66
+f 65 71 70
+f 65 70 67
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_27.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..332aee928df1cd68f1ab9b8a2c6112346fe41be4
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,276 @@
+# https://github.com/mikedh/trimesh
+v -0.04080546 0.01306618 -0.02379286
+v -0.04080546 0.02028517 -0.02451743
+v -0.03615807 0.02453470 -0.02455170
+v -0.03615807 0.01306618 -0.02338162
+v -0.04080546 0.01306618 0.02209960
+v -0.04080546 0.02453470 -0.02475242
+v -0.03685689 0.02453470 -0.02460066
+v -0.03615807 0.02878116 -0.02432649
+v -0.03615807 0.01306618 0.02525244
+v -0.04080546 0.01603565 0.02161002
+v -0.03685689 0.02878116 -0.02432160
+v -0.04080546 0.02878116 -0.02388098
+v -0.03615807 0.03303069 -0.02299975
+v -0.03615807 0.01354276 0.02514963
+v -0.03615807 0.01545214 0.02471880
+v -0.04080546 0.01723627 0.02127222
+v -0.04080546 0.03307957 -0.02184926
+v -0.03685689 0.03303069 -0.02290674
+v -0.03615807 0.03624456 -0.02144781
+v -0.03615807 0.02017825 0.02318644
+v -0.03702295 0.02017825 0.02275562
+v -0.03930137 0.01869046 0.02178137
+v -0.04080546 0.02011409 0.02039099
+v -0.04080546 0.03317733 -0.02179541
+v -0.03685689 0.03609792 -0.02137927
+v -0.03615807 0.03837085 -0.01996441
+v -0.03615807 0.02237786 0.02241782
+v -0.03854978 0.02152245 0.02129670
+v -0.04080546 0.02021796 0.02035672
+v -0.04080546 0.03677308 -0.01871600
+v -0.03929955 0.03535861 -0.02101699
+v -0.03685689 0.03822421 -0.01982244
+v -0.03685689 0.04030467 -0.01769769
+v -0.03615807 0.04010915 -0.01818726
+v -0.03615807 0.02319049 0.02209470
+v -0.04080546 0.02439417 0.01855999
+v -0.04080546 0.03694110 -0.01852996
+v -0.03923176 0.03961119 -0.01687521
+v -0.03661713 0.04226905 -0.01434902
+v -0.03615807 0.04271508 -0.01390841
+v -0.03615807 0.04042077 -0.01783967
+v -0.03615807 0.02392369 0.02172263
+v -0.03959709 0.02747362 0.01778157
+v -0.04080546 0.02489519 0.01831031
+v -0.04080546 0.03953176 -0.01451058
+v -0.03997152 0.04011526 -0.01451058
+v -0.03778227 0.04299614 -0.01026110
+v -0.03615807 0.04375684 -0.01026110
+v -0.03615807 0.03021091 0.01815365
+v -0.03689920 0.02884532 0.01858937
+v -0.03834414 0.03030256 0.01701294
+v -0.04080546 0.02670987 0.01736054
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+v -0.04080546 0.04096150 -0.01004079
+v -0.03843377 0.04340551 -0.00601162
+v -0.03615807 0.04416926 -0.00699565
+v -0.03615807 0.03115491 0.01760043
+v -0.04080546 0.02933718 0.01576943
+v -0.03717217 0.03322926 0.01540225
+v -0.03883277 0.03505311 0.01298867
+v -0.04028089 0.03221806 0.01418322
+v -0.04080546 0.03195227 0.01396291
+v -0.04080546 0.03070582 0.01482456
+v -0.04080546 0.04156334 -0.00601162
+v -0.03630912 0.04422120 -0.00601162
+v -0.04080546 0.04108065 -0.00279513
+v -0.04080546 0.04095234 -0.00211952
+v -0.03778227 0.04305724 -0.00176213
+v -0.03615807 0.04390653 -0.00252586
+v -0.03615807 0.04427314 -0.00601162
+v -0.03615807 0.03211419 0.01685139
+v -0.03615807 0.03566717 0.01401187
+v -0.04080546 0.03400218 0.01198504
+v -0.03615807 0.03598794 0.01374750
+v -0.03615807 0.03902768 0.01038904
+v -0.04012712 0.03600627 0.01015404
+v -0.04080546 0.03574354 0.00974770
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+v -0.04080546 0.04047270 -0.00058226
+v -0.03992330 0.04016414 0.00248245
+v -0.03615807 0.04379044 -0.00176213
+v -0.03615807 0.04163971 0.00560103
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+v -0.03688055 0.04077209 0.00654590
+v -0.03615807 0.04127006 0.00658507
+v -0.03615807 0.04042687 0.00819086
+v -0.04080546 0.03765903 0.00644799
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+f 3 14 9
+f 3 9 4
+f 5 9 10
+f 6 11 8
+f 6 8 7
+f 6 12 11
+f 8 11 13
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+f 10 14 15
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+f 16 22 23
+f 17 24 25
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+f 20 27 21
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+f 76 84 77
+f 77 84 85
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+f 80 87 88
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+f 80 89 90
+f 80 90 91
+f 80 91 82
+f 80 86 87
+f 84 92 85
+f 85 92 90
+f 85 90 93
+f 88 93 89
+f 89 93 90
+f 90 92 91
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_28.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bda4f32189e757ba0c39371bdc495cdfb112d867
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01214686 0.02450816 -0.02182887
+v 0.01086787 0.02450816 -0.02179566
+v 0.01214686 0.02450968 -0.02206138
+v 0.01214686 0.02450816 0.03047403
+v 0.01086787 0.02452789 -0.02180119
+v 0.01086787 0.02450816 0.02960490
+v 0.01086787 0.02779686 -0.02236585
+v 0.01214686 0.02651826 -0.02240461
+v 0.01214686 0.02450968 0.03228426
+v 0.01086787 0.02451120 0.03324750
+v 0.01086787 0.03204545 -0.02306891
+v 0.01214686 0.03076609 -0.02307444
+v 0.01214686 0.02453320 0.03227872
+v 0.01201828 0.03092393 0.03010866
+v 0.01086787 0.02515088 0.03301500
+v 0.01086787 0.03226020 -0.02309659
+v 0.01114643 0.03226020 -0.02314641
+v 0.01214686 0.03226020 -0.02330695
+v 0.01214686 0.03032295 0.03021938
+v 0.01214686 0.03103471 0.02993705
+v 0.01086787 0.03226020 0.02988169
+v 0.01086787 0.03149152 0.03044635
+v 0.01086787 0.03014387 0.03107744
+v 0.01086787 0.02977660 0.03124905
+v 0.01214686 0.03226020 0.02898488
+f 1 2 3
+f 1 3 8
+f 1 8 12
+f 1 12 18
+f 1 18 25
+f 1 25 20
+f 1 20 19
+f 1 19 13
+f 1 13 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
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+f 2 21 16
+f 2 16 11
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+f 2 7 5
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+f 3 5 7
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+f 4 10 6
+f 7 11 8
+f 8 11 12
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+f 10 13 14
+f 10 14 15
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+f 11 17 18
+f 11 18 12
+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 15
+f 16 21 25
+f 16 25 18
+f 16 18 17
+f 20 25 21
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_29.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5f82713df759a2bafa4da869c7805a1524db2e2
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.01764902 -0.00564591 -0.02162441
+v -0.01942463 -0.00564591 -0.02159718
+v -0.02140937 -0.00518848 -0.02167341
+v -0.02140937 0.00624491 -0.02153729
+v -0.01761447 0.00624491 -0.02118882
+v -0.01761447 0.00089311 -0.02122693
+v -0.01761447 -0.00096337 -0.02119971
+v -0.01764902 -0.00564591 0.03358183
+v -0.01986073 -0.00564591 -0.02158629
+v -0.01986556 -0.00564591 -0.01602701
+v -0.02140937 -0.00518848 0.03178501
+v -0.02140937 0.00624491 0.02962336
+v -0.01761447 0.00624491 0.03395209
+v -0.01761447 -0.00096337 0.03226416
+v -0.01761447 -0.00095988 0.03389764
+v -0.01764902 -0.00520827 0.03363084
+v -0.01822665 -0.00564591 0.03320613
+v -0.01986556 -0.00564591 0.02265384
+v -0.01986481 -0.00564591 0.03211715
+v -0.01764902 -0.00134864 0.03386497
+v -0.01761447 0.00305804 0.03394664
+v -0.02140937 -0.00251025 0.03181223
+v -0.02140937 0.00310227 0.03130040
+v -0.01826305 0.00624491 0.03334226
+v -0.02140937 -0.00095988 0.03180678
+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 17
+f 1 17 19
+f 1 19 18
+f 1 18 10
+f 1 10 9
+f 1 9 2
+f 2 9 3
+f 3 9 10
+f 3 10 18
+f 3 18 11
+f 3 11 22
+f 3 22 25
+f 3 25 23
+f 3 23 12
+f 3 12 4
+f 4 12 24
+f 4 24 13
+f 4 13 5
+f 5 13 21
+f 5 21 15
+f 5 15 14
+f 5 14 7
+f 5 7 6
+f 8 14 15
+f 8 15 16
+f 8 16 11
+f 8 11 17
+f 11 19 17
+f 11 16 20
+f 11 20 15
+f 11 15 21
+f 11 21 22
+f 11 18 19
+f 12 23 24
+f 13 24 23
+f 13 23 25
+f 13 25 22
+f 13 22 21
+f 15 20 16
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_3.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dd736bcdf0719022fe968f92d04ff7b56719f34
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.02901597 0.00730668 -0.02259427
+v -0.02901597 0.02453219 -0.02398290
+v -0.02835837 0.02453219 -0.02392482
+v -0.02840046 0.00730668 -0.02253619
+v -0.02901597 0.00730668 0.02927083
+v -0.02901597 0.02878025 -0.02407266
+v -0.02517713 0.02878025 -0.02374530
+v -0.02517713 0.02453219 -0.02352355
+v -0.02517713 0.02134950 -0.02331763
+v -0.02835837 0.00730668 -0.02253091
+v -0.02772896 0.00730668 0.02981995
+v -0.02901597 0.00774181 0.02924443
+v -0.02901597 0.03022019 -0.02386674
+v -0.02835837 0.03022019 -0.02389842
+v -0.02517713 0.03022019 -0.02369251
+v -0.02517713 0.00730668 -0.02203988
+v -0.02812803 0.00730668 -0.02249923
+v -0.02517713 0.00730668 0.02986747
+v -0.02517713 0.01496844 0.02877451
+v -0.02835837 0.01178801 0.02876395
+v -0.02901597 0.01178801 0.02855276
+v -0.02901597 0.03022019 0.02081232
+v -0.02517713 0.03022019 0.02277119
+v -0.02517713 0.01603607 0.02852636
+v -0.02632961 0.02672575 0.02591277
+v -0.02835837 0.01603607 0.02777660
+v -0.02901597 0.01599569 0.02757068
+v -0.02901597 0.02760945 0.02307215
+v -0.02517713 0.02840119 0.02464558
+v -0.02517713 0.02685359 0.02596557
+v -0.02901597 0.02714517 0.02338895
+v -0.02901597 0.02454340 0.02471950
+v -0.02901597 0.02432584 0.02481454
+v -0.02901597 0.02214349 0.02560126
+v -0.02901597 0.01978620 0.02639325
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+f 1 4 10
+f 1 10 17
+f 1 17 16
+f 1 16 18
+f 1 18 11
+f 1 11 5
+f 1 5 12
+f 1 12 21
+f 1 21 27
+f 1 27 35
+f 1 35 34
+f 1 34 33
+f 1 33 32
+f 1 32 31
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+f 1 22 13
+f 1 13 6
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+f 2 7 3
+f 3 7 8
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+f 5 11 12
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+f 6 15 7
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+f 7 23 29
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+f 7 24 19
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+f 7 9 8
+f 9 16 17
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+f 11 20 21
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+f 13 22 23
+f 13 23 15
+f 13 15 14
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+f 19 25 20
+f 20 25 26
+f 20 26 21
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+f 22 28 25
+f 22 25 23
+f 23 25 29
+f 24 30 25
+f 25 28 31
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 27
+f 25 27 26
+f 25 30 29
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_30.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0812a5cc2a7158c14e6619415a397b5326de37bb
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v -0.06481262 0.00864245 -0.02266109
+v -0.06661915 0.00864245 -0.02203385
+v -0.06481262 0.01156176 -0.02227560
+v -0.06481262 0.00864245 0.01071365
+v -0.06686467 0.00864245 -0.02192277
+v -0.06666846 0.01139074 -0.02155688
+v -0.06529809 0.01480795 -0.02129879
+v -0.06481262 0.01420260 -0.02164182
+v -0.06481262 0.01178574 0.00984791
+v -0.06516295 0.01178725 0.00958329
+v -0.06577407 0.00864245 0.00998512
+v -0.06692038 0.00864245 -0.02189664
+v -0.06692038 0.01118795 -0.02147520
+v -0.06692038 0.01159051 -0.02138046
+v -0.06692038 0.01552832 -0.01995936
+v -0.06692038 0.01613065 -0.01969801
+v -0.06666846 0.01614881 -0.01983848
+v -0.06481262 0.01720061 -0.02035139
+v -0.06481262 0.01504101 -0.02142620
+v -0.06481262 0.01431005 -0.02161568
+v -0.06481262 0.01374859 0.00921087
+v -0.06692038 0.00925537 0.00885804
+v -0.06692038 0.00864245 0.00903445
+v -0.06692038 0.01636976 -0.01956080
+v -0.06481262 0.01812528 -0.01970781
+v -0.06481262 0.01425557 0.00901812
+v -0.06692038 0.01269679 0.00731933
+v -0.06481262 0.01428584 0.00900505
+v -0.06692038 0.01915287 -0.01762352
+v -0.06481262 0.01986567 -0.01831937
+v -0.06692038 0.01512728 0.00593743
+v -0.06481262 0.01432973 0.00897892
+v -0.06692038 0.02089779 -0.01459836
+v -0.06481262 0.02187997 -0.01568298
+v -0.06481262 0.01452193 0.00886131
+v -0.06580708 0.01588548 0.00676395
+v -0.06505752 0.01886835 0.00536898
+v -0.06692038 0.01743518 0.00391194
+v -0.06692038 0.02201920 -0.01025991
+v -0.06546005 0.02325412 -0.01025991
+v -0.06481262 0.02375354 -0.01025991
+v -0.06489081 0.02276076 -0.01328180
+v -0.06481262 0.02280767 -0.01331120
+v -0.06481262 0.01646813 0.00740100
+v -0.06481262 0.01897580 0.00548006
+v -0.06481262 0.01908325 0.00535918
+v -0.06481262 0.01936625 0.00503249
+v -0.06481262 0.02092049 0.00277506
+v -0.06574580 0.02028487 0.00221968
+v -0.06692038 0.01942981 0.00145849
+v -0.06692038 0.02213119 -0.00881267
+v -0.06563501 0.02343421 -0.00601293
+v -0.06481262 0.02410313 -0.00601293
+v -0.06481262 0.02214784 0.00090312
+v -0.06481262 0.02238242 0.00048822
+v -0.06692038 0.02067835 -0.00098189
+v -0.06692038 0.02219173 -0.00601293
+v -0.06506721 0.02295296 -0.00176595
+v -0.06481262 0.02316786 -0.00173328
+v -0.06481262 0.02271990 -0.00041671
+v -0.06692038 0.02085996 -0.00146539
+v -0.06692038 0.02186938 -0.00468983
+f 1 2 3
+f 1 3 8
+f 1 8 20
+f 1 20 19
+f 1 19 18
+f 1 18 25
+f 1 25 30
+f 1 30 34
+f 1 34 43
+f 1 43 41
+f 1 41 53
+f 1 53 59
+f 1 59 60
+f 1 60 55
+f 1 55 54
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+f 1 47 46
+f 1 46 45
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+f 16 18 17
+f 18 24 25
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+f 27 28 31
+f 28 32 31
+f 29 33 34
+f 29 34 30
+f 31 32 35
+f 31 35 36
+f 31 36 37
+f 31 37 38
+f 33 39 40
+f 33 40 41
+f 33 41 42
+f 33 42 43
+f 33 43 34
+f 35 44 37
+f 35 37 36
+f 37 45 46
+f 37 46 47
+f 37 47 48
+f 37 48 49
+f 37 49 50
+f 37 50 38
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+f 39 51 40
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+f 40 53 41
+f 41 43 42
+f 48 54 49
+f 49 54 50
+f 50 54 55
+f 50 55 56
+f 51 57 52
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+f 52 59 53
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+f 55 58 61
+f 55 61 56
+f 57 62 58
+f 58 62 61
+f 58 60 59
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_31.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7720d2f6433ba061d413ff06ecf7c2c49a92fae4
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.01702257 -0.02509469 -0.02341930
+v 0.01838044 -0.02509469 -0.02341363
+v 0.01485909 -0.02509469 -0.02329462
+v 0.01838044 0.00340404 -0.02194018
+v 0.01838527 0.00340404 -0.02194018
+v 0.01838527 -0.02220966 -0.02300560
+v 0.01838527 -0.02509469 -0.01902727
+v 0.01485909 -0.02509469 0.02950040
+v 0.01485909 0.00328407 -0.02160581
+v 0.01485909 0.00340404 -0.02159448
+v 0.01838527 0.00340404 0.03320104
+v 0.01838527 -0.02509469 0.02967041
+v 0.01485909 -0.02233522 0.03098519
+v 0.01485909 0.00340404 0.03415879
+v 0.01838527 0.00328407 0.03321804
+v 0.01838527 -0.02234079 0.03067350
+v 0.01485909 -0.01795466 0.03246998
+v 0.01485909 0.00328407 0.03417579
+v 0.01485909 -0.00096535 0.03447615
+v 0.01838527 -0.00096535 0.03337106
+v 0.01838527 -0.01795466 0.03168792
+v 0.01485909 -0.01375267 0.03340506
+v 0.01485909 -0.00521198 0.03436847
+v 0.01838527 -0.00521198 0.03329171
+v 0.01838527 -0.01370524 0.03253232
+v 0.01485909 -0.00945861 0.03395477
+v 0.01838527 -0.00945861 0.03304236
+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 2
+f 2 6 7
+f 2 5 6
+f 3 8 13
+f 3 13 17
+f 3 17 22
+f 3 22 26
+f 3 26 23
+f 3 23 19
+f 3 19 18
+f 3 18 14
+f 3 14 10
+f 3 10 9
+f 3 9 4
+f 4 9 10
+f 4 10 14
+f 4 14 11
+f 4 11 5
+f 5 11 15
+f 5 15 20
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+f 5 16 12
+f 5 12 7
+f 5 7 6
+f 8 12 13
+f 11 14 18
+f 11 18 15
+f 12 16 13
+f 13 16 17
+f 15 18 19
+f 15 19 20
+f 16 21 17
+f 17 21 22
+f 19 23 24
+f 19 24 20
+f 21 25 22
+f 22 25 26
+f 23 26 27
+f 23 27 24
+f 25 27 26
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_32.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1005e40b4c14acc2f9da2e320ab93881df01a7ed
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_32.obj
@@ -0,0 +1,354 @@
+# https://github.com/mikedh/trimesh
+v 0.06519991 -0.00027421 0.01109420
+v 0.06744518 0.00328319 0.00910286
+v 0.06737338 0.00571502 0.00899698
+v 0.06519991 0.00337096 0.01074922
+v 0.06519991 -0.00096607 0.01106346
+v 0.06735563 -0.00096607 0.00900722
+v 0.06932095 -0.00945424 0.00660942
+v 0.06932095 -0.00457509 0.00674263
+v 0.06932095 -0.00387807 0.00671189
+v 0.06932095 -0.00096607 0.00656502
+v 0.06519991 0.00721232 0.00972452
+v 0.06932095 0.00328319 0.00617563
+v 0.06932095 0.00419189 0.00604242
+v 0.06932095 0.00738787 0.00549932
+v 0.06840122 0.00729493 0.00682119
+v 0.06932095 0.00970095 0.00439948
+v 0.06932095 0.01175071 0.00340552
+v 0.06792320 0.01178169 0.00528755
+v 0.06646857 0.00854957 0.00830018
+v 0.06519991 -0.00485906 0.01087218
+v 0.06519991 -0.00513271 0.01085852
+v 0.06932095 -0.01391518 0.00595702
+v 0.06519991 0.00740336 0.00963571
+v 0.06932095 0.01286078 0.00240814
+v 0.06729028 0.01396052 0.00465565
+v 0.06519991 0.01165261 0.00763754
+v 0.06519991 -0.00932516 0.01004217
+v 0.06932095 -0.01425594 0.00586822
+v 0.06519991 -0.01370349 0.00892183
+v 0.06932095 0.01594833 -0.00186829
+v 0.06803696 0.01473499 0.00248328
+v 0.06519991 0.01777607 0.00248328
+v 0.06519991 0.01536489 0.00533196
+v 0.06519991 0.01205533 0.00741552
+v 0.06932095 -0.01795274 0.00466590
+v 0.06519991 -0.01793725 0.00733354
+v 0.06932095 0.01596898 -0.00190245
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+v 0.06519991 0.02005817 -0.00177265
+v 0.06932095 -0.01880465 0.00434141
+v 0.06519991 -0.01808698 0.00727548
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+v 0.06932095 -0.02460801 0.00060124
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+v 0.06851013 0.01910816 -0.01026061
+v 0.06551657 0.02100819 -0.00601492
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+v 0.06519991 -0.02555802 0.00153714
+v 0.06519991 -0.02762843 -0.00062840
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+v 0.06932095 -0.02640993 -0.00166335
+v 0.06932095 0.01765216 -0.01450971
+v 0.06799460 0.01870543 -0.01450971
+v 0.06519991 0.02142124 -0.01060900
+v 0.06554602 0.02123536 -0.01026061
+v 0.06519991 0.02126118 -0.00601492
+v 0.06519991 -0.02926514 -0.00281443
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+v 0.06932095 0.01738884 -0.01518601
+v 0.06740484 0.01827173 -0.01681187
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+v 0.06932095 -0.02952846 -0.01458485
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+v 0.06932095 -0.02599172 -0.01995429
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_33.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86bbfad80343c2bb2669c56b04bba73dbffca67e
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_33.obj
@@ -0,0 +1,294 @@
+# https://github.com/mikedh/trimesh
+v -0.04536949 -0.03661353 -0.00681812
+v -0.04536949 -0.03660227 -0.01025894
+v -0.04536949 -0.03659665 -0.00600952
+v -0.04574924 -0.03646161 -0.00600952
+v -0.04536949 -0.03655445 -0.01077507
+v -0.04587858 -0.03638566 -0.01025894
+v -0.04536949 -0.03627031 -0.00413427
+v -0.04536949 -0.03589335 -0.00210848
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+v -0.04960432 -0.03401694 -0.00168268
+v -0.04785401 -0.03550231 -0.00600522
+v -0.04785401 -0.03550231 -0.00600952
+v -0.04536949 -0.03572174 -0.01428901
+v -0.04960308 -0.03458240 -0.01025894
+v -0.04959686 -0.03365685 -0.01431482
+v -0.04785401 -0.03450925 -0.01430192
+v -0.04960432 -0.03470055 -0.00601382
+v -0.04536949 -0.03446705 0.00248072
+v -0.04850944 -0.03333333 0.00248072
+v -0.04960432 -0.03401131 -0.00165257
+v -0.04960432 -0.03469773 -0.00598372
+v -0.04960308 -0.03470055 -0.00600522
+v -0.04785401 -0.03446424 -0.01441804
+v -0.04536949 -0.03561202 -0.01456428
+v -0.04960432 -0.03457958 -0.01026324
+v -0.04960432 -0.03365404 -0.01431052
+v -0.04960432 -0.03278476 -0.01638361
+v -0.04817737 -0.03319830 -0.01717931
+v -0.04785401 -0.03347681 -0.01687823
+v -0.04536949 -0.03326019 0.00524628
+v -0.04764838 -0.03291417 0.00473876
+v -0.04785401 -0.03301544 0.00420113
+v -0.04960432 -0.03376375 -0.00075366
+v -0.04960432 -0.03269755 0.00248072
+v -0.04785401 -0.03327707 -0.01726963
+v -0.04536949 -0.03385378 -0.01795349
+v -0.04960432 -0.03095618 -0.01877069
+v -0.04536949 -0.03200831 -0.02009110
+v -0.04536949 -0.03154414 0.00735809
+v -0.04960432 -0.03088303 0.00535381
+v -0.04794977 -0.02886597 0.00913012
+v -0.04960432 -0.02981402 0.00686777
+v -0.04960432 -0.03026976 0.00630864
+v -0.04960432 -0.03078739 -0.01894703
+v -0.04785401 -0.03129657 -0.01941584
+v -0.04960432 -0.02913885 -0.02064594
+v -0.04960432 -0.02878157 -0.02101153
+v -0.04846550 -0.02911634 -0.02125668
+v -0.04785401 -0.02927107 -0.02135131
+v -0.04536949 -0.02989560 -0.02173840
+v -0.04536949 -0.02941454 0.00958603
+v -0.04536949 -0.02940610 0.00959463
+v -0.04735528 -0.02430014 0.01307847
+v -0.04785401 -0.02414823 0.01297524
+v -0.04960308 -0.02148975 0.01432576
+v -0.04946046 -0.02652257 0.01032150
+v -0.04960432 -0.02646350 0.01028709
+v -0.04960432 -0.02668293 0.01008064
+v -0.04960432 -0.02700363 -0.02197065
+v -0.04960432 -0.02682077 -0.02206528
+v -0.04536949 -0.02645224 -0.02336419
+v -0.04536949 -0.02927388 0.00970215
+v -0.04536949 -0.01989748 0.01721606
+v -0.04536949 -0.01988623 0.01722466
+v -0.04785401 -0.02083147 0.01552145
+v -0.04960432 -0.02149257 0.01432146
+v -0.04960308 -0.02361091 0.01260535
+v -0.04844974 -0.01703927 0.01793863
+v -0.04960432 -0.01811110 0.01661821
+v -0.04960432 -0.02669136 -0.02212549
+v -0.04785401 -0.02659290 -0.02263732
+v -0.04960432 -0.02224651 -0.02362655
+v -0.04960432 -0.02220712 -0.02363946
+v -0.04536949 -0.02643536 -0.02336849
+v -0.04960432 -0.02646350 -0.02220291
+v -0.04536949 -0.01776789 0.01821390
+v -0.04536949 -0.01372532 0.01936658
+v -0.04536949 -0.01370844 0.01937088
+v -0.04785401 -0.01357903 0.01876013
+v -0.04960432 -0.01348338 0.01832573
+v -0.04960432 -0.01389974 0.01824401
+v -0.04960432 -0.01795919 -0.02403945
+v -0.04938460 -0.01817580 -0.02404805
+v -0.04536949 -0.02220712 -0.02417709
+v -0.04536949 -0.00947457 0.01967625
+v -0.04785401 -0.00946332 0.01934077
+v -0.04960432 -0.00946895 0.01909561
+v -0.04960432 -0.00949989 0.01909131
+v -0.04960432 -0.01371125 -0.02410827
+v -0.04785401 -0.01546388 -0.02417279
+v -0.04536949 -0.01794512 -0.02426311
+v -0.04536949 -0.00810735 0.01967625
+v -0.04960349 -0.00787667 0.01912142
+v -0.04960432 -0.00787667 0.00270437
+v -0.04960432 -0.00946332 -0.02413838
+v -0.04960391 -0.00787667 -0.02415558
+v -0.04785401 -0.00787667 -0.02403945
+v -0.04536949 -0.00810735 -0.02386311
+v -0.04785401 -0.00787667 0.01933647
+f 1 2 5
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_34.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce90ac44d0ef00daf3f3b4d447d0ea45e6b67870
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_34.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.00525684 -0.00080771 0.04260746
+v -0.00525684 -0.00096365 0.04260121
+v -0.00525684 0.00076158 0.04248873
+v -0.00711363 -0.00096083 0.04255122
+v -0.00711363 -0.00096365 0.04255122
+v -0.00525684 -0.00096365 -0.01816490
+v -0.00525684 0.00312398 0.04209504
+v -0.00711363 0.00328768 0.04184508
+v -0.01136307 -0.00096083 0.04075149
+v -0.01136307 0.00624492 0.04000159
+v -0.01136307 -0.00096365 0.04075149
+v -0.00711363 -0.00096365 -0.01993339
+v -0.00525684 -0.00096153 -0.02008337
+v -0.00525684 0.00624492 0.04147013
+v -0.00611084 0.00624492 0.04140139
+v -0.00711363 0.00624492 0.04131390
+v -0.01371944 0.00624492 0.03880177
+v -0.01378476 0.00328768 0.03888301
+v -0.01375573 -0.00096083 0.03890800
+v -0.01375573 -0.00096365 0.03890800
+v -0.00715475 -0.00096365 -0.01993964
+v -0.01566212 -0.00096365 -0.02112072
+v -0.01661773 0.00624492 -0.02112072
+v -0.00525684 0.00567972 -0.01947096
+v -0.00525684 0.00624492 -0.01938348
+v -0.01562099 0.00624492 0.03647086
+v -0.01761447 0.00624492 0.03394623
+v -0.01565970 0.00328768 0.03647086
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+v -0.01761447 -0.00096083 0.03389624
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+v -0.01587260 -0.00096365 -0.02113322
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+v -0.01761447 -0.00096365 0.03226522
+v -0.01761447 -0.00096365 -0.02120196
+f 1 2 6
+f 1 6 13
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+f 23 25 24
+f 27 29 28
+f 27 34 33
+f 27 33 36
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+f 27 35 30
+f 27 30 29
+f 30 35 31
+f 32 36 33
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_35.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a007f6a3479e088214f8a0874d4c09c6fc6d3af5
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_35.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.03439427 -0.01621636 -0.02383814
+v -0.03440081 -0.01620988 -0.02383313
+v -0.03440081 -0.01616344 -0.02383313
+v -0.03440081 -0.01370787 -0.02369780
+v -0.03268625 -0.01370787 -0.02365269
+v -0.03268625 -0.01621636 -0.02378802
+v -0.03440081 -0.01621636 -0.02187840
+v -0.03268625 -0.00945976 -0.02338203
+v -0.03440081 -0.00766614 -0.02320661
+v -0.03268625 -0.01621636 0.02497491
+v -0.03440081 -0.01621636 0.02364168
+v -0.03271142 -0.00518465 -0.02297104
+v -0.03268625 -0.00518465 -0.02297104
+v -0.03440081 -0.00518465 -0.02296603
+v -0.03268625 -0.01370787 0.02571169
+v -0.03294370 -0.01621636 0.02481452
+v -0.03395623 -0.01621636 0.02400256
+v -0.03440081 -0.01370787 0.02452382
+v -0.03268625 -0.00518465 0.02736569
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+v -0.03268625 -0.00945976 0.02663392
+v -0.03437262 -0.00945976 0.02564152
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+v -0.03440081 -0.00699771 0.02609261
+v -0.03268625 -0.00731735 0.02701484
+v -0.03440081 -0.00929238 0.02565656
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+f 1 4 5
+f 1 5 6
+f 1 6 10
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+f 1 7 2
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+f 2 4 3
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+f 20 27 25
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+f 21 27 22
+f 22 27 29
+f 22 29 24
+f 25 27 26
+f 26 27 28
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_36.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a36457c1f78d8b95e1c5209afdd1661d8921c55f
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_36.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.02206731 0.00340683 0.03256025
+v 0.02206731 0.00699022 0.03222795
+v 0.01485875 0.00340683 0.03416636
+v 0.02206731 0.00340683 -0.02228587
+v 0.02206731 0.00753667 0.03217256
+v 0.01485875 0.00872853 0.03348515
+v 0.01485875 0.00340683 -0.02159912
+v 0.01838047 0.00340683 -0.02194249
+v 0.02206731 0.00872853 -0.02241325
+v 0.02206731 0.00872853 0.03198426
+v 0.01485875 0.00872853 -0.02139974
+v 0.01838047 0.00872853 -0.02198126
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_37.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1c8c8f538491acd889ba9f781f4ca7f10369b1c
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_37.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.00816500 -0.05552191 -0.00601251
+v 0.00816500 -0.05543218 -0.00726528
+v 0.00965715 -0.05467043 -0.00601251
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+v 0.00965715 -0.05345302 0.00265375
+v 0.00965715 -0.05186793 0.00701144
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+v 0.00965715 -0.05292876 -0.01438399
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_38.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c5f6a8019a2725094a6603baf3adb850a21370b
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_38.obj
@@ -0,0 +1,306 @@
+# https://github.com/mikedh/trimesh
+v -0.06073550 -0.00730305 -0.02355195
+v -0.06077994 -0.00730305 -0.02354444
+v -0.06073550 -0.00682201 -0.02359324
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+v -0.06086473 -0.00730305 0.01352217
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+v -0.06235025 0.00329002 -0.02381100
+v -0.06073550 0.00329002 -0.02402875
+v -0.06283775 -0.00095805 -0.02363829
+v -0.06073550 -0.00520612 0.01394641
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+v -0.06127032 -0.00095805 0.01393140
+v -0.06283775 -0.00520612 0.01254604
+v -0.06283775 0.00329002 -0.02368335
+v -0.06235025 0.00753809 -0.02369837
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+v -0.06073550 -0.00095805 0.01427680
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+v -0.06283775 0.00329002 0.01286516
+v -0.06283775 -0.00095805 0.01272625
+v -0.06283775 -0.00441342 0.01260611
+v -0.06283775 0.00753809 -0.02352942
+v -0.06235025 0.01178277 -0.02323283
+v -0.06073550 0.01178277 -0.02360451
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+v -0.06283775 0.01173873 -0.02303760
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+v -0.06251529 0.01614602 -0.02202768
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_39.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdf25d5143c8b636007bf070273406c4c7532d98
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_39.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v -0.06692038 -0.00520396 0.01072215
+v -0.06829667 -0.00520396 0.01024654
+v -0.06829667 -0.00745356 0.00995015
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+f 65 70 71
+f 65 71 66
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+f 68 72 73
+f 68 73 71
+f 68 71 70
+f 69 73 72
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_4.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43ae0a56b8ea782bebb9ed6e367a62aa3f619b3b
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.04080591 -0.00856635 -0.02338004
+v -0.04080591 -0.00099999 -0.02332310
+v -0.03774918 -0.00856635 -0.02328988
+v -0.04080591 -0.00856635 0.02101198
+v -0.03734541 -0.00099999 -0.02303364
+v -0.03734541 -0.00856635 -0.02326616
+v -0.04080591 -0.00099999 0.02224575
+v -0.04060606 -0.00856635 0.02118281
+v -0.03981444 -0.00520978 0.02244980
+v -0.04080591 -0.00520978 0.02159090
+v -0.03734541 -0.00099999 0.02509766
+v -0.03734541 -0.00856635 0.02361239
+v -0.04080591 -0.00244423 0.02203696
+v -0.04021415 -0.00099999 0.02278671
+v -0.03734541 -0.00639480 0.02412488
+v -0.03734541 -0.00554010 0.02432418
+v -0.03734541 -0.00227981 0.02490310
+v -0.03759912 -0.00099999 0.02493157
+v -0.04020364 -0.00099999 0.02279620
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 8
+f 1 8 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 14
+f 2 14 19
+f 2 19 18
+f 2 18 11
+f 2 11 5
+f 4 8 9
+f 4 9 10
+f 5 11 17
+f 5 17 16
+f 5 16 15
+f 5 15 12
+f 5 12 6
+f 7 13 14
+f 8 12 15
+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 13
+f 11 18 17
+f 13 19 14
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_40.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f292b0d5440faa66954b1fe0018523dd83e4625
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_40.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.02140911 0.02975906 -0.02362065
+v -0.02351269 0.02977524 -0.02371993
+v -0.01986075 0.02975906 -0.02359452
+v -0.02140911 0.02975906 0.02563187
+v -0.02351269 0.03303180 -0.02406483
+v -0.01986075 0.03727854 -0.02462399
+v -0.01986075 0.03303180 -0.02407006
+v -0.01900785 0.03217921 -0.02392896
+v -0.01900785 0.02975906 -0.02357884
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+v -0.01900785 0.02975906 0.02876208
+v -0.02351269 0.03727944 -0.02395509
+v -0.02140955 0.03727944 -0.02434180
+v -0.01986075 0.03891266 -0.02454560
+v -0.01941093 0.03891266 -0.02452992
+v -0.01900785 0.03727854 -0.02458741
+v -0.01900785 0.03612557 -0.02444108
+v -0.02351269 0.02980132 0.02430975
+v -0.01900785 0.03691071 0.02530264
+v -0.02351269 0.03041288 0.02411118
+v -0.02351269 0.03894594 -0.02342729
+v -0.02140955 0.03894594 -0.02384535
+v -0.01900785 0.03891266 -0.02450902
+v -0.01900785 0.03818959 0.02459717
+v -0.02351269 0.03483950 0.02160283
+v -0.02351269 0.03894594 0.01909448
+v -0.02140955 0.03894594 0.02127361
+v -0.01900785 0.03891266 0.02387602
+v -0.02351269 0.03768415 0.01996717
+v -0.01951103 0.03891266 0.02350499
+v -0.02305713 0.03894594 0.01959615
+v -0.02351269 0.03826873 0.01958570
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+f 24 30 31
+f 24 31 32
+f 24 32 29
+f 26 32 31
+f 27 31 30
+f 27 30 28
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_41.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dddeb8dcda491364a94d9347aefc08fe13dc66e
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_41.obj
@@ -0,0 +1,201 @@
+# https://github.com/mikedh/trimesh
+v -0.01764894 -0.05250459 -0.00600713
+v -0.01764894 -0.05219590 -0.01025823
+v -0.01764894 -0.05219590 -0.00173963
+v -0.01986582 -0.05141147 -0.00176698
+v -0.01986040 -0.05161121 -0.00600713
+v -0.01986582 -0.05107373 -0.01025823
+v -0.01764894 -0.05130615 -0.01447649
+v -0.01764894 -0.05093935 0.00235280
+v -0.01986582 -0.05041277 0.00174550
+v -0.01986582 -0.05160757 -0.00600713
+v -0.01986582 -0.05017308 -0.01398409
+v -0.01986582 -0.04940318 -0.01576768
+v -0.01764894 -0.04893833 -0.01850326
+v -0.01764894 -0.04792874 0.00905497
+v -0.01986582 -0.05040914 0.00175644
+v -0.01986582 -0.04736583 -0.01852515
+v -0.01986582 -0.04672667 -0.01923640
+v -0.01986582 -0.04537207 -0.02070267
+v -0.01764894 -0.04537207 -0.02180785
+v -0.01986582 -0.04799410 0.00671879
+v -0.01986582 -0.04941407 0.00386831
+v -0.01764894 -0.04711525 0.01062520
+v -0.01986582 -0.04628361 0.01003431
+v -0.01986582 -0.04357441 -0.02180238
+v -0.01986582 -0.04341825 -0.02188444
+v -0.01764894 -0.04141360 -0.02356956
+v -0.01764894 -0.04413368 0.01428540
+v -0.01986040 -0.04498348 0.01216806
+v -0.01986582 -0.04498712 0.01215712
+v -0.01986582 -0.03920193 -0.02373370
+v -0.01764894 -0.03920193 -0.02403461
+v -0.01764894 -0.04342189 0.01503495
+v -0.01986040 -0.04285898 0.01440577
+v -0.01986582 -0.04286625 0.01439483
+v -0.01986582 -0.03495656 -0.02444495
+v -0.01830927 -0.03650363 -0.02440118
+v -0.01764894 -0.03716459 -0.02437929
+v -0.01764894 -0.03960868 0.01845443
+v -0.01764894 -0.03483672 0.02254139
+v -0.01986582 -0.04022605 0.01652311
+v -0.01986582 -0.03494930 -0.02444495
+v -0.01986040 -0.03494930 -0.02444495
+v -0.01764894 -0.03494930 -0.02439570
+v -0.01764894 -0.03650000 -0.02438476
+v -0.01764894 -0.02706140 0.02723017
+v -0.01986582 -0.03104893 0.02338941
+v -0.01986582 -0.03483672 0.02082891
+v -0.01986582 -0.03070393 -0.02433552
+v -0.01986040 -0.03070393 -0.02433552
+v -0.01764894 -0.03291559 -0.02434099
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+v -0.01986582 -0.02547075 0.02633290
+v -0.01986040 -0.02758435 0.02534262
+v -0.01986582 -0.02759525 0.02532621
+v -0.01986582 -0.01796054 -0.02284737
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+v -0.01897764 -0.01540388 -0.02259022
+v -0.01764894 -0.01540388 -0.02260664
+v -0.01764894 -0.01796054 -0.02286925
+v -0.01764894 -0.03070393 -0.02414950
+v -0.01764894 -0.01773901 0.03102168
+v -0.01986582 -0.02220955 0.02764051
+v -0.01986582 -0.01540388 -0.02039629
+v -0.01764894 -0.01540388 0.03144844
+v -0.01986214 -0.01540388 0.03018460
+v -0.01986582 -0.01774628 0.02935845
+v -0.01986582 -0.01540388 0.02689096
+v -0.01986582 -0.01773901 0.02935845
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+f 1 26 31
+f 1 31 37
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+f 1 43 50
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+f 1 22 14
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+f 48 56 57
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+f 49 59 60
+f 49 60 50
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+f 56 64 58
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+f 61 65 66
+f 61 66 62
+f 65 67 68
+f 65 68 66
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_42.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9f430db9ce42edc6ab45c5964f5ee57cc25f552
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_42.obj
@@ -0,0 +1,237 @@
+# https://github.com/mikedh/trimesh
+v -0.02517713 0.01177409 -0.02230073
+v -0.02517713 0.02135379 -0.02331507
+v -0.02410987 0.02028801 -0.02310593
+v -0.02351329 0.02028801 -0.02304318
+v -0.02351329 0.01934930 -0.02293862
+v -0.02410237 0.01177409 -0.02216479
+v -0.02517713 0.01177409 0.02912189
+v -0.02517713 0.02392805 -0.02347193
+v -0.02410987 0.03302814 -0.02406275
+v -0.02351329 0.03302814 -0.02406275
+v -0.02351329 0.01604130 -0.02256739
+v -0.02351329 0.01177409 -0.02208636
+v -0.02351329 0.01177409 0.02932581
+v -0.02351329 0.01275378 0.02934149
+v -0.02517713 0.01179048 0.02912189
+v -0.02517713 0.02453472 -0.02350852
+v -0.02517713 0.02878143 -0.02373858
+v -0.02517713 0.03302814 -0.02396341
+v -0.02351329 0.03727486 -0.02394772
+v -0.02351329 0.01581174 0.02900164
+v -0.02517713 0.01497142 0.02876112
+v -0.02517713 0.03736914 -0.02345624
+v -0.02410987 0.03727486 -0.02384315
+v -0.02351329 0.04169783 -0.02277653
+v -0.02351329 0.01604130 0.02897549
+v -0.02517713 0.01604130 0.02851015
+v -0.02351329 0.01683653 0.02885001
+v -0.02517713 0.04141909 -0.02214388
+v -0.02437029 0.04173882 -0.02238439
+v -0.02351329 0.04401795 -0.02186677
+v -0.02517713 0.02685073 0.02595340
+v -0.02351329 0.02100536 0.02784613
+v -0.02517713 0.04252586 -0.02149554
+v -0.02351329 0.04587896 -0.02076877
+v -0.02351329 0.03768067 0.01996150
+v -0.02351329 0.03826685 0.01957982
+v -0.02517713 0.03637304 0.01942819
+v -0.02351329 0.02515369 0.02683702
+v -0.02351329 0.02704749 0.02634554
+v -0.02351329 0.02724426 0.02628803
+v -0.02517713 0.04613311 -0.01902767
+v -0.02351329 0.04821137 -0.01882376
+v -0.02351329 0.04040660 0.01809492
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+v -0.02517713 0.04912958 -0.01566572
+v -0.02351329 0.04940012 -0.01732317
+v -0.02351329 0.04262834 0.01630676
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+v -0.02517713 0.04964197 -0.01452068
+v -0.02351329 0.05147019 -0.01430631
+v -0.02351329 0.05085122 -0.01547227
+v -0.02351329 0.04309974 0.01582050
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+v -0.02517713 0.05104388 -0.01124239
+v -0.02517713 0.05145789 -0.01025942
+v -0.02351329 0.05310165 -0.01025942
+v -0.02351329 0.04464102 0.01421012
+v -0.02517713 0.04374330 0.01320101
+v -0.02517713 0.05208916 -0.00600862
+v -0.02351329 0.05352386 -0.00704910
+v -0.02351329 0.04662500 0.01189387
+v -0.02517713 0.04571499 0.01104685
+v -0.02517713 0.04533787 0.01147559
+v -0.02359407 0.05358124 -0.00600862
+v -0.02517713 0.05161366 -0.00176305
+v -0.02351329 0.05365093 -0.00600862
+v -0.02351329 0.04755551 0.01065471
+v -0.02351329 0.04839993 0.00950966
+v -0.02517713 0.04878525 0.00645097
+v -0.02351329 0.05316723 -0.00176305
+v -0.02351329 0.05351976 -0.00483743
+v -0.02517713 0.05116275 -0.00013175
+v -0.02351329 0.05236380 0.00117015
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+v -0.02477908 0.05081022 0.00248251
+v -0.02351329 0.05199898 0.00248251
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+f 52 57 53
+f 53 57 58
+f 55 59 56
+f 56 59 60
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+f 57 63 58
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+f 59 65 64
+f 60 64 66
+f 61 67 62
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+f 65 72 73
+f 65 73 70
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+f 69 74 75
+f 69 75 76
+f 69 76 77
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+f 72 79 73
+f 73 79 80
+f 76 80 79
+f 76 79 77
+f 77 79 78
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_43.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..761ef9939eca6a444bbccba3dad413a10ec76b53
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_43.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.00369046 -0.01835272 -0.02257658
+v -0.00369046 -0.00096365 -0.02020122
+v 0.00060221 -0.00096365 -0.02076952
+v 0.00272493 -0.00096365 -0.02096747
+v 0.00446571 -0.00096365 -0.02106325
+v 0.00563358 -0.00945903 -0.02206575
+v 0.00702914 -0.00945903 -0.02208491
+v 0.00702914 -0.01092968 -0.02216153
+v 0.00702914 -0.01796123 -0.02244887
+v 0.00446571 -0.01835272 -0.02241056
+v -0.00369046 -0.01835272 0.04081735
+v -0.00369046 -0.00096365 0.04264357
+v 0.00702914 -0.00096535 -0.02117180
+v 0.00563358 -0.00096535 -0.02112072
+v 0.00446571 -0.00096365 0.04110469
+v 0.00702914 -0.01796123 0.03671795
+v 0.00446571 -0.01835272 0.03848669
+v -0.00327179 -0.01835272 0.04093868
+v -0.00369046 -0.00521049 0.04231153
+v -0.00369046 -0.00145046 0.04263080
+v -0.00324870 -0.00096365 0.04265634
+v 0.00702914 -0.00096535 0.03965522
+v 0.00112791 -0.00096365 0.04236261
+v 0.00446571 -0.00096535 0.04111108
+v 0.00563358 -0.00096535 0.04067049
+v 0.00702914 -0.01700632 0.03699252
+v 0.00409741 -0.01835272 0.03876127
+v -0.00286361 -0.01835272 0.04105361
+v -0.00286361 -0.00521049 0.04227322
+v -0.00292447 -0.00096365 0.04263718
+v 0.00702914 -0.00458921 0.03929764
+v 0.00080263 -0.00096365 0.04240731
+v 0.00138394 -0.01370758 0.04089398
+v 0.00138394 -0.01795442 0.04033845
+v 0.00446571 -0.01396800 0.03944450
+v 0.00452762 -0.01388970 0.03942534
+v 0.00467033 -0.01370587 0.03938065
+v 0.00702914 -0.01388970 0.03774599
+v 0.00392533 -0.01835272 0.03888259
+v 0.00098940 -0.01835272 0.04038953
+v 0.00702914 -0.01375353 0.03777792
+v 0.00141122 -0.01835272 0.04026821
+v 0.00375744 -0.01835272 0.03899114
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
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+f 15 25 22
+f 16 26 27
+f 16 27 17
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+f 21 29 30
+f 22 25 31
+f 23 32 28
+f 23 28 33
+f 23 33 24
+f 24 33 25
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 25 37 31
+f 26 38 27
+f 27 38 39
+f 28 40 33
+f 28 32 29
+f 29 32 30
+f 31 37 41
+f 33 40 34
+f 34 42 35
+f 34 40 42
+f 35 43 36
+f 35 42 43
+f 36 43 37
+f 37 43 39
+f 37 39 41
+f 38 41 39
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_44.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0b99bb688cf625d688b8e907df60f5fc4de8dce
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_44.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.03734526 -0.00967973 -0.02334747
+v -0.03734526 -0.00100084 -0.02303294
+v -0.03583351 -0.00967973 -0.02333779
+v -0.03734526 -0.00967973 0.02334747
+v -0.03583351 -0.00100084 -0.02295068
+v -0.03734526 -0.00100084 0.02509430
+v -0.03583351 -0.00967973 0.02448944
+v -0.03725099 -0.00967973 0.02342489
+v -0.03734526 -0.00554037 0.02432492
+v -0.03583351 -0.00100084 0.02608626
+v -0.03734526 -0.00228037 0.02490074
+v -0.03583351 -0.00500086 0.02552495
+v -0.03583351 -0.00966698 0.02449428
+v -0.03668196 -0.00562958 0.02482816
+v -0.03583351 -0.00636620 0.02527333
+f 1 2 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 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 12
+f 3 12 15
+f 3 15 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 6 12 10
+f 7 13 8
+f 8 13 14
+f 8 14 9
+f 9 14 11
+f 11 14 12
+f 12 14 15
+f 13 15 14
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_45.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a22dcfdd24b12216264294ce3670dad8895a69a
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_45.obj
@@ -0,0 +1,273 @@
+# https://github.com/mikedh/trimesh
+v 0.05411339 -0.03587508 -0.00610918
+v 0.05411339 -0.03570730 -0.00468734
+v 0.05411339 -0.03543370 -0.01012690
+v 0.06120218 -0.03170135 -0.01451024
+v 0.06120218 -0.03220467 -0.00990347
+v 0.06120218 -0.03193881 -0.00636105
+v 0.05617911 -0.03402439 -0.00176647
+v 0.05411339 -0.03517816 -0.00175022
+v 0.05411339 -0.03409408 -0.01379932
+v 0.06120218 -0.02992809 -0.01851983
+v 0.06120218 -0.03041077 -0.00150647
+v 0.05538946 -0.03340233 0.00155252
+v 0.05411339 -0.03454320 0.00021599
+v 0.05411339 -0.03249376 -0.01616364
+v 0.06086980 -0.02995390 -0.01855233
+v 0.06086980 -0.02830196 -0.02067697
+v 0.06120218 -0.02840521 -0.02047791
+v 0.06120218 -0.02897564 0.00135752
+v 0.05981023 -0.02953834 0.00248281
+v 0.05673214 -0.03182008 0.00277124
+v 0.05661903 -0.03195430 0.00266968
+v 0.05661903 -0.03186138 0.00284843
+v 0.05425286 -0.03270025 0.00438402
+v 0.05411339 -0.03380241 0.00212125
+v 0.05411339 -0.03061468 -0.01875545
+v 0.06120218 -0.02826067 -0.02064447
+v 0.05411339 -0.02725143 -0.02136758
+v 0.05411339 -0.02639707 -0.02195257
+v 0.06086980 -0.02617509 -0.02179007
+v 0.06120218 -0.02613637 -0.02176163
+v 0.06120218 -0.02731338 0.00334810
+v 0.05899144 -0.02886724 0.00495275
+v 0.05631372 -0.02960545 0.00651678
+v 0.05411339 -0.03092700 0.00675646
+v 0.05411339 -0.03262282 0.00460339
+v 0.05411339 -0.03273381 0.00444495
+v 0.05411339 -0.03283447 0.00424589
+v 0.05411339 -0.02221043 -0.02330535
+v 0.05661903 -0.02220527 -0.02339066
+v 0.05662181 -0.02220527 -0.02339066
+v 0.06086980 -0.02220527 -0.02304535
+v 0.06120218 -0.02247371 -0.02292348
+v 0.06120218 -0.02658807 0.00418089
+v 0.05917116 -0.02483805 0.00929953
+v 0.05752526 -0.02766958 0.00778831
+v 0.05661903 -0.02800255 0.00817018
+v 0.05469210 -0.02870462 0.00898672
+v 0.05411339 -0.02958738 0.00839767
+v 0.05411339 -0.01969897 -0.02345159
+v 0.05662181 -0.01795927 -0.02363846
+v 0.06086980 -0.01795927 -0.02342316
+v 0.06120218 -0.02220527 -0.02299254
+v 0.06120218 -0.01828966 -0.02334191
+v 0.06120218 -0.02321967 0.00771925
+v 0.05411339 -0.02528975 0.01220009
+v 0.05411339 -0.02655452 0.01124948
+v 0.05661903 -0.02617509 0.00989264
+v 0.06120218 -0.02107214 0.00949859
+v 0.05996844 -0.02220527 0.01021763
+v 0.05866601 -0.01996741 0.01305725
+v 0.05699928 -0.02248920 0.01240727
+v 0.05411339 -0.02891112 0.00919797
+v 0.05411339 -0.01795927 -0.02354909
+v 0.05411339 -0.00950598 -0.02342316
+v 0.05655172 -0.00950598 -0.02348409
+v 0.05661903 -0.00950598 -0.02348409
+v 0.06086980 -0.00990348 -0.02330535
+v 0.06120218 -0.00990348 -0.02325254
+v 0.06120218 -0.01795927 -0.02336222
+v 0.05411339 -0.02416437 0.01301257
+v 0.05631372 -0.02633254 0.00996170
+v 0.06120218 -0.01829998 0.01119261
+v 0.06109115 -0.01837484 0.01127792
+v 0.05411339 -0.02175873 0.01452784
+v 0.06120218 -0.01790765 0.01138354
+v 0.06120218 -0.01492899 0.01274851
+v 0.05940015 -0.01713588 0.01350412
+v 0.05435695 -0.01552782 0.01729028
+v 0.05411339 -0.01624022 0.01713185
+v 0.05411339 -0.01801864 0.01638436
+v 0.05411339 -0.00950598 0.01786308
+v 0.05661903 -0.00950598 0.01645342
+v 0.06120218 -0.00990348 0.01380067
+v 0.06120218 -0.01233235 0.01343912
+v 0.06007114 -0.01371069 0.01389005
+v 0.05480729 -0.01269629 0.01755840
+v 0.05411339 -0.01529552 0.01743247
+v 0.05411339 -0.01572915 0.01733903
+v 0.05411339 -0.01311186 0.01778589
+v 0.05482255 -0.00950598 0.01757059
+v 0.05499741 -0.00950598 0.01746496
+v 0.06044792 -0.00990348 0.01427191
+f 1 2 8
+f 1 8 13
+f 1 13 24
+f 1 24 37
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+f 1 36 35
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+f 1 34 48
+f 1 48 62
+f 1 62 56
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+f 1 25 14
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+f 2 6 7
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+f 4 10 17
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+f 7 12 8
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+f 9 14 15
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+f 10 15 16
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+f 12 23 24
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+f 16 30 26
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+f 33 47 48
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_46.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da11077eb4aa8995ac8ab55af72826410a3e340e
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_46.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.00446823 -0.03378024 -0.02371413
+v 0.00446648 -0.03070345 -0.02343975
+v 0.00446648 -0.02645447 -0.02330561
+v 0.00702939 -0.02792860 -0.02332390
+v 0.00702939 -0.03378024 -0.02362267
+v 0.00446648 -0.03378024 -0.01968986
+v 0.00702939 -0.02645447 -0.02323244
+v 0.00446648 -0.02220704 -0.02295806
+v 0.00702939 -0.02220704 -0.02295806
+v 0.00702939 -0.03378024 0.02979651
+v 0.00446648 -0.03378024 0.03246107
+v 0.00446648 -0.01796271 -0.02236051
+v 0.00702939 -0.01796271 -0.02245198
+v 0.00702939 -0.03305247 0.03025381
+v 0.00616932 -0.03378024 0.03070502
+v 0.00446648 -0.03290536 0.03297324
+v 0.00446648 -0.01796271 0.03857674
+v 0.00702939 -0.01796271 0.03672923
+v 0.00702939 -0.02975114 0.03216229
+v 0.00446648 -0.03001438 0.03455247
+v 0.00446648 -0.01963040 0.03824139
+v 0.00446648 -0.02277842 0.03744873
+v 0.00702939 -0.02049289 0.03602803
+v 0.00702939 -0.02648544 0.03368054
+v 0.00446648 -0.02935474 0.03489392
+v 0.00446648 -0.02393977 0.03709507
+v 0.00446648 -0.02645447 0.03622315
+v 0.00702939 -0.02168521 0.03560731
+v 0.00702939 -0.02454057 0.03456466
+v 0.00492813 -0.02645447 0.03577195
+v 0.00446648 -0.02834204 0.03536342
+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 11
+f 2 11 16
+f 2 16 20
+f 2 20 25
+f 2 25 31
+f 2 31 27
+f 2 27 26
+f 2 26 22
+f 2 22 21
+f 2 21 17
+f 2 17 12
+f 2 12 8
+f 2 8 3
+f 3 7 4
+f 3 8 9
+f 3 9 7
+f 4 7 9
+f 4 9 13
+f 4 13 18
+f 4 18 23
+f 4 23 28
+f 4 28 29
+f 4 29 24
+f 4 24 19
+f 4 19 14
+f 4 14 10
+f 4 10 5
+f 8 12 13
+f 8 13 9
+f 10 14 15
+f 11 15 14
+f 11 14 16
+f 12 17 18
+f 12 18 13
+f 14 19 16
+f 16 19 20
+f 17 21 18
+f 18 21 22
+f 18 22 23
+f 19 24 25
+f 19 25 20
+f 22 26 23
+f 23 27 28
+f 23 26 27
+f 24 29 30
+f 24 30 31
+f 24 31 25
+f 27 31 30
+f 27 30 29
+f 27 29 28
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_47.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d17f9e650b46f80b4af1ed0fbdfbbd30b05091e5
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_47.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.01485850 -0.03333064 -0.02388474
+v 0.01413103 -0.03333064 -0.02387888
+v 0.01485850 -0.03070098 -0.02375009
+v 0.01485850 -0.03333064 0.02545136
+v 0.01236292 -0.03333064 -0.02376179
+v 0.01236292 -0.02893309 -0.02348663
+v 0.01236292 -0.02468444 -0.02320562
+v 0.01485850 -0.00096682 -0.02171271
+v 0.01236292 -0.03333064 0.02575580
+v 0.01485850 -0.03275401 0.02580849
+v 0.01236292 -0.03242135 0.02680961
+v 0.01236292 -0.00946093 -0.02214009
+v 0.01413128 -0.00096682 -0.02165417
+v 0.01485850 -0.00096682 0.03447319
+v 0.01485850 -0.03096395 0.02683889
+v 0.01236292 -0.03102414 0.02764681
+v 0.01236292 -0.00096682 -0.02149024
+v 0.01236292 -0.00096682 0.03592511
+v 0.01485850 -0.00521229 0.03436781
+v 0.01485850 -0.03020356 0.02723699
+v 0.01236292 -0.02397158 0.03118880
+v 0.01236292 -0.00523764 0.03566166
+v 0.01485850 -0.00946093 0.03395214
+v 0.01485850 -0.02630976 0.02916899
+v 0.01236292 -0.02237478 0.03193232
+v 0.01236292 -0.00946093 0.03508792
+v 0.01485850 -0.01375710 0.03340767
+v 0.01485850 -0.02233676 0.03098389
+v 0.01236292 -0.01977997 0.03287491
+v 0.01236292 -0.01242643 0.03456101
+v 0.01236292 -0.01483748 0.03405752
+v 0.01485850 -0.01794238 0.03247094
+v 0.01236292 -0.01794238 0.03336083
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 19
+f 1 19 23
+f 1 23 27
+f 1 27 32
+f 1 32 28
+f 1 28 24
+f 1 24 20
+f 1 20 15
+f 1 15 10
+f 1 10 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 8
+f 4 10 11
+f 4 11 9
+f 5 9 11
+f 5 11 16
+f 5 16 21
+f 5 21 25
+f 5 25 29
+f 5 29 33
+f 5 33 31
+f 5 31 30
+f 5 30 26
+f 5 26 22
+f 5 22 18
+f 5 18 17
+f 5 17 12
+f 5 12 7
+f 5 7 6
+f 7 12 8
+f 8 12 13
+f 8 13 17
+f 8 17 18
+f 8 18 14
+f 10 15 16
+f 10 16 11
+f 12 17 13
+f 14 18 19
+f 15 20 16
+f 16 20 21
+f 18 22 19
+f 19 22 23
+f 20 24 21
+f 21 24 25
+f 22 26 27
+f 22 27 23
+f 24 28 25
+f 25 28 29
+f 26 30 27
+f 27 30 31
+f 27 31 32
+f 28 32 29
+f 29 32 33
+f 31 33 32
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_48.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b54e58bacbd49b2be701eec4e99b7fa2efb107e8
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_48.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.02410277 -0.01795160 0.02909481
+v -0.02437212 -0.01795160 0.02907928
+v -0.02423456 -0.02017974 0.02804417
+v -0.02410277 -0.02017974 0.02804934
+v -0.02410277 -0.01795160 -0.02311110
+v -0.02462752 -0.01795160 0.02902752
+v -0.02597762 -0.02017974 0.02768188
+v -0.02410277 -0.02017974 -0.02338023
+v -0.02836376 -0.01795160 -0.02355620
+v -0.02487811 -0.01795160 0.02893954
+v -0.02769087 -0.02017974 0.02706081
+v -0.02613587 -0.02017974 -0.02359243
+v -0.02901597 -0.01795160 -0.02360796
+v -0.02822524 -0.01795160 0.02772328
+v -0.02901597 -0.01844679 0.02701423
+v -0.02901597 -0.02017974 0.02621719
+v -0.02830508 -0.01795160 0.02767670
+v -0.02901597 -0.02017974 -0.02377875
+v -0.02901597 -0.01795160 0.02716950
+v -0.02848304 -0.01795160 0.02756284
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
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+f 1 19 20
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+f 1 17 14
+f 1 14 10
+f 1 10 6
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+f 3 18 12
+f 3 12 8
+f 3 8 4
+f 3 6 7
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+f 8 12 9
+f 9 12 13
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+f 11 15 16
+f 11 14 17
+f 11 17 15
+f 12 18 13
+f 13 18 16
+f 13 16 15
+f 13 15 19
+f 15 17 20
+f 15 20 19
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_49.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26bdd7bfaac74e375dee85f804651efcd4d3e6a5
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_49.obj
@@ -0,0 +1,270 @@
+# https://github.com/mikedh/trimesh
+v -0.04544494 0.01186145 -0.02432358
+v -0.04536990 0.02028467 -0.02453176
+v -0.04536990 0.01186145 -0.02432358
+v -0.04785410 0.01186145 -0.02429809
+v -0.04960448 0.01238983 -0.02427260
+v -0.04960448 0.01603715 -0.02424711
+v -0.04536990 0.02455014 -0.02411116
+v -0.04536990 0.01186145 0.01887139
+v -0.04785410 0.01186145 0.01729943
+v -0.04960448 0.01238983 -0.00163210
+v -0.04960448 0.02028724 -0.02365231
+v -0.04785410 0.02465274 -0.02305752
+v -0.04557927 0.02901824 -0.02232252
+v -0.04536990 0.02900798 -0.02239474
+v -0.04536990 0.02028467 0.01696804
+v -0.04960324 0.01238983 0.01657718
+v -0.04960448 0.01603202 0.01532385
+v -0.04960448 0.02473482 -0.02230977
+v -0.04960448 0.02503748 -0.02219506
+v -0.04785410 0.02807948 -0.02174897
+v -0.04536990 0.02946197 -0.02217382
+v -0.04536990 0.02107467 0.01667489
+v -0.04960448 0.02020003 0.01410877
+v -0.04960448 0.02537861 -0.02206336
+v -0.04862482 0.02775886 -0.02155353
+v -0.04714516 0.03059311 -0.02061885
+v -0.04536990 0.03291180 -0.01948874
+v -0.04536990 0.02454501 0.01524313
+v -0.04537073 0.02132346 0.01657293
+v -0.04785410 0.02201086 0.01457186
+v -0.04960448 0.02250077 0.01314435
+v -0.04960448 0.02876432 -0.01984137
+v -0.04960448 0.02931065 -0.01940377
+v -0.04960448 0.02977490 -0.01888969
+v -0.04785410 0.03128564 -0.01908937
+v -0.04562528 0.03320164 -0.01902565
+v -0.04536990 0.03330167 -0.01911062
+v -0.04536990 0.02460914 0.01520914
+v -0.04721357 0.02625838 0.01282996
+v -0.04960448 0.02490154 0.01138120
+v -0.04960448 0.03295027 -0.01450094
+v -0.04845733 0.03187301 -0.01778507
+v -0.04785410 0.03215771 -0.01804848
+v -0.04536990 0.03363511 -0.01874949
+v -0.04536990 0.02735104 0.01356920
+v -0.04536990 0.02956457 0.01174658
+v -0.04583755 0.02931065 0.01149167
+v -0.04729358 0.03068288 0.00861965
+v -0.04960448 0.02717150 0.00930366
+v -0.04960448 0.02678932 0.00965629
+v -0.04960448 0.03299901 -0.01442872
+v -0.04693745 0.03470725 -0.01578825
+v -0.04536990 0.03633598 -0.01461565
+v -0.04536990 0.03163447 0.00966054
+v -0.04536990 0.03349660 0.00725162
+v -0.04563358 0.03334271 0.00711991
+v -0.04826371 0.03177041 0.00578587
+v -0.04960448 0.02916444 0.00716240
+v -0.04785410 0.03532540 -0.01299271
+v -0.04960448 0.03464569 -0.01025665
+v -0.04780767 0.03538439 -0.01295447
+v -0.04536990 0.03643088 -0.01442447
+v -0.04536990 0.03514585 0.00451555
+v -0.04680520 0.03460209 0.00337269
+v -0.04881594 0.03312469 0.00216610
+v -0.04960448 0.03222696 0.00226807
+v -0.04960448 0.03114457 0.00428188
+v -0.04960448 0.03079574 0.00480020
+v -0.04960448 0.02933886 0.00693722
+v -0.04960448 0.03474829 -0.00853174
+v -0.04828693 0.03577169 -0.01025665
+v -0.04785410 0.03542543 -0.01269531
+v -0.04536990 0.03778773 -0.01003147
+v -0.04536990 0.03614104 0.00217885
+v -0.04756099 0.03522023 0.00053891
+v -0.04785410 0.03473033 0.00092128
+v -0.04785410 0.03498170 0.00033498
+v -0.04960448 0.03355560 -0.00090135
+v -0.04960448 0.03487140 -0.00600810
+v -0.04842789 0.03590250 -0.00600810
+v -0.04536990 0.03806474 -0.00600385
+v -0.04785410 0.03607179 -0.01022691
+v -0.04536990 0.03614874 0.00215761
+v -0.04536990 0.03735169 -0.00172981
+v -0.04785410 0.03556650 -0.00177655
+v -0.04792831 0.03550750 -0.00176805
+v -0.04960448 0.03373771 -0.00153438
+v -0.04960448 0.03457131 -0.00447437
+v -0.04536990 0.03744659 -0.00212493
+v -0.04785410 0.03630776 -0.00600385
+v -0.04536990 0.03805704 -0.00595287
+f 1 2 3
+f 1 3 8
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+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
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+f 2 14 21
+f 2 21 27
+f 2 27 37
+f 2 37 44
+f 2 44 53
+f 2 53 62
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+f 2 73 81
+f 2 81 91
+f 2 91 89
+f 2 89 84
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+f 2 63 55
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+f 2 54 46
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+f 2 45 38
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+f 2 22 15
+f 2 15 8
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+f 4 9 10
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+f 5 10 17
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+f 5 40 50
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+f 5 49 58
+f 5 58 69
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+f 5 68 67
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+f 10 16 17
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+f 16 23 17
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+f 23 30 31
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+f 26 36 37
+f 26 37 27
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+f 39 48 49
+f 39 49 50
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+f 46 48 47
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+f 52 59 61
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+f 57 64 65
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+f 57 68 69
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+f 61 73 62
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+f 64 74 75
+f 64 75 76
+f 64 76 65
+f 65 76 66
+f 66 76 75
+f 66 75 77
+f 66 77 78
+f 70 79 80
+f 70 80 71
+f 71 80 81
+f 71 81 82
+f 71 82 72
+f 72 82 73
+f 73 82 81
+f 74 83 75
+f 75 83 84
+f 75 84 85
+f 75 85 86
+f 75 86 77
+f 77 87 78
+f 77 86 87
+f 79 88 80
+f 80 88 86
+f 80 86 85
+f 80 85 89
+f 80 89 90
+f 80 90 81
+f 81 90 91
+f 84 89 85
+f 86 88 87
+f 89 91 90
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_5.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71baba8e38ff3b9fe40e2498c77223e33778df08
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,231 @@
+# https://github.com/mikedh/trimesh
+v -0.03261047 0.01306650 -0.02318823
+v -0.03261047 0.02453391 -0.02430614
+v -0.03260730 0.01306650 -0.02318823
+v -0.03261047 0.01306650 0.02708191
+v -0.03261047 0.02878272 -0.02436797
+v -0.03260730 0.02878272 -0.02437312
+v -0.03260730 0.02453391 -0.02430614
+v -0.02901597 0.02453391 -0.02398159
+v -0.02901597 0.01306650 -0.02285852
+v -0.03259288 0.01306650 0.02709221
+v -0.03261047 0.01573255 0.02646886
+v -0.03261047 0.03302816 -0.02347672
+v -0.02901597 0.02878272 -0.02406916
+v -0.02901597 0.03302816 -0.02363642
+v -0.02901597 0.01306650 0.02825649
+v -0.03256227 0.01578655 0.02647401
+v -0.03261047 0.01575280 0.02646371
+v -0.03261047 0.03699012 -0.02180242
+v -0.02901597 0.03764482 -0.02215789
+v -0.02901597 0.01599578 0.02757132
+v -0.03111616 0.01869558 0.02609794
+v -0.03261047 0.01582705 0.02644310
+v -0.03261047 0.03911284 -0.02068966
+v -0.02901597 0.03778318 -0.02208062
+v -0.02901597 0.01978900 0.02639158
+v -0.02901597 0.02214796 0.02560337
+v -0.02901597 0.02432805 0.02481517
+v -0.03256227 0.02018048 0.02497487
+v -0.03261047 0.02007248 0.02499548
+v -0.03261047 0.01781815 0.02580429
+v -0.03261047 0.04101957 -0.01856202
+v -0.02901597 0.04189364 -0.01930386
+v -0.02901597 0.04170465 -0.01946356
+v -0.03044905 0.03937944 -0.02086482
+v -0.02901597 0.03794180 -0.02198274
+v -0.02901597 0.02454403 0.02471728
+v -0.03261047 0.02475664 0.02289874
+v -0.03261047 0.02018048 0.02494911
+v -0.03261047 0.04314229 -0.01551222
+v -0.02901597 0.04568686 -0.01465704
+v -0.02901597 0.02714596 0.02338815
+v -0.03261047 0.02482414 0.02286268
+v -0.03261047 0.04410747 -0.01338972
+v -0.02901597 0.04696251 -0.01025750
+v -0.02901597 0.02761168 0.02306875
+v -0.03261047 0.03208323 0.01825707
+v -0.03261047 0.02876585 0.02047230
+v -0.03261047 0.02855661 0.02061139
+v -0.03261047 0.02679499 0.02173446
+v -0.03261047 0.04492416 -0.01025750
+v -0.03260730 0.04492754 -0.01025750
+v -0.02901597 0.04703338 -0.00976294
+v -0.02901597 0.03699012 0.01621701
+v -0.03260730 0.03420932 0.01661884
+v -0.03261047 0.03420595 0.01661884
+v -0.03261047 0.04545062 -0.00601251
+v -0.03260730 0.04545400 -0.00601251
+v -0.02901597 0.04753960 -0.00601251
+v -0.02901597 0.03738159 0.01590790
+v -0.03261047 0.03727697 0.01421815
+v -0.03261047 0.04525489 -0.00176237
+v -0.02901597 0.04752272 -0.00176237
+v -0.02901597 0.03980466 0.01398117
+v -0.03261047 0.03775956 0.01383693
+v -0.03261047 0.04472505 0.00226624
+v -0.02901597 0.04695577 0.00248262
+v -0.02901597 0.04219736 0.01160110
+v -0.03261047 0.03907234 0.01276023
+v -0.03261047 0.04392186 0.00552726
+v -0.02901597 0.04566323 0.00660911
+v -0.02901597 0.04372275 0.00985983
+v -0.03261047 0.04029738 0.01144139
+v -0.03261047 0.04354051 0.00673275
+v -0.03261047 0.04324016 0.00741278
+v -0.02901597 0.04527176 0.00742823
+v -0.02901597 0.04408722 0.00943224
+v -0.03052646 0.04366875 0.00888101
+v -0.03261047 0.04102295 0.01055530
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+f 1 7 3
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+f 1 10 4
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+f 1 22 30
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+f 1 38 37
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+f 1 42 49
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+f 1 48 47
+f 1 47 46
+f 1 46 55
+f 1 55 60
+f 1 60 64
+f 1 64 68
+f 1 68 72
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+f 1 78 74
+f 1 74 73
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+f 1 39 31
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+f 1 23 18
+f 1 18 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
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+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 5 12 6
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+f 8 15 9
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+f 40 43 44
+f 41 45 46
+f 41 46 47
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+f 41 48 49
+f 41 49 42
+f 43 50 51
+f 43 51 44
+f 44 51 52
+f 45 53 46
+f 46 53 54
+f 46 54 55
+f 50 56 57
+f 50 57 51
+f 51 57 58
+f 51 58 52
+f 53 59 60
+f 53 60 54
+f 54 60 55
+f 56 61 57
+f 57 61 62
+f 57 62 58
+f 59 63 64
+f 59 64 60
+f 61 65 62
+f 62 65 66
+f 63 67 68
+f 63 68 64
+f 65 69 66
+f 66 69 70
+f 67 71 72
+f 67 72 68
+f 69 73 70
+f 70 73 74
+f 70 74 75
+f 71 76 72
+f 72 76 77
+f 72 77 78
+f 74 77 75
+f 74 78 77
+f 75 77 76
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_50.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45493c01342c3a9ad59b246ffc59ad31dfddaafb
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_50.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.06481262 -0.00867185 -0.02263937
+v -0.06596883 -0.00867185 -0.02238254
+v -0.06481262 -0.00699567 -0.02286881
+v -0.06481262 -0.00867185 0.01107442
+v -0.06659956 -0.00867185 -0.02224213
+v -0.06481262 -0.00520933 -0.02301949
+v -0.06659956 -0.00520933 -0.02271471
+v -0.06481262 -0.00520933 0.01160521
+v -0.06692038 -0.00564659 0.01066349
+v -0.06692038 -0.00867185 0.01016352
+v -0.06692038 -0.00867185 -0.02217022
+v -0.06481262 -0.00096041 -0.02327974
+v -0.06692038 -0.00520933 -0.02264279
+v -0.06659956 -0.00096041 -0.02295099
+v -0.06481262 -0.00283997 0.01164973
+v -0.06692038 -0.00520933 0.01072170
+v -0.06481262 0.00328681 -0.02315646
+v -0.06692038 -0.00097905 -0.02284826
+v -0.06659956 0.00328681 -0.02268046
+v -0.06481262 0.00150555 0.01170452
+v -0.06692038 -0.00139768 0.01069088
+v -0.06481262 0.00753573 -0.02284484
+v -0.06692038 0.00328681 -0.02255033
+v -0.06659956 0.00753573 -0.02222501
+v -0.06481262 0.00588667 0.01136550
+v -0.06692038 -0.00096041 0.01068404
+v -0.06560530 0.00864245 -0.02238596
+v -0.06481262 0.00864245 -0.02265992
+v -0.06692038 0.00753573 -0.02207776
+v -0.06692038 0.00786114 -0.02202639
+v -0.06661915 0.00864245 -0.02203324
+v -0.06481262 0.00753573 0.01104360
+v -0.06692038 0.00670696 0.00965670
+v -0.06692038 0.00362747 0.01015324
+v -0.06481262 0.00864245 0.01071143
+v -0.06692038 0.00864245 -0.02189626
+v -0.06481262 0.00816112 0.01085868
+v -0.06577407 0.00864245 0.00998202
+v -0.06646297 0.00864245 0.00941356
+v -0.06692038 0.00864245 0.00903345
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 17
+f 1 17 22
+f 1 22 28
+f 1 28 35
+f 1 35 37
+f 1 37 32
+f 1 32 25
+f 1 25 20
+f 1 20 15
+f 1 15 8
+f 1 8 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 7
+f 3 7 6
+f 4 8 9
+f 4 9 10
+f 5 11 13
+f 5 13 7
+f 6 7 12
+f 7 13 14
+f 7 14 12
+f 8 15 16
+f 8 16 9
+f 9 16 21
+f 9 21 26
+f 9 26 34
+f 9 34 33
+f 9 33 40
+f 9 40 36
+f 9 36 30
+f 9 30 29
+f 9 29 23
+f 9 23 18
+f 9 18 13
+f 9 13 11
+f 9 11 10
+f 12 14 17
+f 13 18 14
+f 14 18 19
+f 14 19 17
+f 15 20 16
+f 16 20 21
+f 17 19 22
+f 18 23 19
+f 19 23 24
+f 19 24 22
+f 20 25 26
+f 20 26 21
+f 22 24 27
+f 22 27 28
+f 23 29 24
+f 24 29 30
+f 24 30 31
+f 24 31 27
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 27 31 36
+f 27 36 40
+f 27 40 39
+f 27 39 38
+f 27 38 35
+f 27 35 28
+f 30 36 31
+f 32 37 38
+f 32 38 33
+f 33 38 39
+f 33 39 40
+f 35 38 37
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_51.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2860ea83b801aff180786b329b874180a52df29f
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_51.obj
@@ -0,0 +1,288 @@
+# https://github.com/mikedh/trimesh
+v 0.02206702 0.00873105 -0.02240289
+v 0.01903690 0.00873105 -0.02205186
+v 0.01903690 0.02812699 -0.02402436
+v 0.02206702 0.01603685 -0.02313284
+v 0.02206702 0.00873105 0.03198042
+v 0.01903660 0.03451379 -0.02441441
+v 0.01903690 0.00873105 0.03248190
+v 0.01903690 0.02960477 -0.02415809
+v 0.02206702 0.02878275 -0.02426396
+v 0.02206702 0.01178822 0.03151236
+v 0.01903690 0.01169124 0.03206400
+v 0.01903690 0.00917900 0.03242618
+v 0.01903660 0.03662425 -0.02444227
+v 0.01903690 0.03302677 -0.02439769
+v 0.01903690 0.03237100 -0.02438655
+v 0.01903690 0.03227402 -0.02438098
+v 0.01903660 0.03451379 0.02273637
+v 0.02179824 0.02960477 -0.02431968
+v 0.02206702 0.02934616 -0.02430854
+v 0.01903690 0.01599991 0.03125605
+v 0.01903690 0.01178822 0.03204728
+v 0.02206702 0.01582442 0.03060969
+v 0.02206702 0.03359017 -0.02437541
+v 0.02111206 0.03451379 -0.02439769
+v 0.01903660 0.03728002 -0.02441441
+v 0.02206702 0.03728002 -0.02422496
+v 0.02180684 0.02960477 -0.02431968
+v 0.01903690 0.01667415 0.03110003
+v 0.01903690 0.01912173 0.03045367
+v 0.01903690 0.02122758 0.02964573
+v 0.01903690 0.02458492 0.02817470
+v 0.01903690 0.02822858 0.02643622
+v 0.01903690 0.02840869 0.02634706
+v 0.01903690 0.02863036 0.02623005
+v 0.01903660 0.03728002 0.02122634
+v 0.02206702 0.02960477 -0.02431411
+v 0.02206702 0.01655870 0.03044253
+v 0.01903660 0.04087289 -0.02406337
+v 0.02206702 0.03783881 -0.02416924
+v 0.02097144 0.01854909 0.03022522
+v 0.02206702 0.02023007 0.02922225
+v 0.02206702 0.02481120 0.02719402
+v 0.02206702 0.02633517 0.02638607
+v 0.02206702 0.02862574 0.02516022
+v 0.01903660 0.04107146 0.01903095
+v 0.02206702 0.01966666 0.02945627
+v 0.01903660 0.04152865 -0.02390178
+v 0.02206702 0.04152865 -0.02329443
+v 0.02206702 0.04020327 0.01797783
+v 0.01903660 0.04588812 0.01528095
+v 0.01903660 0.04501993 -0.02302140
+v 0.02206702 0.04208744 -0.02314955
+v 0.02206702 0.04233682 0.01613905
+v 0.02206702 0.04471975 0.01404953
+v 0.02018231 0.04761067 0.01278467
+v 0.01903660 0.04645614 0.01474603
+v 0.01903660 0.04512152 -0.02299353
+v 0.01903660 0.04846039 -0.02151694
+v 0.02206702 0.04573111 -0.02152251
+v 0.02206702 0.04681174 0.01159782
+v 0.02000995 0.05170228 0.00811528
+v 0.01903660 0.05066322 0.01043326
+v 0.01903660 0.04964724 0.01163682
+v 0.01903660 0.04871900 -0.02135535
+v 0.02060684 0.04798473 -0.02093744
+v 0.02206702 0.04584194 -0.02145007
+v 0.02206702 0.04758296 0.01065614
+v 0.02206702 0.05037690 0.00688943
+v 0.02104649 0.05246427 0.00528468
+v 0.01903660 0.05300458 0.00724604
+v 0.01903660 0.05021988 -0.02019636
+v 0.02206702 0.04738438 -0.02043596
+v 0.02206702 0.05086179 0.00613720
+v 0.01903660 0.05362802 0.00614834
+v 0.02206702 0.05270903 0.00248750
+v 0.01903660 0.05086641 -0.01961129
+v 0.02206702 0.04949022 -0.01839658
+v 0.01903660 0.05382660 0.00558557
+v 0.02206702 0.05349410 -0.00095046
+v 0.01903660 0.05488876 0.00248750
+v 0.01903660 0.05282448 -0.01745490
+v 0.02059972 0.05222874 -0.01672497
+v 0.02206702 0.04956411 -0.01832415
+v 0.01903660 0.05492570 0.00231477
+v 0.02206702 0.05364187 -0.00185871
+v 0.01903660 0.05562765 -0.00175841
+v 0.01903660 0.05414063 -0.01527623
+v 0.02206702 0.05175308 -0.01562170
+v 0.02206702 0.05379428 -0.00588731
+v 0.01903660 0.05590935 -0.00600989
+v 0.01903660 0.05452393 -0.01455744
+v 0.02143186 0.05281062 -0.01450728
+v 0.02206702 0.05234881 -0.01450728
+v 0.02206702 0.05354490 -0.01025580
+v 0.01903660 0.05572925 -0.01025580
+v 0.01903660 0.05565536 -0.01059570
+v 0.02206702 0.05261666 -0.01359904
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 36
+f 1 36 23
+f 1 23 26
+f 1 26 39
+f 1 39 48
+f 1 48 52
+f 1 52 59
+f 1 59 66
+f 1 66 72
+f 1 72 77
+f 1 77 83
+f 1 83 88
+f 1 88 93
+f 1 93 97
+f 1 97 94
+f 1 94 89
+f 1 89 85
+f 1 85 79
+f 1 79 75
+f 1 75 73
+f 1 73 68
+f 1 68 67
+f 1 67 60
+f 1 60 54
+f 1 54 53
+f 1 53 49
+f 1 49 44
+f 1 44 43
+f 1 43 42
+f 1 42 41
+f 1 41 46
+f 1 46 37
+f 1 37 22
+f 1 22 10
+f 1 10 5
+f 1 5 7
+f 1 7 2
+f 2 6 3
+f 2 7 17
+f 2 17 6
+f 3 6 8
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 7
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 8
+f 6 17 35
+f 6 35 45
+f 6 45 50
+f 6 50 56
+f 6 56 63
+f 6 63 62
+f 6 62 70
+f 6 70 74
+f 6 74 78
+f 6 78 80
+f 6 80 84
+f 6 84 86
+f 6 86 90
+f 6 90 95
+f 6 95 96
+f 6 96 91
+f 6 91 87
+f 6 87 81
+f 6 81 76
+f 6 76 71
+f 6 71 64
+f 6 64 58
+f 6 58 57
+f 6 57 51
+f 6 51 47
+f 6 47 38
+f 6 38 25
+f 6 25 13
+f 7 12 17
+f 8 16 18
+f 8 18 9
+f 9 18 19
+f 10 20 21
+f 10 21 11
+f 10 22 20
+f 11 21 17
+f 11 17 12
+f 13 23 24
+f 13 24 14
+f 13 25 26
+f 13 26 23
+f 14 24 23
+f 14 23 27
+f 14 27 15
+f 15 18 16
+f 15 27 18
+f 17 21 20
+f 17 20 28
+f 17 28 29
+f 17 29 30
+f 17 30 31
+f 17 31 32
+f 17 32 33
+f 17 33 34
+f 17 34 35
+f 18 27 19
+f 19 27 36
+f 20 22 37
+f 20 37 28
+f 23 36 27
+f 25 38 26
+f 26 38 39
+f 28 37 40
+f 28 40 29
+f 29 40 30
+f 30 40 41
+f 30 41 31
+f 31 41 42
+f 31 42 32
+f 32 42 33
+f 33 42 34
+f 34 42 43
+f 34 43 44
+f 34 44 35
+f 35 44 45
+f 37 46 40
+f 38 47 48
+f 38 48 39
+f 40 46 41
+f 44 49 45
+f 45 49 50
+f 47 51 48
+f 48 51 52
+f 49 53 50
+f 50 53 54
+f 50 54 55
+f 50 55 56
+f 51 57 52
+f 52 57 58
+f 52 58 59
+f 54 60 55
+f 55 60 61
+f 55 61 62
+f 55 62 63
+f 55 63 56
+f 58 64 65
+f 58 65 59
+f 59 65 66
+f 60 67 61
+f 61 67 68
+f 61 68 69
+f 61 69 70
+f 61 70 62
+f 64 71 65
+f 65 71 72
+f 65 72 66
+f 68 73 69
+f 69 74 70
+f 69 73 75
+f 69 75 74
+f 71 76 72
+f 72 76 77
+f 74 75 78
+f 75 79 80
+f 75 80 78
+f 76 81 82
+f 76 82 83
+f 76 83 77
+f 79 84 80
+f 79 85 86
+f 79 86 84
+f 81 87 82
+f 82 87 88
+f 82 88 83
+f 85 89 90
+f 85 90 86
+f 87 91 92
+f 87 92 88
+f 88 92 93
+f 89 94 95
+f 89 95 90
+f 91 96 97
+f 91 97 92
+f 92 97 93
+f 94 97 96
+f 94 96 95
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_52.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e551bf81245e2f78428a141b69d5a85c0b680dff
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_52.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.02410229 -0.02017947 -0.02338220
+v -0.02140990 -0.01640833 -0.02278812
+v -0.02140990 -0.01795546 -0.02293934
+v -0.02140990 -0.02017947 -0.02314457
+v -0.02410229 -0.02017947 0.02804332
+v -0.02410229 -0.00522529 -0.02189701
+v -0.02140990 -0.00791080 -0.02194561
+v -0.02140990 -0.02017947 0.02822154
+v -0.02410229 -0.02014138 0.02806492
+v -0.02410229 -0.00521210 -0.02189160
+v -0.02140990 -0.00521210 -0.02166477
+v -0.02140990 -0.01767709 0.02932868
+v -0.02410229 -0.01757893 0.02926387
+v -0.02410229 -0.00521210 0.03113252
+v -0.02140990 -0.00521210 0.03179141
+v -0.02410229 -0.01543111 0.03001997
+v -0.02140990 -0.01375505 0.03062485
+v -0.02410229 -0.00945940 0.03086789
+v -0.02140990 -0.00675924 0.03169419
+v -0.02140990 -0.01092596 0.03124593
+v -0.02410229 -0.01347815 0.03043043
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 13
+f 1 13 16
+f 1 16 21
+f 1 21 18
+f 1 18 14
+f 1 14 10
+f 1 10 6
+f 1 6 7
+f 1 7 2
+f 2 7 11
+f 2 11 15
+f 2 15 19
+f 2 19 20
+f 2 20 17
+f 2 17 12
+f 2 12 8
+f 2 8 4
+f 2 4 3
+f 5 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 11
+f 12 16 13
+f 12 17 16
+f 14 18 15
+f 15 18 19
+f 16 17 20
+f 16 20 21
+f 18 21 20
+f 18 20 19
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_53.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0789eda42828552748a06ea99b48f956974f4ad5
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_53.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.02901597 -0.01795138 -0.02360903
+v -0.02901597 -0.01370786 -0.02337860
+v -0.02835847 -0.01370786 -0.02333037
+v -0.02836376 -0.01795138 -0.02355544
+v -0.02901597 -0.01795138 0.02717084
+v -0.02901597 -0.01304945 -0.02334109
+v -0.02835847 -0.00945936 -0.02303564
+v -0.02410277 -0.01795138 -0.02311066
+v -0.02848304 -0.01795138 0.02756739
+v -0.02627054 -0.01589259 0.03012353
+v -0.02901597 -0.01748001 0.02731553
+v -0.02901597 -0.00945936 -0.02308923
+v -0.02835847 -0.00521210 -0.02268196
+v -0.02410277 -0.00522457 -0.02189958
+v -0.02410277 -0.01795138 0.02909465
+v -0.02822524 -0.01795138 0.02772815
+v -0.02462752 -0.01795138 0.02903034
+v -0.02437212 -0.01795138 0.02908393
+v -0.02600216 -0.01589259 0.03012353
+v -0.02410277 -0.01347842 0.03043434
+v -0.02410277 -0.00945936 0.03087376
+v -0.02648361 -0.01370786 0.03027894
+v -0.02901597 -0.00947058 0.02901426
+v -0.02901597 -0.01370786 0.02828011
+v -0.02901597 -0.01425529 0.02814078
+v -0.02901597 -0.00521210 -0.02272483
+v -0.02410277 -0.00521210 -0.02189422
+v -0.02410277 -0.01774438 0.02919110
+v -0.02410277 -0.01757853 0.02926613
+v -0.02410277 -0.01543121 0.03002171
+v -0.02410277 -0.00521210 0.03113634
+v -0.02688475 -0.00945936 0.03052008
+v -0.02901597 -0.00521210 0.02959301
+v -0.02724404 -0.00521210 0.03071300
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 18
+f 1 18 17
+f 1 17 16
+f 1 16 9
+f 1 9 5
+f 1 5 11
+f 1 11 25
+f 1 25 24
+f 1 24 23
+f 1 23 33
+f 1 33 26
+f 1 26 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 8
+f 8 13 14
+f 8 14 27
+f 8 27 31
+f 8 31 21
+f 8 21 20
+f 8 20 30
+f 8 30 29
+f 8 29 28
+f 8 28 15
+f 9 16 10
+f 10 17 18
+f 10 18 15
+f 10 15 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 11
+f 10 16 17
+f 12 26 13
+f 13 27 14
+f 13 26 33
+f 13 33 34
+f 13 34 31
+f 13 31 27
+f 15 28 19
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 21 31 32
+f 21 32 22
+f 22 33 23
+f 22 32 33
+f 31 34 32
+f 32 34 33
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_54.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6b5637c1a11391ed26514612d8563943601958b
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_54.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.01132672 0.01582363 0.03878782
+v -0.01132672 0.01601215 0.03872214
+v -0.01259351 0.01582363 0.03831015
+v -0.01132672 0.01582363 -0.02068753
+v -0.01132672 0.01718358 0.03827433
+v -0.01211087 0.01680134 0.03814297
+v -0.01449501 0.02025106 0.03558746
+v -0.01480339 0.02025106 0.03543819
+v -0.01481184 0.02025106 0.03543222
+v -0.01487415 0.01582363 0.03657861
+v -0.01672073 0.01582363 -0.02160703
+v -0.01132672 0.01587520 -0.02069947
+v -0.01132672 0.01889718 0.03760559
+v -0.01132936 0.02025106 0.03706225
+v -0.01672073 0.02025106 0.03367082
+v -0.01600206 0.01582363 0.03538445
+v -0.01672073 0.02025106 -0.02219815
+v -0.01132672 0.02025106 -0.02145179
+v -0.01672073 0.01582363 0.03459630
+v -0.01132672 0.01991129 0.03717569
+v -0.01132672 0.02025106 0.03566508
+v -0.01672073 0.01593804 0.03458436
+f 1 2 3
+f 1 3 10
+f 1 10 16
+f 1 16 19
+f 1 19 11
+f 1 11 4
+f 1 4 12
+f 1 12 18
+f 1 18 21
+f 1 21 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 3 9 10
+f 4 11 12
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 7 14 21
+f 7 21 18
+f 7 18 17
+f 7 17 15
+f 7 15 9
+f 7 9 8
+f 9 15 10
+f 10 15 16
+f 11 17 18
+f 11 18 12
+f 11 19 22
+f 11 22 15
+f 11 15 17
+f 13 20 14
+f 14 20 21
+f 15 22 16
+f 16 22 19
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_55.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9111fa41199e0c9aa9b20f8230747192a753fca1
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_55.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.00140450 0.04090801 -0.00209585
+v 0.00279932 0.04090801 -0.00209585
+v 0.00140450 0.04090801 0.02875336
+v -0.00260231 0.04092197 -0.00152693
+v 0.00140450 0.06101246 -0.00209585
+v 0.00279932 0.06085289 -0.00209585
+v 0.00279932 0.04090801 0.02838828
+v 0.00128342 0.04092197 0.02877466
+v 0.00087100 0.04092197 0.02887505
+v -0.00251877 0.04092197 0.02898458
+v -0.00260231 0.04092197 0.02897545
+v 0.00279932 0.04277903 0.02724132
+v -0.00260231 0.06128374 -0.00152693
+v 0.00161441 0.06099052 -0.00209585
+v 0.00020478 0.06078507 0.00080958
+v 0.00181058 0.06096858 -0.00209585
+v 0.00279932 0.06063547 -0.00063249
+v 0.00140397 0.04446055 0.02638947
+v 0.00138388 0.04448448 0.02637730
+v 0.00138388 0.04660683 0.02488656
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diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_56.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cd7f4b0ded5c24a07d9db1dfe12391f99e0fc96
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_56.obj
@@ -0,0 +1,351 @@
+# https://github.com/mikedh/trimesh
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+v -0.00286525 0.05427777 -0.02289085
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_57.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8f055d2a46ab7f2a91fd30ec3620f28b65f5cbb
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_57.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.02733964 0.03218242 -0.02360747
+v 0.02733964 0.03255383 -0.02358547
+v 0.02771286 0.03218242 -0.02355467
+v 0.02733964 0.03218242 0.02134425
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_58.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87b1c106de702d0fed73aff9d8c2f238a3514a41
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_58.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
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+v -0.02140971 -0.03356980 -0.02450825
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+f 10 17 18
+f 10 18 19
+f 10 19 11
+f 11 19 12
+f 12 19 26
+f 12 26 35
+f 12 35 42
+f 12 42 36
+f 12 36 30
+f 12 30 21
+f 12 21 14
+f 16 21 22
+f 18 23 24
+f 18 24 19
+f 18 25 34
+f 18 34 40
+f 18 40 31
+f 18 31 23
+f 19 24 32
+f 19 32 26
+f 20 27 28
+f 20 28 29
+f 21 30 28
+f 21 28 22
+f 22 28 27
+f 23 31 24
+f 24 31 40
+f 24 40 32
+f 25 33 34
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+f 26 34 35
+f 28 30 36
+f 28 36 37
+f 28 37 38
+f 28 38 39
+f 28 39 29
+f 32 40 34
+f 33 41 34
+f 34 41 42
+f 34 42 35
+f 36 42 41
+f 36 41 43
+f 36 43 37
+f 37 43 38
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_59.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7824bbb0a9ed9150c154bdd83157ac7b88bbfa26
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_59.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.01817545 0.04218272 -0.02393560
+v 0.01817545 0.04573642 -0.02303826
+v 0.01903622 0.04512225 -0.02300070
+v 0.01903622 0.04218272 -0.02373943
+v 0.01817545 0.04218272 0.01870249
+v 0.01817545 0.04577877 -0.02302574
+v 0.01838053 0.04577877 -0.02296731
+v 0.01817545 0.04602868 -0.02293809
+v 0.01817545 0.04647342 -0.02274193
+v 0.01817545 0.04909104 -0.02158583
+v 0.01838053 0.04903033 -0.02153157
+v 0.01903622 0.04844440 -0.02152740
+v 0.01903622 0.04218272 0.01551381
+v 0.01903310 0.04218272 0.01810148
+v 0.01817545 0.04558958 0.01618160
+v 0.01817545 0.04933106 -0.02146897
+v 0.01903622 0.04872395 -0.02135628
+v 0.01903622 0.04507566 0.01590614
+v 0.01903622 0.04589031 0.01528426
+v 0.01817545 0.04601597 0.01584770
+v 0.01817545 0.05124980 -0.01998314
+v 0.01903622 0.05022196 -0.02020017
+v 0.01903622 0.04645930 0.01475003
+v 0.01817545 0.04704523 0.01493785
+v 0.01817545 0.04624328 0.01566406
+v 0.01817545 0.05315443 -0.01783788
+v 0.01838053 0.05307818 -0.01776693
+v 0.01903622 0.05282687 -0.01745808
+v 0.01903622 0.05087142 -0.01960751
+v 0.01903495 0.04647342 0.01473751
+v 0.01903622 0.04965014 0.01164066
+v 0.01817545 0.04974615 0.01231679
+v 0.01817545 0.05332103 -0.01762503
+v 0.01903622 0.05414133 -0.01527943
+v 0.01903622 0.05066670 0.01043030
+v 0.01867931 0.05028549 0.01128590
+v 0.01817545 0.05052692 0.01150710
+v 0.01817545 0.05511553 -0.01463252
+v 0.01903622 0.05452818 -0.01455739
+v 0.01817545 0.05116933 0.01078088
+v 0.01903622 0.05300477 0.00724580
+v 0.01817545 0.05518330 -0.01448644
+v 0.01827277 0.05507458 -0.01457408
+v 0.01817545 0.05607278 -0.01158992
+v 0.01903622 0.05565768 -0.01059659
+v 0.01817545 0.05406791 0.00661975
+v 0.01903622 0.05363023 0.00614812
+v 0.01817545 0.05415686 0.00647367
+v 0.01817545 0.05636786 -0.01025852
+v 0.01903622 0.05573252 -0.01025852
+v 0.01903622 0.05382789 0.00558885
+v 0.01817545 0.05559980 0.00247948
+v 0.01817545 0.05660647 -0.00600556
+v 0.01903622 0.05591041 -0.00600556
+v 0.01903622 0.05488962 0.00247948
+v 0.01903622 0.05492916 0.00231253
+v 0.01817545 0.05633962 -0.00176930
+v 0.01903622 0.05563086 -0.00176930
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 14
+f 1 14 5
+f 1 5 15
+f 1 15 20
+f 1 20 25
+f 1 25 24
+f 1 24 32
+f 1 32 37
+f 1 37 40
+f 1 40 46
+f 1 46 48
+f 1 48 52
+f 1 52 57
+f 1 57 53
+f 1 53 49
+f 1 49 44
+f 1 44 42
+f 1 42 38
+f 1 38 33
+f 1 33 26
+f 1 26 21
+f 1 21 16
+f 1 16 10
+f 1 10 9
+f 1 9 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 17
+f 3 17 22
+f 3 22 29
+f 3 29 28
+f 3 28 34
+f 3 34 39
+f 3 39 45
+f 3 45 50
+f 3 50 54
+f 3 54 58
+f 3 58 56
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+f 3 55 51
+f 3 51 47
+f 3 47 41
+f 3 41 35
+f 3 35 31
+f 3 31 23
+f 3 23 19
+f 3 19 18
+f 3 18 13
+f 3 13 4
+f 3 6 7
+f 5 14 15
+f 6 8 7
+f 10 16 11
+f 11 16 12
+f 12 16 17
+f 13 18 14
+f 14 18 15
+f 15 18 19
+f 15 19 20
+f 16 21 22
+f 16 22 17
+f 19 23 24
+f 19 24 25
+f 19 25 20
+f 21 26 27
+f 21 27 28
+f 21 28 29
+f 21 29 22
+f 23 30 24
+f 23 31 30
+f 24 30 32
+f 26 33 27
+f 27 33 28
+f 28 33 34
+f 30 31 32
+f 31 35 36
+f 31 36 37
+f 31 37 32
+f 33 38 34
+f 34 38 39
+f 35 40 36
+f 35 41 40
+f 36 40 37
+f 38 42 43
+f 38 43 39
+f 39 42 44
+f 39 44 45
+f 39 43 42
+f 40 41 46
+f 41 47 48
+f 41 48 46
+f 44 49 45
+f 45 49 50
+f 47 51 52
+f 47 52 48
+f 49 53 50
+f 50 53 54
+f 51 55 52
+f 52 55 56
+f 52 56 57
+f 53 57 54
+f 54 57 58
+f 56 58 57
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_6.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6d577b6184c732a96c5358ba94413ee1b7c2b9f
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,264 @@
+# https://github.com/mikedh/trimesh
+v 0.05237676 -0.00945883 0.01858021
+v 0.05237676 -0.01392681 0.01832187
+v 0.05271334 -0.01393858 0.01824270
+v 0.05411339 -0.01310267 0.01778019
+v 0.05411339 -0.00945883 0.01785519
+v 0.05411339 -0.00220648 0.01777602
+v 0.05411339 0.00151978 0.01767185
+v 0.05237676 -0.00095851 0.01815103
+v 0.05237676 -0.01497463 0.01815103
+v 0.05411339 -0.01572224 0.01733434
+v 0.05411339 -0.01528662 0.01742185
+v 0.05411339 0.00524603 0.01731351
+v 0.05405237 0.00529312 0.01733851
+v 0.05237676 -0.00083489 0.01813853
+v 0.05237676 -0.01714681 0.01768435
+v 0.05237676 -0.01889514 0.01703433
+v 0.05411339 -0.01623437 0.01712600
+v 0.05411339 0.00534022 0.01728434
+v 0.05411339 0.01356387 0.01320922
+v 0.05237676 0.01209810 0.01458009
+v 0.05237676 0.00715919 0.01666766
+v 0.05237676 0.00362131 0.01765935
+v 0.05237676 -0.02223288 0.01528428
+v 0.05411339 -0.02175017 0.01451759
+v 0.05411339 -0.01801214 0.01637598
+v 0.05411339 0.01975663 0.00995079
+v 0.05237676 0.02050424 0.01029663
+v 0.05237676 -0.02499960 0.01359673
+v 0.05411339 -0.02415781 0.01300505
+v 0.05411339 0.02401857 0.00630485
+v 0.05237676 0.02550790 0.00669236
+v 0.05237676 0.02450716 0.00751738
+v 0.05411339 -0.02528805 0.01219669
+v 0.05237676 -0.02640652 0.01251753
+v 0.05411339 -0.02654779 0.01124249
+v 0.05411339 0.02836881 -0.00178706
+v 0.05237676 0.02889861 0.00247973
+v 0.05237676 -0.02685979 0.01216752
+v 0.05411339 -0.02833734 0.00968828
+v 0.05411339 0.02858662 -0.00234124
+v 0.05237676 0.03088830 -0.00163706
+v 0.05237676 -0.02833734 0.01086332
+v 0.05383988 -0.02833734 0.00987579
+v 0.05411339 -0.02833734 -0.02028761
+v 0.05411339 0.02965799 -0.00600802
+v 0.05237676 0.03180073 -0.00600802
+v 0.05237676 -0.02833734 -0.02084179
+v 0.05411339 -0.02724242 -0.02136681
+v 0.05411339 0.02966388 -0.00662054
+v 0.05411339 0.02948139 -0.01025815
+v 0.05237676 0.03135334 -0.01025815
+v 0.05237676 -0.02670085 -0.02192516
+v 0.05411339 -0.02638886 -0.02195432
+v 0.05411339 0.02915174 -0.01119567
+v 0.05237676 0.03060574 -0.01212903
+v 0.05411339 0.02803327 -0.01400826
+v 0.05237676 -0.02661843 -0.02195849
+v 0.05411339 -0.02219756 -0.02330437
+v 0.05237676 0.02952848 -0.01461661
+v 0.05411339 0.02775660 -0.01466244
+v 0.05237676 -0.02258019 -0.02314186
+v 0.05411339 -0.01795328 -0.02355437
+v 0.05237676 -0.02219756 -0.02325020
+v 0.05237676 0.02925769 -0.01512912
+v 0.05411339 0.02635558 -0.01621249
+v 0.05237676 0.02774482 -0.01698751
+v 0.05411339 0.00327989 -0.02393355
+v 0.05237676 -0.01795916 -0.02349604
+v 0.05411339 0.02431879 -0.01843339
+v 0.05411339 0.02341225 -0.01925425
+v 0.05237676 0.02769184 -0.01703335
+v 0.05237676 0.00326811 -0.02382938
+v 0.05411339 0.00753594 -0.02398772
+v 0.05237676 -0.00097028 -0.02377105
+v 0.05237676 0.02500164 -0.01915424
+v 0.05411339 0.01965656 -0.02168765
+v 0.05237676 0.00731813 -0.02383771
+v 0.05411339 0.01003777 -0.02392105
+v 0.05237676 0.00753594 -0.02383771
+v 0.05237676 0.01178022 -0.02372521
+v 0.05237676 0.02249393 -0.02077512
+v 0.05411339 0.01846746 -0.02231267
+v 0.05411339 0.01178022 -0.02386272
+v 0.05237676 0.01601861 -0.02312103
+v 0.05237676 0.02015104 -0.02188766
+v 0.05411339 0.01656018 -0.02288352
+v 0.05411339 0.01428793 -0.02350437
+v 0.05237676 0.01656607 -0.02295852
+v 0.05411339 0.01603038 -0.02304186
+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 14
+f 1 14 22
+f 1 22 21
+f 1 21 20
+f 1 20 27
+f 1 27 32
+f 1 32 31
+f 1 31 37
+f 1 37 41
+f 1 41 46
+f 1 46 51
+f 1 51 55
+f 1 55 59
+f 1 59 64
+f 1 64 66
+f 1 66 71
+f 1 71 75
+f 1 75 81
+f 1 81 85
+f 1 85 88
+f 1 88 84
+f 1 84 80
+f 1 80 79
+f 1 79 77
+f 1 77 72
+f 1 72 74
+f 1 74 68
+f 1 68 63
+f 1 63 61
+f 1 61 57
+f 1 57 52
+f 1 52 47
+f 1 47 42
+f 1 42 38
+f 1 38 34
+f 1 34 28
+f 1 28 23
+f 1 23 16
+f 1 16 15
+f 1 15 9
+f 1 9 2
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 4
+f 4 11 10
+f 4 10 17
+f 4 17 25
+f 4 25 24
+f 4 24 29
+f 4 29 33
+f 4 33 35
+f 4 35 39
+f 4 39 44
+f 4 44 48
+f 4 48 53
+f 4 53 58
+f 4 58 62
+f 4 62 67
+f 4 67 73
+f 4 73 78
+f 4 78 83
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+f 4 87 89
+f 4 89 86
+f 4 86 82
+f 4 82 76
+f 4 76 70
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+f 4 69 65
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+f 4 12 7
+f 4 7 6
+f 4 6 5
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+f 8 13 14
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+f 10 16 17
+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 16 23 24
+f 16 24 25
+f 16 25 17
+f 19 26 27
+f 19 27 20
+f 23 28 24
+f 24 28 29
+f 26 30 31
+f 26 31 32
+f 26 32 27
+f 28 33 29
+f 28 34 35
+f 28 35 33
+f 30 36 37
+f 30 37 31
+f 34 38 35
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+f 36 41 37
+f 38 42 43
+f 38 43 39
+f 39 43 42
+f 39 42 47
+f 39 47 44
+f 40 45 41
+f 41 45 46
+f 44 47 48
+f 45 49 46
+f 46 49 50
+f 46 50 51
+f 47 52 53
+f 47 53 48
+f 50 54 51
+f 51 54 56
+f 51 56 55
+f 52 57 53
+f 53 57 58
+f 55 56 60
+f 55 60 59
+f 57 61 58
+f 58 61 63
+f 58 63 62
+f 59 60 64
+f 60 65 66
+f 60 66 64
+f 62 63 68
+f 62 68 67
+f 65 69 66
+f 66 69 70
+f 66 70 71
+f 67 72 73
+f 67 68 74
+f 67 74 72
+f 70 75 71
+f 70 76 75
+f 72 77 73
+f 73 77 79
+f 73 79 80
+f 73 80 78
+f 75 76 81
+f 76 82 81
+f 78 80 83
+f 80 84 83
+f 81 82 85
+f 82 86 85
+f 83 84 87
+f 84 88 89
+f 84 89 87
+f 85 86 89
+f 85 89 88
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_60.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..683bd854bfef87cc852f1f7f1b1b91e4554b34c8
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_60.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.03087265 -0.00099999 0.02893653
+v -0.03087265 -0.00099999 0.00449857
+v -0.03261098 -0.00099999 0.02794849
+v -0.03268625 -0.00107130 0.02789825
+v -0.03087265 -0.00538327 0.02844371
+v -0.03268625 -0.00099999 0.00449857
+v -0.03087265 -0.04095284 0.00449857
+v -0.03268625 -0.00099999 0.02790543
+v -0.03268625 -0.00559300 0.02732169
+v -0.03087265 -0.00946035 0.02779777
+v -0.03268625 -0.04186724 0.00449857
+v -0.03087265 -0.04264743 0.00673543
+v -0.03087673 -0.04385125 0.00449857
+v -0.03268625 -0.00946035 0.02663748
+v -0.03087265 -0.01370940 0.02691499
+v -0.03268625 -0.04069278 0.00673543
+v -0.03087265 -0.04085217 0.00922588
+v -0.03268625 -0.03836901 0.01002971
+v -0.03268625 -0.01370940 0.02571403
+v -0.03087265 -0.01384782 0.02688150
+v -0.03087265 -0.03748816 0.01356562
+v -0.03089714 -0.03747557 0.01355366
+v -0.03268625 -0.03779855 0.01081201
+v -0.03268625 -0.01716569 0.02469488
+v -0.03089856 -0.01678818 0.02612551
+v -0.03087265 -0.01675043 0.02615183
+v -0.03087265 -0.03518956 0.01560630
+v -0.03221811 -0.03458135 0.01494840
+v -0.03268625 -0.03436324 0.01471395
+v -0.03268625 -0.03504275 0.01395079
+v -0.03268625 -0.01809268 0.02437670
+v -0.03243185 -0.01810526 0.02457526
+v -0.03087265 -0.01920003 0.02539345
+v -0.03087265 -0.01797523 0.02577862
+v -0.03087265 -0.01679657 0.02613987
+v -0.03087265 -0.03324750 0.01725464
+v -0.03268625 -0.03344883 0.01542448
+v -0.03268625 -0.01834015 0.02427861
+v -0.03087265 -0.02021091 0.02495565
+v -0.03087265 -0.03268543 0.01767091
+v -0.03268625 -0.03070142 0.01751780
+v -0.03268625 -0.02188453 0.02273793
+v -0.03261133 -0.02193906 0.02277382
+v -0.03119787 -0.02525273 0.02216376
+v -0.03087265 -0.02472003 0.02267334
+v -0.03087265 -0.03096148 0.01884317
+v -0.03087265 -0.03081048 0.01894364
+v -0.03268625 -0.02772331 0.01944604
+v -0.03268625 -0.02200198 0.02268051
+v -0.03268625 -0.02664951 0.02012547
+v -0.03087265 -0.02776106 0.02087906
+v -0.03087265 -0.02536179 0.02232644
+v -0.03268625 -0.02701443 0.01990059
+f 1 2 6
+f 1 6 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 20
+f 1 20 26
+f 1 26 35
+f 1 35 34
+f 1 34 33
+f 1 33 39
+f 1 39 45
+f 1 45 52
+f 1 52 51
+f 1 51 47
+f 1 47 46
+f 1 46 40
+f 1 40 36
+f 1 36 27
+f 1 27 21
+f 1 21 17
+f 1 17 12
+f 1 12 7
+f 1 7 2
+f 2 7 13
+f 2 13 11
+f 2 11 6
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+f 4 8 6
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+f 4 23 30
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+f 4 41 48
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+f 4 53 50
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+f 5 9 10
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+f 10 14 15
+f 11 13 16
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+f 12 17 18
+f 12 18 16
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+f 15 19 20
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+f 17 22 23
+f 17 23 18
+f 19 24 25
+f 19 25 20
+f 20 25 26
+f 21 27 28
+f 21 28 29
+f 21 29 22
+f 22 30 23
+f 22 29 30
+f 24 31 32
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 25 35 26
+f 25 34 35
+f 27 36 28
+f 28 36 29
+f 29 36 37
+f 31 38 33
+f 31 33 32
+f 33 38 39
+f 36 40 41
+f 36 41 37
+f 38 42 39
+f 39 42 43
+f 39 43 44
+f 39 44 45
+f 40 46 41
+f 41 46 47
+f 41 47 48
+f 42 49 43
+f 43 49 44
+f 44 49 50
+f 44 50 51
+f 44 51 52
+f 44 52 45
+f 47 51 53
+f 47 53 48
+f 50 53 51
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_61.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f23b95c162065b1ee165320618f262483948e98
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_61.obj
@@ -0,0 +1,384 @@
+# https://github.com/mikedh/trimesh
+v 0.00594357 -0.04812883 0.01755461
+v 0.00446534 -0.04805644 0.01954177
+v 0.00439414 -0.04805644 0.01967264
+v 0.00578994 -0.04812883 0.01777271
+v 0.00352481 -0.05408838 0.01312954
+v 0.00594357 -0.04997952 0.01507308
+v 0.00594357 -0.04812883 -0.02270240
+v 0.00446534 -0.04805644 -0.02336641
+v 0.00311076 -0.04805644 0.02134961
+v 0.00502928 -0.04812883 0.01884384
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diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_62.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f9b28c56355a95c74177abca3f8493659f887fe
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_62.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_63.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4bb85f58294943bf5d41c939f05709b5e297d9f
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_63.obj
@@ -0,0 +1,213 @@
+# https://github.com/mikedh/trimesh
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+f 57 63 58
+f 58 63 59
+f 59 63 64
+f 60 65 66
+f 60 66 61
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+f 62 68 69
+f 62 69 70
+f 65 67 71
+f 65 71 69
+f 65 69 72
+f 68 72 69
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_64.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adc55d6d2e6a25cd75c53e5d91487d0f36844258
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_64.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.01105013 -0.01787128 -0.02261242
+v 0.01105013 -0.00945915 -0.02212411
+v 0.01236279 -0.00945915 -0.02213574
+v 0.01236279 -0.01149805 -0.02225200
+v 0.01236279 -0.01787128 -0.02261242
+v 0.01105013 -0.01787128 0.03394418
+v 0.01105013 -0.00096426 -0.02137421
+v 0.01236279 -0.00096426 -0.02149047
+v 0.01236279 -0.01787128 0.03336286
+v 0.01105013 -0.01659696 0.03431622
+v 0.01105013 -0.00096426 0.03677521
+v 0.01236279 -0.00096426 0.03592067
+v 0.01236279 -0.01483444 0.03405463
+v 0.01105013 -0.01323079 0.03520564
+v 0.01105013 -0.01455806 0.03486266
+v 0.01105013 -0.01596146 0.03449062
+v 0.01105013 -0.00526549 0.03646711
+v 0.01236279 -0.00523405 0.03566489
+v 0.01236279 -0.01242813 0.03456038
+v 0.01105013 -0.01240000 0.03535679
+v 0.01105013 -0.00535817 0.03645548
+v 0.01236279 -0.00541444 0.03564163
+v 0.01236279 -0.01034620 0.03493242
+v 0.01105013 -0.01149805 0.03551956
+v 0.01105013 -0.00945915 0.03586835
+v 0.01236279 -0.00945915 0.03508357
+v 0.01105013 -0.00987619 0.03579859
+f 1 2 3
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+f 19 23 24
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+f 21 26 22
+f 23 26 27
+f 23 27 24
+f 25 27 26
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_65.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d54ca205f73bdece5f895d550deb2e4a016ab02
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_65.obj
@@ -0,0 +1,291 @@
+# https://github.com/mikedh/trimesh
+v -0.04536923 -0.00516838 -0.02385758
+v -0.04536923 0.00329174 -0.02422948
+v -0.04535372 0.00329174 -0.02422948
+v -0.04273032 0.00329174 -0.02386654
+v -0.04273032 -0.00516838 -0.02345879
+v -0.04536923 -0.00516838 0.01965912
+v -0.04536923 0.00753946 -0.02433253
+v -0.04536535 0.00429406 -0.02425636
+v -0.04535372 0.00429406 -0.02425636
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+v -0.04273032 -0.00516838 0.02038948
+v -0.04532376 -0.00516838 0.01967256
+v -0.04273032 -0.00152558 0.02069864
+v -0.04273032 0.00309304 0.02102574
+v -0.04273032 0.00751297 0.02123185
+v -0.04536923 0.00327408 0.01976666
+v -0.04536923 0.02028263 -0.02452968
+v -0.04535450 0.02028263 -0.02453416
+v -0.04535398 0.00753946 -0.02433701
+v -0.04273032 0.02453035 -0.02452072
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+v -0.04536923 0.00429406 0.01973081
+v -0.04536923 0.00329174 0.01976666
+v -0.04536923 0.02453477 -0.02411746
+v -0.04535450 0.02453035 -0.02412194
+v -0.04273032 0.02886638 -0.02329749
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+v -0.04536923 0.00753946 0.01960983
+v -0.04536923 0.02900768 -0.02239238
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+v -0.04431211 0.03169672 -0.02143799
+v -0.04273032 0.03025727 -0.02262986
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+v -0.04536923 0.01177394 0.01888844
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+v -0.04273032 0.03233256 -0.02161722
+v -0.04536923 0.03329955 -0.01911250
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+v -0.04536923 0.01210069 0.01881674
+v -0.04273032 0.03490680 -0.01940375
+v -0.04536923 0.03363513 -0.01875405
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+v -0.04536923 0.03633743 -0.01461386
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+v -0.04536923 0.03778571 -0.01003009
+v -0.04273032 0.02491892 0.01701550
+v -0.04536923 0.02457009 0.01522769
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+v -0.04536923 0.03806389 -0.00600641
+v -0.04331287 0.03945919 -0.00841256
+v -0.04273032 0.03979477 -0.00887407
+v -0.04497888 0.03805506 -0.00999873
+v -0.04273032 0.02556358 0.01663912
+v -0.04536923 0.02735186 0.01356983
+v -0.04273032 0.03994048 -0.00600641
+v -0.04536923 0.03805948 -0.00595713
+v -0.04273032 0.03986542 -0.00437095
+v -0.04273032 0.02858821 0.01479754
+v -0.04438057 0.02793913 0.01396861
+v -0.04311395 0.03076947 0.01298734
+v -0.04536923 0.02955962 0.01174618
+v -0.04536923 0.03744572 -0.00211267
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+v -0.04273032 0.03971971 -0.00342104
+v -0.04273032 0.03096817 0.01314864
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+v -0.04536923 0.03163049 0.00966265
+v -0.04536923 0.03735299 -0.00172733
+v -0.04273032 0.03949010 -0.00217540
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+v -0.04273032 0.03468161 0.00899502
+v -0.04273032 0.03500394 0.00859175
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+v -0.04397266 0.03567510 0.00562552
+v -0.04536923 0.03514524 0.00450982
+v -0.04273032 0.03747663 0.00359576
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+f 95 98 96
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_66.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1db8d0049d3e3a18c06f5b0a57a00afd9a5be6b
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_66.obj
@@ -0,0 +1,285 @@
+# https://github.com/mikedh/trimesh
+v 0.02647864 0.00341243 -0.02269543
+v 0.02406418 0.00341243 -0.02246837
+v 0.02406418 0.02734973 -0.02412422
+v 0.02647864 0.02069004 -0.02365350
+v 0.02647864 0.00341243 0.03222440
+v 0.02406418 0.00341243 0.03237392
+v 0.02406418 0.02877990 -0.02415191
+v 0.02647864 0.02877990 -0.02390270
+v 0.02647864 0.02493240 -0.02382517
+v 0.02647864 0.00753922 0.03178136
+v 0.02406418 0.00753922 0.03196412
+v 0.02406418 0.03158727 -0.02420175
+v 0.02647864 0.02917957 -0.02390824
+v 0.02647864 0.01179120 0.03097282
+v 0.02406418 0.01179120 0.03124972
+v 0.02406418 0.01164193 0.03127741
+v 0.02406418 0.03583926 -0.02399131
+v 0.02498000 0.03492433 -0.02387501
+v 0.02647864 0.03342675 -0.02365903
+v 0.02647864 0.01451671 0.03026950
+v 0.02406418 0.01514753 0.03046333
+v 0.02406418 0.03738981 -0.02363134
+v 0.02647864 0.03831918 -0.02253483
+v 0.02647864 0.03492433 -0.02332675
+v 0.02647864 0.01658252 0.02957726
+v 0.02406418 0.01605764 0.03016982
+v 0.02406418 0.01529681 0.03042457
+v 0.02406418 0.04005272 -0.02300555
+v 0.02406418 0.04032720 -0.02293356
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+v 0.02601470 0.04152623 -0.02169306
+v 0.02635149 0.04049092 -0.02188135
+v 0.02647864 0.04009606 -0.02194781
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+f 87 94 95
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+f 90 95 91
+f 90 96 95
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_67.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c936852b0354bb648dfeca9490594d61d463636
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_67.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00816489 -0.00096875 -0.01686090
+v 0.00816489 -0.00096365 -0.01985846
+v 0.00702964 -0.00096875 -0.01686090
+v 0.00816489 -0.05239359 -0.01686090
+v 0.00702964 -0.00096365 -0.01985846
+v 0.00816489 -0.00096365 -0.02121669
+v 0.00702964 -0.05305648 -0.01686090
+v 0.00805532 -0.05246498 -0.01686090
+v 0.00816489 -0.05143495 -0.01843371
+v 0.00702964 -0.00096365 -0.02117807
+v 0.00816489 -0.00946392 -0.02210430
+v 0.00702964 -0.00946392 -0.02208999
+v 0.00702964 -0.05219982 -0.01839079
+v 0.00702964 -0.05190407 -0.01887501
+v 0.00816489 -0.04937489 -0.02046212
+v 0.00816489 -0.02221177 -0.02297331
+v 0.00702964 -0.03919191 -0.02416775
+v 0.00702964 -0.05097093 -0.01975189
+v 0.00709654 -0.05080265 -0.01985846
+v 0.00702964 -0.05084855 -0.01985846
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+v 0.00816489 -0.04725875 -0.02215293
+v 0.00816489 -0.03919191 -0.02406690
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+v 0.00702964 -0.04761569 -0.02248909
+v 0.00816489 -0.04343950 -0.02362131
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+f 21 25 22
+f 22 26 27
+f 22 25 26
+f 23 27 24
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_68.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3535716f48817393fad63494c6ee41386284225
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_68.obj
@@ -0,0 +1,300 @@
+# https://github.com/mikedh/trimesh
+v 0.04387353 -0.04009315 -0.01025818
+v 0.04387353 -0.03884700 -0.01450883
+v 0.04387497 -0.04009315 -0.01025818
+v 0.04387353 -0.04008142 -0.00601194
+v 0.04609374 -0.03712291 -0.01669816
+v 0.04516270 -0.03842184 -0.01439407
+v 0.04877037 -0.03739559 -0.01352010
+v 0.04387353 -0.03747476 -0.01714397
+v 0.04387497 -0.03747476 -0.01714397
+v 0.04516270 -0.03726951 -0.01688796
+v 0.04812315 -0.03850101 -0.01025818
+v 0.04812315 -0.03866521 -0.00601194
+v 0.04516270 -0.03965333 -0.00601194
+v 0.04387497 -0.04008142 -0.00601194
+v 0.04387353 -0.03940997 -0.00176570
+v 0.04877037 -0.03616410 -0.01570502
+v 0.04877037 -0.03651596 -0.01519300
+v 0.04775447 -0.03755979 -0.01416013
+v 0.04516270 -0.03642213 -0.01777958
+v 0.04617045 -0.03290651 -0.02093557
+v 0.04877037 -0.03254292 -0.02003954
+v 0.04877037 -0.03426408 -0.01818125
+v 0.04877037 -0.03821366 -0.01025818
+v 0.04387353 -0.03544573 -0.01927592
+v 0.04387497 -0.03544573 -0.01927592
+v 0.04877037 -0.03826350 -0.00932241
+v 0.04877037 -0.03839545 -0.00601194
+v 0.04877037 -0.03832801 -0.00530129
+v 0.04877037 -0.03782662 -0.00199522
+v 0.04830629 -0.03794977 -0.00173038
+v 0.04516270 -0.03946274 -0.00475837
+v 0.04516270 -0.03898774 -0.00174804
+v 0.04387497 -0.03940997 -0.00176570
+v 0.04387353 -0.03940410 -0.00173480
+v 0.04516270 -0.03308830 -0.02108123
+v 0.04387497 -0.03070155 -0.02263053
+v 0.04780098 -0.03071914 -0.02166829
+v 0.04877037 -0.03187147 -0.02059128
+v 0.04387353 -0.03332287 -0.02126221
+v 0.04387497 -0.03332287 -0.02126221
+v 0.04877037 -0.03762723 -0.00130664
+v 0.04877037 -0.03713463 0.00037508
+v 0.04701232 -0.03755393 0.00148740
+v 0.04516270 -0.03772692 0.00216274
+v 0.04387353 -0.03784714 0.00263062
+v 0.04387353 -0.03070155 -0.02263053
+v 0.04387497 -0.02644996 -0.02373403
+v 0.04516270 -0.02644996 -0.02353099
+v 0.04812315 -0.02644996 -0.02305869
+v 0.04877037 -0.02647635 -0.02289537
+v 0.04877037 -0.03029691 -0.02155794
+v 0.04877037 -0.03615824 0.00273655
+v 0.04830629 -0.03638401 0.00273655
+v 0.04835231 -0.03441949 0.00691217
+v 0.04708903 -0.03360142 0.00979891
+v 0.04483190 -0.03694991 0.00432117
+v 0.04387353 -0.03766535 0.00308526
+v 0.04387353 -0.02644996 -0.02373403
+v 0.04387353 -0.02220717 -0.02391059
+v 0.04877037 -0.02220717 -0.02349126
+v 0.04877037 -0.03427874 0.00673561
+v 0.04877037 -0.03297101 0.00899998
+v 0.04877037 -0.03084522 0.01121579
+v 0.04847313 -0.03095664 0.01133056
+v 0.04702526 -0.02937623 0.01355078
+v 0.04516270 -0.03080711 0.01280041
+v 0.04387353 -0.03179816 0.01227956
+v 0.04387353 -0.03386825 0.01015202
+v 0.04516270 -0.03376855 0.01000195
+v 0.04516270 -0.03500005 0.00788324
+v 0.04387353 -0.03631364 0.00588371
+v 0.04387353 -0.01795852 -0.02379582
+v 0.04387497 -0.01795852 -0.02379582
+v 0.04877037 -0.01796145 -0.02355747
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+v 0.04877037 -0.02652034 0.01446889
+v 0.04877037 -0.02235378 0.01693630
+v 0.04812315 -0.02306922 0.01671560
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+v 0.04387353 -0.02644996 0.01546203
+v 0.04387497 -0.02967237 0.01375383
+v 0.04387353 -0.02967237 0.01374941
+v 0.04387353 -0.03593246 0.00660319
+v 0.04387353 -0.01370987 -0.02356188
+v 0.04387449 -0.01013854 -0.02347360
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+v 0.04877037 -0.02080268 0.01765136
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+v 0.04387353 -0.01793213 0.01957144
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+f 95 99 100
+f 95 100 96
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_69.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ad7f943ae45f37d892a29a9c62c3e2c9ed5938b
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_69.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.01382711 0.03737934 -0.02418555
+v 0.01267892 0.03737934 -0.02410098
+v 0.01382711 0.03758904 -0.02423033
+v 0.01382711 0.03737934 0.02496730
+v 0.01214719 0.03737934 -0.02406118
+v 0.01214719 0.03929488 -0.02442933
+v 0.01214719 0.04363855 -0.02465320
+v 0.01382711 0.04185282 -0.02442933
+v 0.01382711 0.03772717 0.02476831
+v 0.01214719 0.03877398 0.02543993
+v 0.01214719 0.03737934 0.02617125
+v 0.01214719 0.04576211 -0.02457858
+v 0.01382711 0.04570553 -0.02429500
+v 0.01382711 0.04110557 0.02281811
+v 0.01214719 0.03953120 0.02500213
+v 0.01214719 0.04743467 -0.02425023
+v 0.01382711 0.04601008 -0.02424525
+v 0.01382711 0.04577875 -0.02429003
+v 0.01382711 0.04152829 0.02255941
+v 0.01214719 0.04382827 0.02233056
+v 0.01245573 0.04414780 0.02194251
+v 0.01382711 0.04603172 -0.02424028
+v 0.01214719 0.05005751 -0.02332488
+v 0.01382711 0.04547753 0.01983810
+v 0.01214719 0.04428593 0.02202211
+v 0.01214719 0.04430757 0.02200719
+v 0.01288583 0.04866288 0.01807197
+v 0.01214719 0.04808206 0.01904707
+v 0.01382711 0.05032213 -0.02272291
+v 0.01214719 0.05306812 -0.02166821
+v 0.01382711 0.05197971 -0.02181248
+v 0.01382711 0.04636290 0.01914160
+v 0.01382711 0.04966641 0.01626108
+v 0.01290080 0.05283180 0.01381836
+v 0.01214719 0.05228094 0.01498251
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+v 0.01214719 0.04889920 0.01833565
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+v 0.01214719 0.05296993 0.01415169
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+v 0.01382711 0.05437954 -0.01956877
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+f 1 17 22
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+f 2 5 3
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+f 21 28 26
+f 22 23 29
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+f 24 32 27
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+f 27 33 34
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+f 27 35 36
+f 27 36 37
+f 27 37 28
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+f 30 39 38
+f 31 38 40
+f 33 41 34
+f 34 42 43
+f 34 43 44
+f 34 44 35
+f 34 41 45
+f 34 45 46
+f 34 46 42
+f 38 39 47
+f 38 47 40
+f 39 48 49
+f 39 49 47
+f 42 46 50
+f 46 49 48
+f 46 48 50
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_7.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6facc33ab5135d0f50637a567f71c13f5f7b7fd9
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.02901597 -0.00521210 -0.02272952
+v -0.02901597 0.00730668 -0.02259604
+v -0.02835776 -0.00520843 -0.02268147
+v -0.02835851 -0.00521210 -0.02268147
+v -0.02901597 -0.00521210 0.02959507
+v -0.02840020 0.00730668 -0.02253731
+v -0.02901597 0.00730668 0.02926404
+v -0.02835776 0.00730668 -0.02253197
+v -0.02140937 0.00730668 -0.02153887
+v -0.02140937 -0.00520843 -0.02167235
+v -0.02140937 -0.00521210 -0.02167235
+v -0.02724387 -0.00521210 0.03071097
+v -0.02901597 -0.00095871 0.03000086
+v -0.02841956 0.00730668 0.02952566
+v -0.02901597 0.00328734 0.02993144
+v -0.02743151 0.00328734 0.03064690
+v -0.02140937 0.00730668 0.02952032
+v -0.02140937 -0.00521210 0.03178950
+v -0.02757298 -0.00095871 0.03083378
+v -0.02772859 0.00730668 0.02981398
+v -0.02140937 -0.00095871 0.03181086
+v -0.02682021 0.00652977 0.03032655
+v -0.02471380 0.00730668 0.02986203
+v -0.02561251 0.00652977 0.03032655
+v -0.02140937 0.00310230 0.03129829
+v -0.02140937 -0.00250762 0.03181620
+v -0.02517321 0.00730668 0.02986203
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 18
+f 1 18 12
+f 1 12 5
+f 1 5 13
+f 1 13 15
+f 1 15 7
+f 1 7 2
+f 2 6 3
+f 2 7 14
+f 2 14 20
+f 2 20 27
+f 2 27 23
+f 2 23 17
+f 2 17 9
+f 2 9 8
+f 2 8 6
+f 3 6 8
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+f 3 11 4
+f 5 12 13
+f 7 15 16
+f 7 16 14
+f 9 17 25
+f 9 25 21
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+f 9 26 18
+f 9 18 11
+f 9 11 10
+f 12 18 19
+f 12 19 13
+f 13 19 15
+f 14 16 20
+f 15 19 16
+f 16 19 21
+f 16 21 22
+f 16 22 20
+f 17 23 24
+f 17 24 25
+f 18 26 19
+f 19 26 21
+f 20 22 27
+f 21 25 22
+f 22 24 23
+f 22 23 27
+f 22 25 24
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_70.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae39da6270ad840be2fa3044a5651b101134a278
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_70.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.06829667 0.02010137 -0.00339010
+v -0.06829667 0.02091121 -0.00601375
+v -0.06971536 0.01968007 -0.00601375
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+v -0.06829667 -0.02545070 -0.00339010
+v -0.06829667 0.02101419 -0.01023596
+v -0.06971536 0.02012478 -0.01018332
+v -0.06971536 -0.02523068 -0.00339010
+v -0.06830903 -0.02545070 -0.00339010
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+v -0.06971536 0.01964262 -0.01282451
+v -0.06971536 -0.02608733 -0.00601375
+v -0.06829667 -0.02637756 -0.00601375
+v -0.06829667 -0.02631202 -0.01282451
+v -0.06971536 -0.02591881 -0.01282451
+v -0.06971536 -0.02648054 -0.01026182
+v -0.06829667 -0.02680822 -0.01026182
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+f 8 10 9
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+f 11 16 12
+f 13 17 18
+f 13 18 14
+f 15 18 17
+f 15 17 16
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_71.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a168c80d332bea1c7614361d5635ac438cfcf85
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_71.obj
@@ -0,0 +1,279 @@
+# https://github.com/mikedh/trimesh
+v -0.01986583 -0.05161019 -0.00600715
+v -0.01986583 -0.05141366 -0.00175854
+v -0.02269423 -0.05071332 -0.00175854
+v -0.02348067 -0.05051679 -0.00176759
+v -0.02140971 -0.05109208 -0.00600715
+v -0.01986583 -0.05107243 -0.01026935
+v -0.01986583 -0.05041317 0.00175178
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+v -0.02289688 -0.05016305 0.00097724
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+v -0.02435680 -0.04997367 -0.00600715
+v -0.02331363 -0.05045248 -0.00600715
+v -0.02269511 -0.05008265 -0.01028747
+v -0.02140971 -0.05032563 -0.01177312
+v -0.01986583 -0.05017377 -0.01398349
+v -0.01986583 -0.04941268 0.00386702
+v -0.02435680 -0.04906072 0.00204619
+v -0.02435680 -0.04583593 0.00935217
+v -0.02410931 -0.04714193 0.00672963
+v -0.02435680 -0.04707225 0.00672963
+v -0.02423151 -0.04901785 0.00242666
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+v -0.02224979 -0.04991471 -0.01259748
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+v -0.01986583 -0.04940554 -0.01576808
+v -0.01986583 -0.04799235 0.00672963
+v -0.01986583 -0.04627543 0.01004518
+v -0.01986583 -0.04498909 0.01216042
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+v -0.01986583 -0.04536963 -0.02070517
+v -0.01986583 -0.03484126 0.02082976
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+v -0.02410931 -0.04237531 -0.02152500
+v -0.02435680 -0.03919518 -0.02312842
+v -0.02410931 -0.03920411 -0.02320995
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+v -0.01986583 -0.04357054 -0.02179676
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_72.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad8aba5947bbd7b64e477e59aad31623195295f4
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_72.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.00446648 -0.04638690 0.02200381
+v 0.00427110 -0.04638690 0.02228629
+v 0.00446648 -0.04657566 0.02175484
+v 0.00446648 -0.04638690 -0.02353850
+v 0.00311097 -0.04805644 0.02134787
+v 0.00419330 -0.04638690 0.02238684
+v 0.00446648 -0.04801787 0.01963860
+v 0.00446648 -0.04787716 -0.02343795
+v 0.00138373 -0.04769985 -0.02474504
+v 0.00138373 -0.04638690 -0.02481207
+v 0.00439559 -0.04805644 0.01967211
+v 0.00412241 -0.04638690 0.02247781
+v 0.00404461 -0.04638690 0.02256878
+v 0.00135607 -0.04776423 0.02378011
+v 0.00159294 -0.04805644 0.02310023
+v 0.00446648 -0.04805644 0.01954284
+v 0.00446648 -0.04805644 -0.02337092
+v 0.00138373 -0.04805644 -0.02461577
+v -0.00286606 -0.04805644 -0.02479771
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+v -0.00410746 -0.04638690 -0.02503232
+v 0.00400830 -0.04638690 0.02260708
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+v 0.00000229 -0.04805644 0.02378011
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+v -0.00626867 -0.04805644 -0.02476420
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+v -0.00881370 -0.04638690 -0.02513286
+v -0.00759997 -0.04638690 -0.02513286
+v 0.00273578 -0.04638690 0.02378011
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+v -0.00678563 -0.04805644 -0.02473068
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+v -0.01319663 -0.04805644 0.01506617
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+v -0.01319663 -0.04638690 0.01764684
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+f 1 17 8
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+f 34 40 39
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+f 39 46 45
+f 40 47 46
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+f 44 48 49
+f 44 49 50
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+f 46 47 50
+f 46 50 49
+f 46 49 52
+f 46 52 51
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_73.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc87d5d22d94551ff5809ba29a1ee2fc4ed4a57a
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_73.obj
@@ -0,0 +1,255 @@
+# https://github.com/mikedh/trimesh
+v -0.01475561 -0.05409357 -0.00883204
+v -0.01475561 -0.05403443 -0.00600171
+v -0.01631398 -0.05303900 -0.00600171
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+v -0.01475561 -0.05378311 -0.01224296
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+v -0.01475561 -0.05182674 0.00413428
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+v -0.01475561 -0.05332974 -0.01434757
+v -0.01475561 -0.05065882 0.00671666
+v -0.01631398 -0.04960918 0.00672271
+v -0.01475561 -0.05309813 -0.01532730
+v -0.01631398 -0.05048142 -0.01769801
+v -0.01475561 -0.05188587 -0.01774034
+v -0.01475561 -0.04846590 0.01156089
+v -0.01631398 -0.04788934 0.01046020
+v -0.01631398 -0.05007733 -0.01841164
+v -0.01475561 -0.05140786 -0.01844187
+v -0.01475561 -0.04810617 0.01232895
+v -0.01631398 -0.04761831 0.01096821
+v -0.01475561 -0.04963382 -0.02064930
+v -0.01475561 -0.05060461 -0.01948813
+v -0.01631398 -0.04652924 -0.02180441
+v -0.01475561 -0.04688405 0.01417956
+v -0.01475561 -0.04612023 0.01524395
+v -0.01475561 -0.04579498 0.01564311
+v -0.01475561 -0.04345423 0.01850973
+v -0.01631398 -0.04366613 0.01573382
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+v -0.01631398 -0.03424891 -0.02433841
+v -0.01631398 -0.00946157 0.03443944
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+v -0.01631398 -0.03070575 -0.02402393
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+v -0.01475561 -0.00946157 -0.02202818
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+v -0.01631398 -0.00375505 -0.02145364
+v -0.01560680 -0.00375505 -0.02142341
+v -0.01512232 -0.00375505 -0.02136897
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+f 1 16 18
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+f 3 61 67
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+f 61 66 67
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+f 66 72 67
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+f 67 73 74
+f 68 71 70
+f 68 70 75
+f 69 76 70
+f 70 76 77
+f 70 77 78
+f 70 78 79
+f 70 79 80
+f 70 80 81
+f 70 81 82
+f 70 82 75
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+f 73 86 85
+f 73 85 84
+f 73 84 74
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+f 79 85 80
+f 80 85 81
+f 81 85 86
+f 81 86 83
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_74.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c34d74b49dedb3c3d768442b986d82f9d9a77f8
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_74.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.05240234 0.01508537 -0.02397198
+v -0.05385209 0.01508537 -0.02392575
+v -0.05074276 0.01559163 -0.02413764
+v -0.05240234 0.01508537 0.01500305
+v -0.05449704 0.01508537 -0.02386797
+v -0.05074276 0.01603714 -0.02413379
+v -0.05074276 0.01559163 0.01521879
+v -0.05074276 0.01921092 0.01409773
+v -0.05395315 0.01508537 0.01460240
+v -0.05449704 0.01603714 -0.02376010
+v -0.05449704 0.01508537 0.01437125
+v -0.05074276 0.02028603 -0.02334018
+v -0.05074276 0.01967668 0.01385503
+v -0.05449704 0.01823338 0.01315003
+v -0.05449704 0.01675879 0.01376257
+v -0.05417254 0.01508537 0.01450994
+v -0.05449704 0.02030076 -0.02234241
+v -0.05074276 0.02441342 -0.02198028
+v -0.05074276 0.02175142 0.01273782
+v -0.05449704 0.01955702 0.01245275
+v -0.05449704 0.02297565 -0.02110963
+v -0.05074276 0.02560451 -0.02135618
+v -0.05074276 0.02374516 0.01153587
+v -0.05449704 0.02355922 0.00986391
+v -0.05145789 0.02630591 -0.02067045
+v -0.05449704 0.02512955 -0.01949161
+v -0.05074276 0.02765163 -0.01998472
+v -0.05074276 0.02455149 0.01098882
+v -0.05074276 0.02828308 0.00724811
+v -0.05449704 0.02518293 0.00819196
+v -0.05449704 0.02723190 -0.01732269
+v -0.05074276 0.02878934 -0.01889833
+v -0.05074276 0.02868256 0.00673574
+v -0.05449704 0.02734604 0.00555689
+v -0.05449704 0.02915569 -0.01445648
+v -0.05074276 0.03129118 -0.01548508
+v -0.05074276 0.03093403 0.00241716
+v -0.05449704 0.02859604 0.00312601
+v -0.05074276 0.03232763 -0.01389017
+v -0.05449704 0.03090458 -0.01026118
+v -0.05074276 0.03266084 -0.00142756
+v -0.05449704 0.02883168 0.00247880
+v -0.05074276 0.03369360 -0.01026118
+v -0.05449704 0.03108499 -0.00600810
+v -0.05074276 0.03389243 -0.00601195
+v -0.05449704 0.03004118 -0.00142371
+v -0.05449704 0.02985892 -0.00077265
+f 1 2 3
+f 1 3 7
+f 1 7 4
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+f 1 9 16
+f 1 16 11
+f 1 11 5
+f 1 5 2
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+f 11 16 15
+f 13 19 20
+f 13 20 14
+f 17 21 18
+f 18 21 22
+f 19 23 20
+f 20 23 24
+f 21 25 22
+f 21 26 25
+f 22 25 27
+f 23 28 24
+f 24 29 30
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+f 25 26 27
+f 26 31 32
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+f 29 33 34
+f 29 34 30
+f 31 35 36
+f 31 36 32
+f 33 37 34
+f 34 37 38
+f 35 39 36
+f 35 40 39
+f 37 41 38
+f 38 41 42
+f 39 40 43
+f 40 44 45
+f 40 45 43
+f 41 45 46
+f 41 46 47
+f 41 47 42
+f 44 46 45
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_75.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..522b82159072cb6b7ddd948bbe3b35b653faf873
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_75.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v -0.06829667 -0.00520676 0.01024832
+v -0.06971536 -0.00520676 0.00976233
+v -0.06829667 -0.00542528 0.01022028
+v -0.06829667 -0.00327131 0.01023363
+v -0.06971536 -0.00933187 0.00922026
+v -0.06971536 -0.00439958 0.00975565
+v -0.06829667 -0.00745439 0.00995325
+v -0.06829667 -0.00282981 0.01022963
+v -0.06971536 -0.00945674 0.00919890
+v -0.06829667 -0.00963958 0.00959143
+v -0.06829667 -0.00947458 0.00961947
+v -0.06829667 -0.00752128 0.00994257
+v -0.06971536 -0.00096125 0.00970492
+v -0.06829667 -0.00096125 0.01020159
+v -0.06971536 -0.00979121 0.00914149
+v -0.06912789 -0.01184707 0.00896258
+v -0.06829667 -0.01106219 0.00934577
+v -0.06829667 0.00179477 0.00987181
+v -0.06971536 -0.00010947 0.00960211
+v -0.06971536 -0.01245804 0.00849662
+v -0.06829667 -0.01414376 0.00810409
+v -0.06829667 -0.01207005 0.00905070
+v -0.06829667 0.00296318 0.00963149
+v -0.06971536 0.00241465 0.00908808
+v -0.06971536 -0.01372010 0.00788780
+v -0.06971536 -0.01652071 0.00631100
+v -0.06829667 -0.01571799 0.00721489
+v -0.06829667 0.00547838 0.00897059
+v -0.06971536 0.00443484 0.00859942
+v -0.06971536 -0.01751520 0.00572888
+v -0.06829667 -0.01791210 0.00593182
+v -0.06971536 0.00531338 0.00836578
+v -0.06829667 0.00728005 0.00836711
+v -0.06971536 -0.01962904 0.00425489
+v -0.06845805 -0.01996351 0.00450857
+v -0.06829667 -0.01979850 0.00467412
+v -0.06971536 0.00753425 0.00753933
+v -0.06829667 0.00753425 0.00827232
+v -0.06971536 -0.02083758 0.00313872
+v -0.06829667 -0.02018649 0.00432165
+v -0.06971536 0.00914861 0.00690113
+v -0.06829667 0.01116880 0.00683437
+v -0.06971536 -0.02180977 0.00206794
+v -0.06829667 -0.02205059 0.00227488
+v -0.06971536 0.01137394 0.00583302
+v -0.06829667 0.01192247 0.00647255
+v -0.06971536 -0.02389685 -0.00034599
+v -0.06829667 -0.02408861 -0.00002956
+v -0.06971536 0.01350562 0.00437372
+v -0.06829667 0.01418794 0.00491578
+v -0.06971536 -0.02458809 -0.00167178
+v -0.06829667 -0.02425808 -0.00035534
+v -0.06971536 0.01451349 0.00359533
+v -0.06829667 0.01640881 0.00287569
+v -0.06971536 0.01584244 0.00238303
+v -0.06971536 -0.02493147 -0.00240878
+v -0.06829667 -0.02503404 -0.00201358
+v -0.06829667 0.01842900 0.00056858
+v -0.06971536 0.01683693 0.00110130
+v -0.06971536 -0.02523027 -0.00339010
+v -0.06829667 -0.02545325 -0.00339010
+v -0.06829667 0.01955281 -0.00137138
+v -0.06971536 0.01838440 -0.00137138
+v -0.06971536 0.01885712 -0.00339010
+v -0.06829667 0.02010580 -0.00339010
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 11
+f 1 11 10
+f 1 10 17
+f 1 17 22
+f 1 22 21
+f 1 21 27
+f 1 27 31
+f 1 31 36
+f 1 36 40
+f 1 40 44
+f 1 44 48
+f 1 48 52
+f 1 52 57
+f 1 57 61
+f 1 61 65
+f 1 65 62
+f 1 62 58
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+f 1 54 50
+f 1 50 46
+f 1 46 42
+f 1 42 38
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+f 16 22 17
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+f 20 25 21
+f 21 25 26
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+f 23 29 24
+f 26 30 31
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+f 28 33 32
+f 30 34 35
+f 30 35 36
+f 30 36 31
+f 32 33 37
+f 33 38 37
+f 34 39 35
+f 35 39 40
+f 35 40 36
+f 37 38 41
+f 38 42 41
+f 39 43 44
+f 39 44 40
+f 41 42 45
+f 42 46 45
+f 43 47 48
+f 43 48 44
+f 45 46 49
+f 46 50 49
+f 47 51 48
+f 48 51 52
+f 49 50 53
+f 50 54 55
+f 50 55 53
+f 51 56 57
+f 51 57 52
+f 54 58 55
+f 55 58 59
+f 56 60 61
+f 56 61 57
+f 58 62 63
+f 58 63 59
+f 60 64 65
+f 60 65 61
+f 62 65 63
+f 63 65 64
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_76.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea49218c10dac9380a0054f9c6f1ed451d235b39
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_76.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.03583351 -0.03542314 -0.01972610
+v -0.03626758 -0.03542314 -0.01946860
+v -0.03734526 -0.03310734 -0.02103734
+v -0.03583351 -0.03364408 -0.02111527
+v -0.03583351 -0.03542314 0.00967341
+v -0.03686088 -0.03542314 -0.01911622
+v -0.03734526 -0.03108133 -0.02211479
+v -0.03583351 -0.03220773 -0.02205380
+v -0.03583351 -0.03346769 -0.02124063
+v -0.03688752 -0.03542314 -0.01909928
+v -0.03734526 -0.03504011 -0.01916704
+v -0.03583351 -0.03530219 0.00984282
+v -0.03734526 -0.03429422 0.00947012
+v -0.03734526 -0.03542314 0.00760321
+v -0.03734526 -0.03094274 -0.02217578
+v -0.03734526 -0.02645478 -0.02386649
+v -0.03583351 -0.02749802 -0.02375129
+v -0.03708110 -0.03542314 -0.01893326
+v -0.03734526 -0.03542314 -0.01869608
+v -0.03583351 -0.03496956 0.01029684
+v -0.03633491 -0.03445801 0.01029684
+v -0.03634572 -0.03444541 0.01029684
+v -0.03734526 -0.03323586 0.01029684
+v -0.03734526 -0.02596591 -0.02392071
+v -0.03685644 -0.02645478 -0.02388005
+v -0.03583351 -0.02747786 -0.02375807
+v -0.03583351 -0.00968225 0.01029684
+v -0.03734526 -0.00968225 0.01029684
+v -0.03734526 -0.02224400 -0.02430357
+v -0.03583351 -0.02645478 -0.02390715
+v -0.03583351 -0.00968225 -0.02334132
+v -0.03734526 -0.00968225 -0.02334471
+v -0.03734526 -0.02220621 -0.02430696
+v -0.03685644 -0.02220621 -0.02431713
+v -0.03583351 -0.02322677 -0.02423920
+v -0.03583351 -0.01370907 -0.02373435
+v -0.03734526 -0.01370907 -0.02377840
+v -0.03734526 -0.02171734 -0.02430357
+v -0.03734526 -0.01799543 -0.02417143
+v -0.03685644 -0.01795764 -0.02416466
+v -0.03583351 -0.01900088 -0.02414772
+v -0.03583351 -0.02220621 -0.02425953
+v -0.03583351 -0.01795764 -0.02409689
+v -0.03734526 -0.01746877 -0.02413416
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 17
+f 1 17 26
+f 1 26 30
+f 1 30 35
+f 1 35 42
+f 1 42 41
+f 1 41 43
+f 1 43 36
+f 1 36 31
+f 1 31 27
+f 1 27 20
+f 1 20 12
+f 1 12 5
+f 1 5 14
+f 1 14 19
+f 1 19 18
+f 1 18 10
+f 1 10 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 19
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+f 3 23 28
+f 3 28 32
+f 3 32 37
+f 3 37 44
+f 3 44 39
+f 3 39 38
+f 3 38 33
+f 3 33 29
+f 3 29 24
+f 3 24 16
+f 3 16 15
+f 3 15 7
+f 5 12 13
+f 5 13 14
+f 7 15 8
+f 8 15 16
+f 8 16 17
+f 10 18 11
+f 11 18 19
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 20 27 28
+f 20 28 23
+f 20 23 22
+f 20 22 21
+f 24 29 30
+f 24 30 25
+f 25 30 26
+f 27 31 32
+f 27 32 28
+f 29 33 34
+f 29 34 35
+f 29 35 30
+f 31 36 37
+f 31 37 32
+f 33 38 34
+f 34 38 39
+f 34 39 40
+f 34 40 41
+f 34 41 42
+f 34 42 35
+f 36 43 40
+f 36 40 44
+f 36 44 37
+f 39 44 40
+f 40 43 41
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_77.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c32b204aad65c10eb4a0d16db59cf3b078adf43d
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_77.obj
@@ -0,0 +1,240 @@
+# https://github.com/mikedh/trimesh
+v 0.03979086 -0.04135942 -0.00600420
+v 0.03979086 -0.04094433 -0.01025952
+v 0.04387265 -0.04009230 -0.01024970
+v 0.04387265 -0.04007920 -0.00600420
+v 0.03979086 -0.04121523 -0.00471828
+v 0.03979086 -0.03951992 -0.01450502
+v 0.04163234 -0.03921843 -0.01450502
+v 0.04387265 -0.03884267 -0.01450502
+v 0.04387305 -0.00818725 -0.02349175
+v 0.04387305 -0.00818725 0.02154493
+v 0.04387265 -0.03941068 -0.00176361
+v 0.04163274 -0.04009668 -0.00156238
+v 0.03979086 -0.04066032 -0.00139550
+v 0.03979086 -0.03781587 -0.01754313
+v 0.04387265 -0.03747069 -0.01715049
+v 0.04387265 -0.03544331 -0.01927078
+v 0.04387265 -0.03331980 -0.02125856
+v 0.04387265 -0.03069818 -0.02262301
+v 0.04387265 -0.02645117 -0.02372733
+v 0.04387265 -0.02220415 -0.02390403
+v 0.04387305 -0.00096470 -0.02370279
+v 0.04387305 -0.00521172 0.02209955
+v 0.04387265 -0.01388053 0.02056332
+v 0.04387265 -0.01796151 0.01955716
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diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_78.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..614c54404bc8bb0c2f9cddf168eff9f8e60401f5
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_78.obj
@@ -0,0 +1,309 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_79.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d39c3bda1f66f7ecb86d9b2d81b1f3f24c9576fa
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_79.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.04107950 0.00327794 -0.02371432
+v 0.04107950 0.00753869 -0.02386613
+v 0.04387305 0.01178445 -0.02402216
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+v 0.04387305 0.01421458 0.01900406
+v 0.04387305 0.00327902 0.01900406
+v 0.04277789 0.01421458 0.01900406
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_8.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81a71bcff9b8229641920b7f410fc6e6eb651443
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,384 @@
+# https://github.com/mikedh/trimesh
+v 0.03098017 -0.04747022 -0.00600947
+v 0.03112827 -0.04738283 -0.00600947
+v 0.03142063 -0.04682935 -0.00177192
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diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_80.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..661d224ea3c4ce3d4cd0db82546b807152c9f0ca
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_80.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_81.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82b018bf56eded2a1ba8c877aaba24f7ef04e092
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_81.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_82.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ebd4f0fb056240889defe7eb8040d6d3cc7614b
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_82.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.00702964 -0.00096438 0.03966588
+v 0.00816489 -0.00096438 0.03884045
+v 0.00702964 -0.00096438 0.00866390
+v 0.00702964 -0.00459113 0.03930475
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+v 0.00702964 -0.01376394 0.03778136
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_83.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3dfb39c001128c899c69737f426699e9516de71
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_83.obj
@@ -0,0 +1,273 @@
+# https://github.com/mikedh/trimesh
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+v -0.01986075 0.04153193 -0.02443151
+v -0.01900785 0.04153193 -0.02448839
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+v -0.02351269 0.04588359 -0.02077193
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_84.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24a54b4faf2ddc5946dbce94c9e9f8bec85fb71e
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_84.obj
@@ -0,0 +1,315 @@
+# https://github.com/mikedh/trimesh
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+v -0.01026603 -0.04127258 -0.02528291
+v -0.00711067 -0.03919936 -0.02536744
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+f 19 55 35
+f 19 35 27
+f 19 27 22
+f 19 22 21
+f 23 28 29
+f 23 29 30
+f 25 31 32
+f 25 32 33
+f 27 35 36
+f 27 36 37
+f 28 38 39
+f 28 39 40
+f 28 40 29
+f 29 41 42
+f 29 42 43
+f 29 43 30
+f 29 40 44
+f 29 44 45
+f 29 45 46
+f 29 46 41
+f 31 47 48
+f 31 48 32
+f 32 48 49
+f 32 49 33
+f 33 49 50
+f 34 51 52
+f 34 52 53
+f 34 53 54
+f 35 55 36
+f 36 56 37
+f 36 55 57
+f 36 57 58
+f 36 58 59
+f 36 59 56
+f 38 60 39
+f 39 60 61
+f 39 61 62
+f 39 62 44
+f 39 44 40
+f 41 46 47
+f 41 47 42
+f 44 62 63
+f 44 63 45
+f 45 63 64
+f 45 64 65
+f 45 65 66
+f 45 66 67
+f 45 67 68
+f 45 68 46
+f 46 68 48
+f 46 48 47
+f 48 68 69
+f 48 69 70
+f 48 70 49
+f 49 70 71
+f 49 71 72
+f 49 72 50
+f 50 72 73
+f 51 74 52
+f 52 74 75
+f 52 75 53
+f 53 76 77
+f 53 77 54
+f 53 75 76
+f 55 78 57
+f 57 78 58
+f 58 78 79
+f 58 79 59
+f 59 79 80
+f 61 81 64
+f 61 64 62
+f 62 64 63
+f 64 81 82
+f 64 82 83
+f 64 83 84
+f 64 84 85
+f 64 85 86
+f 64 86 69
+f 64 69 66
+f 64 66 65
+f 66 69 67
+f 67 69 68
+f 69 86 70
+f 70 86 71
+f 71 86 87
+f 71 87 88
+f 71 88 72
+f 72 88 73
+f 73 88 89
+f 74 90 91
+f 74 91 75
+f 75 91 90
+f 75 90 92
+f 75 92 88
+f 75 88 93
+f 75 93 76
+f 76 94 77
+f 76 93 95
+f 76 95 96
+f 76 96 97
+f 76 97 98
+f 76 98 94
+f 78 99 100
+f 78 100 79
+f 79 82 80
+f 79 100 96
+f 79 96 95
+f 79 95 93
+f 79 93 84
+f 79 84 83
+f 79 83 82
+f 80 82 81
+f 84 93 85
+f 85 93 101
+f 85 101 102
+f 85 102 86
+f 86 103 87
+f 86 102 103
+f 87 103 93
+f 87 93 88
+f 88 92 89
+f 93 103 102
+f 93 102 101
+f 96 100 104
+f 96 104 105
+f 96 105 97
+f 99 106 100
+f 100 106 104
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_85.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f435753ff7cdbfc381fdc22a929d1d93cf72b20
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_85.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00702964 -0.05264054 0.00866512
+v 0.00816489 -0.05180672 0.00866512
+v 0.00702964 -0.05161039 0.01100582
+v 0.00702964 -0.04424899 0.00866512
+v 0.00816489 -0.04424899 0.00866512
+v 0.00816489 -0.05100248 0.01048607
+v 0.00816489 -0.05081272 0.01090844
+v 0.00702964 -0.05152167 0.01120301
+v 0.00702964 -0.04424899 0.02109893
+v 0.00816489 -0.04424899 0.01994745
+v 0.00816489 -0.05073468 0.01108128
+v 0.00816489 -0.05063117 0.01131012
+v 0.00702964 -0.05147320 0.01131012
+v 0.00702964 -0.04595523 0.01924147
+v 0.00816489 -0.04487497 0.01928650
+v 0.00702964 -0.05012102 0.01331365
+v 0.00816489 -0.04794242 0.01521493
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 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 15
+f 2 15 17
+f 2 17 12
+f 2 12 11
+f 2 11 7
+f 2 7 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 5
+f 7 11 8
+f 8 12 13
+f 8 11 12
+f 9 14 15
+f 9 15 10
+f 12 16 13
+f 12 17 16
+f 14 17 15
+f 14 16 17
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_86.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dffc97736bd9cd866b3b4ae3ea6d4be46982f92
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_86.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01485865 0.02450816 -0.02263556
+v 0.01413150 0.02450816 -0.02246374
+v 0.01382744 0.02451067 -0.02240468
+v 0.01382744 0.02483770 -0.02245837
+v 0.01382744 0.03303088 -0.02369331
+v 0.01485865 0.03230323 -0.02379532
+v 0.01485865 0.02450816 0.03012829
+v 0.01382744 0.02450816 -0.02236709
+v 0.01382744 0.03305263 -0.02369331
+v 0.01410990 0.03305263 -0.02374163
+v 0.01485865 0.03305263 -0.02385975
+v 0.01485865 0.02453325 0.03012292
+v 0.01382744 0.02450816 0.03099274
+v 0.01382744 0.03305263 0.02735774
+v 0.01485865 0.03305263 0.02652550
+v 0.01485865 0.02877119 0.02851213
+v 0.01382744 0.02878123 0.02933363
+v 0.01382744 0.03245127 0.02768526
+v 0.01485865 0.03262273 0.02682618
+v 0.01386317 0.03305263 0.02733089
+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 19
+f 1 19 16
+f 1 16 12
+f 1 12 7
+f 1 7 13
+f 1 13 8
+f 1 8 2
+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 5
+f 3 5 4
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 9 14 20
+f 9 20 15
+f 9 15 11
+f 9 11 10
+f 12 16 13
+f 13 16 17
+f 14 18 19
+f 14 19 20
+f 15 20 19
+f 16 19 17
+f 17 19 18
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_87.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8bd3c80565a31d3ad268959a45ab04e4fbc631c
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_87.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.01631398 -0.00375013 -0.02146043
+v -0.01631398 -0.00096365 -0.02115418
+v -0.01587325 -0.00096365 -0.02113684
+v -0.01560688 -0.00375013 -0.02141998
+v -0.01631398 -0.00375013 0.03526627
+v -0.01631398 -0.00096365 0.03550318
+v -0.01566287 -0.00096365 -0.02111951
+v -0.01512221 -0.00375013 -0.02136798
+v -0.01475561 -0.00375013 0.03728871
+v -0.01475561 -0.00096365 0.03757186
+v -0.01631398 -0.00279276 0.03535295
+v -0.01475561 -0.00210568 -0.02113106
+v -0.01475561 -0.00375013 -0.02132753
+v -0.01475561 -0.00096365 -0.02094037
+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 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 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 10
+f 7 12 13
+f 7 13 8
+f 7 14 12
+f 9 13 12
+f 9 12 14
+f 9 14 10
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_88.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17f964df3bd720e19585befd08506be05aac35a0
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_88.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.03271151 -0.00518465 -0.02296980
+v -0.03583351 -0.00203305 -0.02298474
+v -0.03268625 -0.00518465 -0.02296980
+v -0.03583351 -0.00518465 -0.02296482
+v -0.03583351 -0.00198430 -0.02298474
+v -0.03268625 -0.00513099 -0.02296980
+v -0.03268625 -0.00518465 0.02736365
+v -0.03583351 -0.00518465 0.02547547
+v -0.03583351 -0.00099999 -0.02295485
+v -0.03268625 -0.00099999 -0.02282532
+v -0.03268625 -0.00514655 0.02736864
+v -0.03271336 -0.00518465 0.02734871
+v -0.03386062 -0.00518465 0.02671101
+v -0.03583351 -0.00500032 0.02552528
+v -0.03583351 -0.00099999 0.02608327
+v -0.03268625 -0.00099999 0.02790171
+v -0.03268625 -0.00107044 0.02789673
+v -0.03514897 -0.00449321 0.02608825
+v -0.03547830 -0.00099999 0.02631743
+f 1 2 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 5 6
+f 2 6 3
+f 2 4 8
+f 2 8 14
+f 2 14 15
+f 2 15 9
+f 2 9 5
+f 3 6 10
+f 3 10 16
+f 3 16 17
+f 3 17 11
+f 3 11 7
+f 5 9 6
+f 6 9 10
+f 7 11 12
+f 8 13 14
+f 9 15 19
+f 9 19 16
+f 9 16 10
+f 11 17 12
+f 12 17 18
+f 12 18 13
+f 13 18 14
+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_croissant/new_croissant_0/collision/model_normalized_collision_89.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b5015cae041eafb83c4fd2670ef7b41cd7eec9b
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_89.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.05237676 -0.03683405 -0.00601025
+v 0.05237676 -0.03643899 -0.01026142
+v 0.05318167 -0.03646560 -0.00601025
+v 0.05237676 -0.03674090 -0.00505692
+v 0.05237676 -0.03483296 -0.01430764
+v 0.05411339 -0.03409441 -0.01380147
+v 0.05289388 -0.03615621 -0.01026142
+v 0.05411339 -0.03543512 -0.01013100
+v 0.05411339 -0.03587426 -0.00611272
+v 0.05411339 -0.03570709 -0.00469360
+v 0.05411339 -0.03517812 -0.00174976
+v 0.05237676 -0.03625268 -0.00232425
+v 0.05237676 -0.03470072 -0.01450327
+v 0.05411339 -0.03249753 -0.01616772
+v 0.05411339 -0.03454769 0.00021590
+v 0.05237676 -0.03614706 -0.00173734
+v 0.05237676 -0.03127575 -0.01877928
+v 0.05411339 -0.03061704 -0.01876065
+v 0.05237676 -0.03610381 -0.00160381
+v 0.05411339 -0.03380248 0.00212256
+v 0.05237676 -0.03451525 0.00247346
+v 0.05237676 -0.03097301 -0.01905876
+v 0.05237676 -0.03071602 -0.01926682
+v 0.05411339 -0.02833817 -0.02028847
+v 0.05411339 -0.03283687 0.00424659
+v 0.05265095 -0.03425909 0.00277467
+v 0.05237676 -0.03439299 0.00277157
+v 0.05237676 -0.02833817 -0.02085053
+v 0.05411339 -0.02833817 0.00969951
+v 0.05411339 -0.03273623 0.00444533
+v 0.05237676 -0.03317371 0.00520613
+v 0.05237676 -0.02833817 0.01087332
+v 0.05411339 -0.02891288 0.00919645
+v 0.05411339 -0.03262395 0.00460680
+v 0.05237676 -0.03188290 0.00707242
+v 0.05237676 -0.02952335 0.00983304
+v 0.05411339 -0.02958822 0.00839839
+v 0.05411339 -0.03092977 0.00675568
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 16
+f 1 16 19
+f 1 19 21
+f 1 21 27
+f 1 27 31
+f 1 31 35
+f 1 35 36
+f 1 36 32
+f 1 32 28
+f 1 28 23
+f 1 23 22
+f 1 22 17
+f 1 17 13
+f 1 13 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 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 4
+f 5 13 14
+f 5 14 6
+f 6 14 18
+f 6 18 24
+f 6 24 29
+f 6 29 33
+f 6 33 37
+f 6 37 38
+f 6 38 34
+f 6 34 30
+f 6 30 25
+f 6 25 20
+f 6 20 15
+f 6 15 11
+f 6 11 10
+f 6 10 9
+f 6 9 8
+f 6 8 7
+f 11 15 16
+f 11 16 12
+f 13 17 18
+f 13 18 14
+f 15 19 16
+f 15 20 21
+f 15 21 19
+f 17 22 18
+f 18 22 23
+f 18 23 24
+f 20 25 26
+f 20 26 21
+f 21 26 27
+f 23 28 24
+f 24 28 32
+f 24 32 29
+f 25 27 26
+f 25 30 31
+f 25 31 27
+f 29 32 33
+f 30 34 35
+f 30 35 31
+f 32 36 33
+f 33 36 35
+f 33 35 37
+f 34 38 35
+f 35 38 37
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_9.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39ddb67a6d2154e3baeb26755c8cf689f2d50f2c
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.02835837 0.03022019 -0.02389811
+v -0.02887280 0.03022019 -0.02387523
+v -0.02517713 0.03303144 -0.02397132
+v -0.02517713 0.03022019 -0.02369221
+v -0.02901597 0.03022019 -0.02386608
+v -0.02901597 0.03303144 -0.02363730
+v -0.02517713 0.03737570 -0.02346800
+v -0.02517713 0.03022019 0.02277367
+v -0.02901597 0.03022019 0.02081071
+v -0.02901597 0.03764548 -0.02215479
+v -0.02517713 0.04142022 -0.02214563
+v -0.02517713 0.03637582 0.01943344
+v -0.02901597 0.03270171 0.01918177
+v -0.02901597 0.03778679 -0.02208158
+v -0.02761586 0.04046315 -0.02139980
+v -0.02596098 0.04329367 -0.02063109
+v -0.02517713 0.04252716 -0.02149589
+v -0.02517713 0.03929626 0.01728287
+v -0.02901597 0.03699459 0.01621674
+v -0.02901597 0.03310852 0.01890723
+v -0.02901597 0.03794523 -0.02198549
+v -0.02901597 0.04170712 -0.01946430
+v -0.02517713 0.04610920 -0.01904791
+v -0.02517713 0.04122110 0.01579578
+v -0.02901597 0.03738213 0.01591017
+v -0.02901597 0.04189554 -0.01930415
+v -0.02517713 0.04614774 -0.01901130
+v -0.02517713 0.04172426 0.01538855
+v -0.02901597 0.03980798 0.01398382
+v -0.02901597 0.04568741 -0.01465527
+v -0.02613872 0.04779210 -0.01644893
+v -0.02517713 0.04913028 -0.01566649
+v -0.02517713 0.04533841 0.01148093
+v -0.02901597 0.04219743 0.01160447
+v -0.02901597 0.04696136 -0.01025806
+v -0.02538869 0.05124995 -0.01025806
+v -0.02669598 0.04849651 -0.01361660
+v -0.02517713 0.04964414 -0.01452258
+v -0.02517713 0.04571310 0.01105082
+v -0.02901597 0.04372189 0.00986114
+v -0.02901597 0.04703201 -0.00976389
+v -0.02571861 0.05158396 -0.00601184
+v -0.02517713 0.05145978 -0.01025806
+v -0.02517713 0.05104441 -0.01124183
+v -0.02517713 0.04878556 0.00645227
+v -0.02901597 0.04409016 0.00943103
+v -0.02901597 0.04753945 -0.00601184
+v -0.02517713 0.05209354 -0.00601184
+v -0.02901597 0.04752232 -0.00176105
+v -0.02542551 0.05138270 -0.00176105
+v -0.02517713 0.05021795 0.00306170
+v -0.02901597 0.04566385 0.00661242
+v -0.02901597 0.04527204 0.00743147
+v -0.02517713 0.05161394 -0.00176105
+v -0.02901597 0.04695707 0.00248060
+v -0.02517713 0.05043420 0.00248060
+v -0.02517713 0.05150903 -0.00138127
+v -0.02517713 0.05116431 -0.00013669
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 11
+f 3 11 17
+f 3 17 23
+f 3 23 27
+f 3 27 32
+f 3 32 38
+f 3 38 44
+f 3 44 43
+f 3 43 48
+f 3 48 54
+f 3 54 57
+f 3 57 58
+f 3 58 56
+f 3 56 51
+f 3 51 45
+f 3 45 39
+f 3 39 33
+f 3 33 28
+f 3 28 24
+f 3 24 18
+f 3 18 12
+f 3 12 8
+f 3 8 4
+f 5 9 13
+f 5 13 20
+f 5 20 19
+f 5 19 25
+f 5 25 29
+f 5 29 34
+f 5 34 40
+f 5 40 46
+f 5 46 53
+f 5 53 52
+f 5 52 55
+f 5 55 49
+f 5 49 47
+f 5 47 41
+f 5 41 35
+f 5 35 30
+f 5 30 26
+f 5 26 22
+f 5 22 21
+f 5 21 14
+f 5 14 10
+f 5 10 6
+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 11 15 16
+f 11 16 17
+f 12 18 19
+f 12 19 20
+f 12 20 13
+f 14 21 15
+f 15 22 16
+f 15 21 22
+f 16 22 23
+f 16 23 17
+f 18 24 19
+f 19 24 25
+f 22 26 23
+f 23 26 27
+f 24 28 29
+f 24 29 25
+f 26 30 31
+f 26 31 27
+f 27 31 32
+f 28 33 34
+f 28 34 29
+f 30 35 36
+f 30 36 37
+f 30 37 38
+f 30 38 32
+f 30 32 31
+f 33 39 40
+f 33 40 34
+f 35 41 42
+f 35 42 36
+f 36 42 43
+f 36 43 44
+f 36 44 37
+f 37 44 38
+f 39 45 46
+f 39 46 40
+f 41 47 42
+f 42 48 43
+f 42 47 49
+f 42 49 50
+f 42 50 48
+f 45 51 52
+f 45 52 53
+f 45 53 46
+f 48 50 54
+f 49 55 50
+f 50 55 54
+f 51 56 52
+f 52 56 55
+f 54 55 57
+f 55 56 58
+f 55 58 57
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_90.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b43f7f03bde7e19babbd5385c64191a800a63e03
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_90.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.05897702 -0.02878848 -0.01026002
+v -0.05897702 -0.02863135 -0.00601140
+v -0.06073529 -0.02820543 -0.01026002
+v -0.06073529 -0.02799523 -0.01184824
+v -0.06073529 -0.02762583 -0.01461939
+v -0.05897702 -0.02792218 -0.01473956
+v -0.06073529 -0.02808689 -0.00772687
+v -0.05897702 -0.02754726 -0.00186175
+v -0.06073529 -0.02750246 -0.00402494
+v -0.06073529 -0.02790357 -0.00601140
+v -0.06073529 -0.02654450 -0.01682028
+v -0.05897702 -0.02761893 -0.01535695
+v -0.05897702 -0.02751625 -0.00176514
+v -0.06073529 -0.02676228 -0.00176514
+v -0.06073529 -0.02645835 -0.01695931
+v -0.06055991 -0.02647351 -0.01695931
+v -0.05897702 -0.02660997 -0.01695931
+v -0.05897702 -0.02631707 0.00131941
+v -0.06073529 -0.02618819 -0.00028767
+v -0.06073529 -0.02174846 -0.01695931
+v -0.05897702 -0.02174846 -0.01695931
+v -0.05897702 -0.02599522 0.00197214
+v -0.06073529 -0.02548867 0.00112854
+v -0.06073529 -0.02174846 0.00597097
+v -0.05897702 -0.02174846 0.00711384
+v -0.05897702 -0.02256653 0.00632208
+v -0.06073529 -0.02287390 0.00463017
+v -0.06073529 -0.02533498 0.00143959
+v -0.06073529 -0.02176639 0.00594977
+v -0.06044288 -0.02174846 0.00619248
+v -0.06025872 -0.02174846 0.00632915
+v -0.05897702 -0.02218679 0.00677451
+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 21
+f 1 21 25
+f 1 25 32
+f 1 32 26
+f 1 26 22
+f 1 22 18
+f 1 18 13
+f 1 13 8
+f 1 8 2
+f 2 7 3
+f 2 8 9
+f 2 9 10
+f 2 10 7
+f 3 7 10
+f 3 10 9
+f 3 9 14
+f 3 14 19
+f 3 19 23
+f 3 23 28
+f 3 28 27
+f 3 27 29
+f 3 29 24
+f 3 24 20
+f 3 20 15
+f 3 15 11
+f 3 11 5
+f 3 5 4
+f 5 11 12
+f 5 12 6
+f 8 13 9
+f 9 13 14
+f 11 15 12
+f 12 15 16
+f 12 16 17
+f 13 18 19
+f 13 19 14
+f 15 20 21
+f 15 21 17
+f 15 17 16
+f 18 22 19
+f 19 22 23
+f 20 24 30
+f 20 30 31
+f 20 31 25
+f 20 25 21
+f 22 26 27
+f 22 27 28
+f 22 28 23
+f 24 29 30
+f 25 31 32
+f 26 32 30
+f 26 30 27
+f 27 30 29
+f 30 32 31
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_91.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c71eb6c6b44f2dafeed8b3c0106314358b84dff
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_91.obj
@@ -0,0 +1,249 @@
+# https://github.com/mikedh/trimesh
+v 0.01817545 0.02149226 -0.02302319
+v 0.01639577 0.02149226 -0.02260418
+v 0.01639577 0.03076875 -0.02390420
+v 0.01817545 0.02898891 -0.02402776
+v 0.01817545 0.02149226 0.02976731
+v 0.01639577 0.02149226 0.02953632
+v 0.01639577 0.03501899 -0.02430173
+v 0.01817545 0.03247027 -0.02432859
+v 0.01817545 0.02453933 0.02846729
+v 0.01639577 0.02870414 0.02758628
+v 0.01812772 0.02149226 0.02978880
+v 0.01639577 0.02149937 0.03042807
+v 0.01639577 0.03926567 -0.02441454
+v 0.01817545 0.03323916 -0.02438768
+v 0.01817545 0.02861159 0.02653875
+v 0.01639577 0.03284403 0.02556104
+v 0.01639577 0.04351236 -0.02412982
+v 0.01817545 0.03748584 -0.02445214
+v 0.01817545 0.03728294 0.02182214
+v 0.01639577 0.03957892 0.02184363
+v 0.01639577 0.04577275 -0.02356039
+v 0.01817545 0.04173252 -0.02404387
+v 0.01645884 0.03963944 0.02176305
+v 0.01817545 0.04131960 0.01933491
+v 0.01639577 0.03967504 0.02178454
+v 0.01817545 0.04577275 -0.02302319
+v 0.01639577 0.04819688 -0.02270088
+v 0.01817545 0.04602192 -0.02293724
+v 0.01639577 0.04128401 0.02073163
+v 0.01817545 0.04558408 0.01618156
+v 0.01707465 0.04447347 0.01796506
+v 0.01639577 0.04475824 0.01829812
+v 0.01639577 0.04371170 0.01903945
+v 0.01639577 0.04202798 0.02023203
+v 0.01639577 0.04976313 -0.02200789
+v 0.01817545 0.04908680 -0.02157813
+v 0.01817545 0.04623906 0.01566585
+v 0.01639577 0.04625686 0.01711628
+v 0.01817545 0.04932529 -0.02146532
+v 0.01639577 0.05193453 -0.02091738
+v 0.01817545 0.04703999 0.01493526
+v 0.01734920 0.04885898 0.01400590
+v 0.01639577 0.04795126 0.01566585
+v 0.01639577 0.04701151 0.01651462
+v 0.01817545 0.05124396 -0.01997728
+v 0.01639577 0.05207692 -0.02080456
+v 0.01817545 0.04974177 0.01231373
+v 0.01639577 0.04927546 0.01441955
+v 0.01639577 0.05137922 0.01230836
+v 0.01817545 0.05315549 -0.01783386
+v 0.01639577 0.05543013 -0.01643714
+v 0.01817545 0.05331924 -0.01762435
+v 0.01817545 0.05052134 0.01150793
+v 0.01817545 0.05116564 0.01077734
+v 0.01717708 0.05292056 0.00977815
+v 0.01639577 0.05225846 0.01130917
+v 0.01639577 0.05588220 -0.01567969
+v 0.01817545 0.05511687 -0.01463215
+v 0.01817545 0.05406677 0.00661942
+v 0.01639577 0.05651227 0.00493799
+v 0.01639577 0.05509552 0.00723720
+v 0.01639577 0.05326229 0.01005212
+v 0.01639577 0.05685755 -0.01341271
+v 0.01678477 0.05674008 -0.01319783
+v 0.01817545 0.05518451 -0.01448174
+v 0.01817545 0.05415576 0.00647438
+v 0.01641302 0.05652294 0.00489502
+v 0.01639577 0.05652650 0.00490576
+v 0.01639577 0.05704265 -0.01276808
+v 0.01817545 0.05607086 -0.01159161
+v 0.01639577 0.05753745 -0.01025936
+v 0.01720530 0.05708181 -0.01025936
+v 0.01817545 0.05560098 0.00248299
+v 0.01675481 0.05680771 0.00248299
+v 0.01639577 0.05699994 0.00248299
+v 0.01817545 0.05636632 -0.01025936
+v 0.01639577 0.05765491 -0.00913661
+v 0.01735948 0.05726335 -0.00601012
+v 0.01817545 0.05633784 -0.00176625
+v 0.01718788 0.05715300 -0.00176625
+v 0.01639577 0.05763356 -0.00176625
+v 0.01817545 0.05660482 -0.00601012
+v 0.01639577 0.05783290 -0.00639690
+v 0.01639577 0.05785782 -0.00601012
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 18
+f 1 18 22
+f 1 22 26
+f 1 26 28
+f 1 28 36
+f 1 36 39
+f 1 39 45
+f 1 45 50
+f 1 50 52
+f 1 52 58
+f 1 58 65
+f 1 65 70
+f 1 70 76
+f 1 76 82
+f 1 82 79
+f 1 79 73
+f 1 73 66
+f 1 66 59
+f 1 59 54
+f 1 54 53
+f 1 53 47
+f 1 47 41
+f 1 41 37
+f 1 37 30
+f 1 30 24
+f 1 24 19
+f 1 19 15
+f 1 15 9
+f 1 9 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 10
+f 2 10 16
+f 2 16 20
+f 2 20 25
+f 2 25 29
+f 2 29 34
+f 2 34 33
+f 2 33 32
+f 2 32 38
+f 2 38 44
+f 2 44 43
+f 2 43 48
+f 2 48 49
+f 2 49 56
+f 2 56 62
+f 2 62 61
+f 2 61 60
+f 2 60 68
+f 2 68 75
+f 2 75 81
+f 2 81 84
+f 2 84 83
+f 2 83 77
+f 2 77 71
+f 2 71 69
+f 2 69 63
+f 2 63 57
+f 2 57 51
+f 2 51 46
+f 2 46 40
+f 2 40 35
+f 2 35 27
+f 2 27 21
+f 2 21 17
+f 2 17 13
+f 2 13 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 7 13 14
+f 7 14 8
+f 9 15 10
+f 10 12 11
+f 10 15 16
+f 13 17 18
+f 13 18 14
+f 15 19 16
+f 16 19 20
+f 17 21 22
+f 17 22 18
+f 19 23 20
+f 19 24 23
+f 20 23 25
+f 21 26 22
+f 21 27 28
+f 21 28 26
+f 23 24 29
+f 23 29 25
+f 24 30 31
+f 24 31 32
+f 24 32 33
+f 24 33 34
+f 24 34 29
+f 27 35 28
+f 28 35 36
+f 30 37 31
+f 31 38 32
+f 31 37 38
+f 35 39 36
+f 35 40 39
+f 37 41 42
+f 37 42 43
+f 37 43 44
+f 37 44 38
+f 39 40 45
+f 40 46 45
+f 41 47 42
+f 42 48 43
+f 42 47 49
+f 42 49 48
+f 45 46 50
+f 46 51 52
+f 46 52 50
+f 47 53 49
+f 49 53 54
+f 49 54 55
+f 49 55 56
+f 51 57 58
+f 51 58 52
+f 54 59 55
+f 55 59 60
+f 55 60 61
+f 55 61 62
+f 55 62 56
+f 57 63 64
+f 57 64 58
+f 58 64 65
+f 59 66 60
+f 60 66 67
+f 60 67 68
+f 63 69 64
+f 64 70 65
+f 64 69 71
+f 64 71 72
+f 64 72 70
+f 66 73 67
+f 67 73 74
+f 67 74 75
+f 67 75 68
+f 70 72 76
+f 71 77 72
+f 72 77 78
+f 72 78 76
+f 73 79 74
+f 74 79 80
+f 74 80 81
+f 74 81 75
+f 76 78 82
+f 77 83 78
+f 78 84 80
+f 78 80 82
+f 78 83 84
+f 79 82 80
+f 80 84 81
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_92.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b621f445977580f9d91ef372a778369172cc39b
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_92.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.02517713 0.00730668 -0.02203971
+v -0.02517713 0.01177365 -0.02231554
+v -0.02351329 0.01177365 -0.02210100
+v -0.02351329 0.00730668 -0.02180474
+v -0.02517713 0.00730668 0.02986243
+v -0.02517713 0.01177365 0.02913199
+v -0.02351329 0.01177365 0.02933120
+v -0.02351329 0.00730668 0.02959682
+v -0.02517289 0.00730668 0.02986754
+v -0.02517713 0.01076262 0.02931588
+v -0.02471308 0.00730668 0.02986754
+v -0.02351329 0.00872483 0.02958660
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 11
+f 1 11 9
+f 1 9 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 12
+f 3 12 8
+f 3 8 4
+f 5 9 10
+f 6 10 7
+f 7 10 9
+f 7 9 11
+f 7 11 12
+f 8 12 11
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_93.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7f6b5776eb4492eb3ffeaabe36d5786ac6ee943
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_93.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.02351292 0.00731075 -0.02179313
+v -0.02351292 0.02028140 -0.02304987
+v -0.02140978 0.02028140 -0.02282470
+v -0.02140978 0.00731075 -0.02153654
+v -0.02351292 0.00731075 0.02959179
+v -0.02351292 0.02977517 -0.02372536
+v -0.02140958 0.02977517 -0.02362064
+v -0.02140958 0.02453238 -0.02318602
+v -0.02140958 0.02175703 -0.02292419
+v -0.02140978 0.00731075 0.02951848
+v -0.02140978 0.01603702 0.02976983
+v -0.02351292 0.00872701 0.02958131
+v -0.02351292 0.02977517 0.02431348
+v -0.02140958 0.02977517 0.02562259
+v -0.02140958 0.02175703 0.02870683
+v -0.02140978 0.01964144 0.02915193
+v -0.02351292 0.01683311 0.02885869
+v -0.02351292 0.01603702 0.02898436
+v -0.02351292 0.01275147 0.02935091
+v -0.02351292 0.02724394 0.02629285
+v -0.02140958 0.02820497 0.02729824
+v -0.02140958 0.02352736 0.02835600
+v -0.02140958 0.02732311 0.02753388
+v -0.02351292 0.02099832 0.02785330
+v -0.02351292 0.02514814 0.02684791
+v -0.02351292 0.02175703 0.02767002
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 5
+f 1 5 12
+f 1 12 19
+f 1 19 18
+f 1 18 17
+f 1 17 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 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 9
+f 3 9 4
+f 4 9 15
+f 4 15 10
+f 5 10 11
+f 5 11 12
+f 6 13 14
+f 6 14 7
+f 7 14 21
+f 7 21 23
+f 7 23 22
+f 7 22 15
+f 7 15 9
+f 7 9 8
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 13 20 21
+f 13 21 14
+f 15 22 16
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 20 25 23
+f 20 23 21
+f 23 25 26
+f 23 26 24
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_94.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f0321099012d0572f0b28c7c1c61bcab62bde4f
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_94.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.01105013 -0.05406708 -0.00601089
+v 0.01105013 -0.05400484 -0.00526444
+v 0.01105013 -0.05372193 -0.01022786
+v 0.01236279 -0.05359745 -0.00842959
+v 0.01236279 -0.05372571 -0.00601089
+v 0.01236279 -0.05342771 -0.00175999
+v 0.01105013 -0.05368987 -0.00175999
+v 0.01105013 -0.05371816 -0.01026179
+v 0.01236279 -0.05334850 -0.01026179
+v 0.01236279 -0.05266199 0.00254907
+v 0.01105013 -0.05303165 0.00260239
+v 0.01105013 -0.05288643 -0.01312642
+v 0.01236279 -0.05287134 -0.01190496
+v 0.01236279 -0.05184345 0.00474480
+v 0.01105013 -0.05262427 0.00369298
+v 0.01105013 -0.05237342 -0.01448361
+v 0.01236279 -0.05183968 -0.01463387
+v 0.01236279 -0.05112676 0.00657216
+v 0.01105013 -0.05137571 0.00687268
+v 0.01105013 -0.05189814 -0.01524945
+v 0.01236279 -0.05088535 -0.01617040
+v 0.01236279 -0.04844860 0.01112842
+v 0.01105013 -0.04885976 0.01123506
+v 0.01105013 -0.05079859 -0.01701379
+v 0.01236279 -0.05022524 -0.01714951
+v 0.01236279 -0.04748484 0.01275705
+v 0.01105013 -0.04847878 0.01187972
+v 0.01105013 -0.05048740 -0.01747427
+v 0.01236279 -0.04857308 -0.01913682
+v 0.01236279 -0.04641358 0.01443899
+v 0.01105013 -0.04661161 0.01481221
+v 0.01105013 -0.04871453 -0.01953428
+v 0.01236279 -0.04624572 -0.02135679
+v 0.01236279 -0.04548565 0.01571377
+v 0.01105013 -0.04614388 0.01545688
+v 0.01105013 -0.04649468 -0.02150705
+v 0.01236279 -0.04345251 -0.02277698
+v 0.01236279 -0.04285464 0.01886438
+v 0.01105013 -0.04313378 0.01909704
+v 0.01105013 -0.04345251 -0.02299995
+v 0.01236279 -0.03920329 -0.02384334
+v 0.01236279 -0.04148539 0.02013916
+v 0.01105013 -0.03874876 0.02321222
+v 0.01105013 -0.04243783 0.01975140
+v 0.01105013 -0.03920329 -0.02388212
+v 0.01236279 -0.03495407 -0.02388697
+v 0.01236279 -0.03846397 0.02285838
+v 0.01105013 -0.03763978 0.02395383
+v 0.01105013 -0.03495407 -0.02380942
+v 0.01105013 -0.03480131 -0.02379972
+v 0.01227321 -0.03480131 -0.02386758
+v 0.01236279 -0.03480131 -0.02387243
+v 0.01236279 -0.03630636 0.02429797
+v 0.01105013 -0.03480131 0.02563092
+v 0.01236279 -0.03480131 0.02506866
+v 0.01236279 -0.03520680 0.02487962
+f 1 2 7
+f 1 7 11
+f 1 11 15
+f 1 15 19
+f 1 19 23
+f 1 23 27
+f 1 27 31
+f 1 31 35
+f 1 35 39
+f 1 39 44
+f 1 44 43
+f 1 43 48
+f 1 48 54
+f 1 54 50
+f 1 50 49
+f 1 49 45
+f 1 45 40
+f 1 40 36
+f 1 36 32
+f 1 32 28
+f 1 28 24
+f 1 24 20
+f 1 20 16
+f 1 16 12
+f 1 12 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 4
+f 4 8 9
+f 4 9 13
+f 4 13 17
+f 4 17 21
+f 4 21 25
+f 4 25 29
+f 4 29 33
+f 4 33 37
+f 4 37 41
+f 4 41 46
+f 4 46 52
+f 4 52 55
+f 4 55 56
+f 4 56 53
+f 4 53 47
+f 4 47 42
+f 4 42 38
+f 4 38 34
+f 4 34 30
+f 4 30 26
+f 4 26 22
+f 4 22 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 9
+f 9 12 13
+f 10 14 11
+f 11 14 15
+f 12 16 13
+f 13 16 17
+f 14 18 15
+f 15 18 19
+f 16 20 17
+f 17 20 21
+f 18 22 23
+f 18 23 19
+f 20 24 21
+f 21 24 25
+f 22 26 27
+f 22 27 23
+f 24 28 25
+f 25 28 29
+f 26 30 31
+f 26 31 27
+f 28 32 29
+f 29 32 33
+f 30 34 35
+f 30 35 31
+f 32 36 33
+f 33 36 37
+f 34 38 39
+f 34 39 35
+f 36 40 37
+f 37 40 41
+f 38 42 43
+f 38 43 44
+f 38 44 39
+f 40 45 41
+f 41 45 46
+f 42 47 43
+f 43 47 48
+f 45 49 46
+f 46 49 50
+f 46 50 51
+f 46 51 52
+f 47 53 48
+f 48 53 54
+f 50 54 55
+f 50 55 52
+f 50 52 51
+f 53 56 54
+f 54 56 55
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_95.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1448a5d7c3d99fca01b5398de656c0c5882b6a55
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_95.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.01236292 -0.05372752 -0.00600843
+v 0.01236292 -0.05359576 -0.00842894
+v 0.01413128 -0.05342806 -0.00600843
+v 0.01236292 -0.05342606 -0.00176158
+v 0.01236292 -0.05334820 -0.01025528
+v 0.01485850 -0.05326435 -0.00600843
+v 0.01485850 -0.05323041 -0.00528276
+v 0.01485850 -0.05294293 -0.00176158
+v 0.01236292 -0.05266144 0.00254858
+v 0.01485850 -0.05267142 -0.01025528
+v 0.01485850 -0.05278521 -0.00952961
+v 0.01236292 -0.05287106 -0.01190142
+v 0.01485850 -0.05278921 -0.00103591
+v 0.01485850 -0.05202658 0.00248040
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diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_96.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8861ddd987964512d5fec9c98339b43988aef41d
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_96.obj
@@ -0,0 +1,219 @@
+# https://github.com/mikedh/trimesh
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diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_97.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15f56fa6b2f59bbfa95a362a0199d88d0b037fea
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_97.obj
@@ -0,0 +1,285 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_98.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4a9dcc331d2c92ad33ca34f9770ae05cd926c69
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_98.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.01017316 -0.04478276 0.02378011
+v -0.00930474 -0.04568010 0.02378011
+v -0.00821922 -0.04478276 0.02561185
+v 0.00426212 -0.04478276 0.02378011
+v -0.00705424 -0.04701392 0.02378011
+v -0.00554161 -0.04595571 0.02640630
+v -0.00632063 -0.04478276 0.02719806
+v 0.00405495 -0.04478276 0.02426468
+v 0.00432314 -0.04478597 0.02378011
+v -0.00702019 -0.04703219 0.02378011
+v -0.00443622 -0.04805643 0.02378011
+v -0.00291366 -0.04805643 0.02471356
+v -0.00286541 -0.04653193 0.02709422
+v -0.00286541 -0.04486416 0.02921854
+v -0.00312509 -0.04478276 0.02914823
+v 0.00359662 -0.04478276 0.02508131
+v 0.00313971 -0.04507856 0.02537497
+v 0.00147524 -0.04765904 0.02378011
+v 0.00000234 -0.04805643 0.02378011
+v -0.00190051 -0.04805643 0.02463892
+v 0.00030742 -0.04647071 0.02695577
+v -0.00275899 -0.04478276 0.02928560
+v -0.00286541 -0.04478276 0.02930453
+v 0.00325039 -0.04478276 0.02550909
+v 0.00281334 -0.04478276 0.02602125
+v 0.00135605 -0.04776416 0.02378011
+v 0.00117868 -0.04478276 0.02774861
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 23
+f 1 23 22
+f 1 22 27
+f 1 27 25
+f 1 25 24
+f 1 24 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 26
+f 1 26 19
+f 1 19 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 8 16 17
+f 8 17 18
+f 8 18 9
+f 11 19 20
+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 15
+f 16 24 17
+f 17 24 25
+f 17 25 21
+f 17 21 26
+f 17 26 18
+f 19 26 20
+f 20 26 21
+f 21 27 22
+f 21 25 27
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/collision/model_normalized_collision_99.obj b/new_croissant/new_croissant_0/collision/model_normalized_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c186874422ad4fe5006c16442fef35b4bb74d521
--- /dev/null
+++ b/new_croissant/new_croissant_0/collision/model_normalized_collision_99.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.05240230 -0.03310318 -0.00601170
+v -0.05240230 -0.03269955 -0.00263890
+v -0.05449704 -0.03162524 -0.00601170
+v -0.05449704 -0.03162423 -0.00614462
+v -0.05240230 -0.03300679 -0.00984308
+v -0.05361924 -0.03154993 -0.00161875
+v -0.05449704 -0.03089530 -0.00165863
+v -0.05449704 -0.03110414 -0.00260899
+v -0.05240230 -0.03222063 -0.00074149
+v -0.05449704 -0.03147764 -0.01026177
+v -0.05240230 -0.03299072 -0.01026177
+v -0.05449704 -0.02952279 0.00186371
+v -0.05240230 -0.03084811 0.00237545
+v -0.05386570 -0.02980793 0.00228573
+v -0.05449704 -0.03142342 -0.01049105
+v -0.05240230 -0.03270156 -0.01227880
+v -0.05449704 -0.02901475 0.00285395
+v -0.05245828 -0.02915029 0.00531959
+v -0.05240230 -0.02917238 0.00533953
+v -0.05449704 -0.03035714 -0.01460820
+v -0.05240230 -0.03243248 -0.01321256
+v -0.05449704 -0.02711712 0.00567182
+v -0.05240230 -0.02911113 0.00541595
+v -0.05403035 -0.02658799 0.00690796
+v -0.05449704 -0.02635205 0.00669862
+v -0.05449704 -0.02895249 -0.01705722
+v -0.05240230 -0.03158307 -0.01510665
+v -0.05240230 -0.02729082 0.00753268
+v -0.05277035 -0.02515724 0.00963279
+v -0.05449704 -0.02579882 0.00737650
+v -0.05298647 -0.02954889 -0.01782150
+v -0.05240230 -0.03038626 -0.01716688
+v -0.05449704 -0.02686511 -0.01907426
+v -0.05240230 -0.02777476 -0.02008112
+v -0.05240230 -0.02530885 0.00970922
+v -0.05240230 -0.02497752 0.00997838
+v -0.05240230 -0.02284596 0.01145377
+v -0.05289297 -0.02284596 0.01115803
+v -0.05364180 -0.02284596 0.01070611
+v -0.05449704 -0.02285800 0.01008139
+v -0.05240230 -0.02976476 -0.01802088
+v -0.05449704 -0.02669442 -0.01923044
+v -0.05240230 -0.02588115 -0.02135049
+v -0.05240230 -0.02284596 -0.02249358
+v -0.05448535 -0.02284596 0.01009801
+v -0.05449704 -0.02284596 0.01008804
+v -0.05449704 -0.02433695 -0.02079888
+v -0.05259996 -0.02545143 -0.02147676
+v -0.05240230 -0.02553878 -0.02151663
+v -0.05240230 -0.02393433 -0.02212806
+v -0.05343613 -0.02284596 -0.02214467
+v -0.05449704 -0.02284596 -0.01514320
+v -0.05449704 -0.02285097 -0.02153325
+v -0.05371828 -0.02284596 -0.02203834
+v -0.05351282 -0.02284596 -0.02211809
+v -0.05449211 -0.02284596 -0.02153657
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 16
+f 1 16 21
+f 1 21 27
+f 1 27 32
+f 1 32 41
+f 1 41 34
+f 1 34 43
+f 1 43 49
+f 1 49 50
+f 1 50 44
+f 1 44 37
+f 1 37 36
+f 1 36 35
+f 1 35 28
+f 1 28 23
+f 1 23 19
+f 1 19 13
+f 1 13 9
+f 1 9 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 9 6
+f 3 8 7
+f 3 7 12
+f 3 12 17
+f 3 17 22
+f 3 22 25
+f 3 25 30
+f 3 30 40
+f 3 40 46
+f 3 46 52
+f 3 52 53
+f 3 53 47
+f 3 47 42
+f 3 42 33
+f 3 33 26
+f 3 26 20
+f 3 20 15
+f 3 15 10
+f 3 10 4
+f 4 10 5
+f 5 10 11
+f 6 9 7
+f 7 9 12
+f 9 13 14
+f 9 14 12
+f 10 15 16
+f 10 16 11
+f 12 14 17
+f 13 18 14
+f 13 19 18
+f 14 18 17
+f 15 20 16
+f 16 20 21
+f 17 18 22
+f 18 19 23
+f 18 23 24
+f 18 24 25
+f 18 25 22
+f 20 26 27
+f 20 27 21
+f 23 28 24
+f 24 28 29
+f 24 29 30
+f 24 30 25
+f 26 31 32
+f 26 32 27
+f 26 33 34
+f 26 34 31
+f 28 35 29
+f 29 35 36
+f 29 36 37
+f 29 37 38
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 31 34 41
+f 31 41 32
+f 33 42 34
+f 34 42 43
+f 37 44 51
+f 37 51 55
+f 37 55 54
+f 37 54 56
+f 37 56 52
+f 37 52 46
+f 37 46 45
+f 37 45 39
+f 37 39 38
+f 39 45 40
+f 40 45 46
+f 42 47 43
+f 43 47 48
+f 43 48 49
+f 44 50 51
+f 47 53 48
+f 48 53 54
+f 48 54 55
+f 48 55 50
+f 48 50 49
+f 50 55 51
+f 52 56 53
+f 53 56 54
\ No newline at end of file
diff --git a/new_croissant/new_croissant_0/model.xml b/new_croissant/new_croissant_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e02018db9365d5a816d65f1cc000f6a6feea3895
--- /dev/null
+++ b/new_croissant/new_croissant_0/model.xml
@@ -0,0 +1,476 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="new_croissant_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_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_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_230.obj" name="model_normalized_collision_230._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_175.obj" name="model_normalized_collision_175._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_130.obj" name="model_normalized_collision_130._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_150.obj" name="model_normalized_collision_150._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_154.obj" name="model_normalized_collision_154._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_120.obj" name="model_normalized_collision_120._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_213.obj" name="model_normalized_collision_213._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_131.obj" name="model_normalized_collision_131._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_173.obj" name="model_normalized_collision_173._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_113.obj" name="model_normalized_collision_113._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_184.obj" name="model_normalized_collision_184._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_122.obj" name="model_normalized_collision_122._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_137.obj" name="model_normalized_collision_137._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_185.obj" name="model_normalized_collision_185._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_204.obj" name="model_normalized_collision_204._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_206.obj" name="model_normalized_collision_206._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_189.obj" name="model_normalized_collision_189._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_158.obj" name="model_normalized_collision_158._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_115.obj" name="model_normalized_collision_115._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_227.obj" name="model_normalized_collision_227._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_127.obj" name="model_normalized_collision_127._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_209.obj" name="model_normalized_collision_209._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_202.obj" name="model_normalized_collision_202._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_229.obj" name="model_normalized_collision_229._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_164.obj" name="model_normalized_collision_164._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_161.obj" name="model_normalized_collision_161._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_191.obj" name="model_normalized_collision_191._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_110.obj" name="model_normalized_collision_110._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_183.obj" name="model_normalized_collision_183._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_141.obj" name="model_normalized_collision_141._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_162.obj" name="model_normalized_collision_162._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_128.obj" name="model_normalized_collision_128._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_135.obj" name="model_normalized_collision_135._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_177.obj" name="model_normalized_collision_177._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_157.obj" name="model_normalized_collision_157._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_190.obj" name="model_normalized_collision_190._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_croissant/new_croissant_1/collision/model_normalized_collision_0.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc61d5c3552027b2e2513af347620b36ae90ea93
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,546 @@
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diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_1.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bd2a1823b439256f1f7fb6cbf62e1306b126142
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_10.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e94f4b4dcdf48edc82afc3427f1734043b5324b
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,333 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_100.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab888e03a47b4b9d85f48b1f8e54c88a7f298fb2
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_100.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01375432 -0.00901469 -0.02496066
+v 0.01375432 -0.00882809 -0.02499630
+v 0.01535528 -0.00882809 -0.02483338
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+f 11 18 12
+f 12 18 19
+f 18 20 19
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_101.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63596da946aa56eed55b011531530ce1b9329ef2
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_101.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.02883613 0.03045194 -0.00294822
+v -0.02883613 0.03011890 -0.00412580
+v -0.03032877 0.02974423 -0.00424074
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_102.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93559bb6748f64a823b18b0eac08bd58a989aa4e
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_102.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v 0.00195296 0.01170854 0.03185562
+v 0.00195296 0.00876946 0.03182959
+v 0.00196361 0.00878445 0.03182959
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+v 0.00196361 0.00291628 0.03153166
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+v 0.00327945 0.01465263 0.03106885
+v 0.00327945 0.02181539 0.02961100
+v 0.00327945 0.02206032 0.02955893
+v 0.00306259 0.02206032 0.02955893
+v 0.00195296 0.01757671 0.03067257
+v 0.00195296 -0.00001781 0.03101244
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+v 0.00327945 0.02503939 0.02672855
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+v 0.00195296 0.02506438 0.02675748
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+v 0.00195296 0.02321496 0.02842794
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+v 0.00195296 -0.01653766 0.02096801
+v 0.00196361 -0.01646768 0.02105913
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_103.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0260f90c1f1715eae80b44e020c0d07554b912b
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_103.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.00981186 0.01582350 0.01210776
+v -0.00981186 0.01582718 0.00923812
+v -0.01049968 0.01582350 0.01210776
+v -0.00981186 -0.01981882 0.01210776
+v -0.01049968 0.01582718 0.00923812
+v -0.00981186 0.01582718 -0.00861037
+v -0.01049968 -0.01949463 0.01210776
+v -0.01049968 -0.02016879 0.01043668
+v -0.00981186 -0.02049298 0.01043059
+v -0.01049968 0.01582718 -0.00861037
+v -0.00981186 -0.01897151 -0.00861037
+v -0.01049968 -0.02110083 0.00754677
+v -0.00981186 -0.02148028 0.00756299
+v -0.00981186 -0.02090558 0.00923812
+v -0.01049968 -0.01868047 -0.00861037
+v -0.00981186 -0.02040825 -0.00423799
+v -0.01049968 -0.02147660 0.00456559
+v -0.01026363 -0.02162027 0.00456559
+v -0.00981186 -0.02151344 0.00729326
+v -0.01049968 -0.02007301 -0.00423799
+v -0.01049968 -0.02076559 -0.00130549
+v -0.00981186 -0.02108241 -0.00130549
+v -0.01049968 -0.02146186 0.00427965
+v -0.00981186 -0.02157238 0.00261059
+v -0.00981186 -0.02180815 0.00456559
+v -0.00981186 -0.02157975 0.00669297
+v -0.01049968 -0.02084664 -0.00068492
+v -0.00981186 -0.02109715 -0.00122031
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 14
+f 1 14 13
+f 1 13 19
+f 1 19 26
+f 1 26 25
+f 1 25 24
+f 1 24 28
+f 1 28 22
+f 1 22 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 15
+f 3 15 20
+f 3 20 21
+f 3 21 27
+f 3 27 23
+f 3 23 17
+f 3 17 12
+f 3 12 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 15
+f 6 15 10
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 11 16 15
+f 12 17 18
+f 12 18 13
+f 13 18 19
+f 15 16 20
+f 16 21 20
+f 16 22 21
+f 17 23 18
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 18 23 27
+f 18 27 28
+f 18 28 24
+f 21 22 28
+f 21 28 27
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_104.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d743445f3e8f4d6e294d1814d53e88ea499532d
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_104.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01052494 0.00318561 -0.00004168
+v 0.01052494 0.02397267 -0.00004168
+v 0.01141571 0.00318561 -0.00004168
+v 0.01052494 0.00318561 0.02592099
+v 0.01052494 0.02397267 0.02359309
+v 0.01141571 0.02397267 -0.00004168
+v 0.01141571 0.00318561 0.02592099
+v 0.01052494 0.02161596 0.02592099
+v 0.01077039 0.02397267 0.02342282
+v 0.01052494 0.02271087 0.02485361
+v 0.01141571 0.02397267 0.02294504
+v 0.01141571 0.02083853 0.02592099
+v 0.01082785 0.02137785 0.02592099
+v 0.01141571 0.02167091 0.02519924
+v 0.01141571 0.02296323 0.02394126
+v 0.01141571 0.02109496 0.02572784
+v 0.01094565 0.02128016 0.02592099
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 10
+f 1 10 5
+f 1 5 2
+f 2 5 9
+f 2 9 11
+f 2 11 6
+f 3 6 11
+f 3 11 15
+f 3 15 14
+f 3 14 16
+f 3 16 12
+f 3 12 7
+f 4 7 12
+f 4 12 17
+f 4 17 13
+f 4 13 8
+f 5 10 9
+f 8 13 14
+f 8 14 15
+f 8 15 10
+f 9 10 11
+f 10 15 11
+f 12 16 17
+f 13 17 14
+f 14 17 16
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_105.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b570e601ca0c781ed7a753fd94727054ac624cb
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_105.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.00554852 0.03349575 0.00301209
+v -0.00554852 0.03608941 0.00301209
+v -0.00386193 0.03349575 0.00301209
+v -0.00554852 0.03349575 0.01229690
+v -0.00554852 0.03580015 0.00456697
+v -0.00390766 0.03604853 0.00456697
+v -0.00390766 0.03631789 0.00301209
+v -0.00386193 0.03631679 0.00301209
+v -0.00386193 0.03349575 0.01311688
+v -0.00390766 0.03349575 0.01310995
+v -0.00554852 0.03369660 0.01205457
+v -0.00554852 0.03518959 0.00750266
+v -0.00390766 0.03548603 0.00750266
+v -0.00386193 0.03548575 0.00750266
+v -0.00386193 0.03604770 0.00456697
+v -0.00388950 0.03631762 0.00301209
+v -0.00386193 0.03386181 0.01222568
+v -0.00390766 0.03386071 0.01222173
+v -0.00547522 0.03377092 0.01198137
+v -0.00554852 0.03375434 0.01195071
+v -0.00554852 0.03429667 0.01034736
+v -0.00390766 0.03458372 0.01043737
+v -0.00386193 0.03458482 0.01043737
+v -0.00554852 0.03379302 0.01187158
+f 1 2 7
+f 1 7 16
+f 1 16 8
+f 1 8 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 11
+f 1 11 20
+f 1 20 24
+f 1 24 21
+f 1 21 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 15
+f 3 15 14
+f 3 14 23
+f 3 23 17
+f 3 17 9
+f 4 10 11
+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 8 16 15
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 12 21 22
+f 12 22 13
+f 13 22 23
+f 13 23 14
+f 17 23 22
+f 17 22 18
+f 18 22 19
+f 19 24 20
+f 19 22 21
+f 19 21 24
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_106.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_106.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4a9c16fd5fe7e99625d3e5b2c972c3c146126b1
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_106.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.03113777 -0.01210015 0.00708110
+v 0.03113777 -0.01210015 0.02202277
+v 0.03113777 -0.01138611 0.00708110
+v 0.04880790 -0.01210015 0.00708110
+v 0.03132033 -0.01210015 0.02197546
+v 0.03113777 -0.01176577 0.02211000
+v 0.03113777 -0.01138611 0.02218540
+v 0.04889657 -0.01138611 0.00708110
+v 0.04872792 -0.01138611 0.00766511
+v 0.04852797 -0.01210015 0.00776121
+v 0.03132033 -0.01176409 0.02204199
+v 0.03481854 -0.01210015 0.02056941
+v 0.03129425 -0.01138611 0.02212626
+v 0.04800463 -0.01138611 0.00918352
+v 0.04778556 -0.01138611 0.00957828
+v 0.04761517 -0.01138611 0.00988137
+v 0.04695621 -0.01210015 0.01054521
+v 0.03132033 -0.01138611 0.02211591
+v 0.03492460 -0.01210015 0.02052653
+v 0.04564351 -0.01138611 0.01280140
+v 0.04541227 -0.01176409 0.01299656
+v 0.04535141 -0.01210015 0.01292116
+v 0.03522887 -0.01138611 0.02051470
+v 0.03509325 -0.01210015 0.02045704
+v 0.04545574 -0.01138611 0.01303648
+v 0.04441253 -0.01138611 0.01431538
+v 0.04421432 -0.01176409 0.01446322
+v 0.04409436 -0.01210015 0.01440704
+v 0.03689625 -0.01210015 0.01969857
+v 0.03719183 -0.01176409 0.01962761
+v 0.03716401 -0.01138611 0.01967787
+v 0.04424388 -0.01138611 0.01450462
+v 0.04390832 -0.01210015 0.01461107
+v 0.04274688 -0.01176409 0.01584266
+v 0.03721791 -0.01210015 0.01953890
+v 0.03951122 -0.01210015 0.01835019
+v 0.03955990 -0.01176409 0.01838715
+v 0.03955816 -0.01138611 0.01839158
+v 0.04296596 -0.01138611 0.01570516
+v 0.04265995 -0.01210015 0.01578352
+v 0.04102734 -0.01176409 0.01731080
+v 0.04076654 -0.01210015 0.01742761
+v 0.04070221 -0.01210015 0.01747492
+v 0.04102386 -0.01138611 0.01731376
+v 0.04127771 -0.01138611 0.01712451
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 10
+f 1 10 17
+f 1 17 22
+f 1 22 28
+f 1 28 33
+f 1 33 40
+f 1 40 42
+f 1 42 43
+f 1 43 36
+f 1 36 35
+f 1 35 29
+f 1 29 24
+f 1 24 19
+f 1 19 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 13
+f 3 13 18
+f 3 18 23
+f 3 23 31
+f 3 31 38
+f 3 38 44
+f 3 44 45
+f 3 45 39
+f 3 39 32
+f 3 32 26
+f 3 26 25
+f 3 25 20
+f 3 20 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 5 11 7
+f 5 7 6
+f 5 12 11
+f 7 11 13
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 11 12 18
+f 11 18 13
+f 12 19 18
+f 16 20 21
+f 16 21 17
+f 17 21 22
+f 18 19 23
+f 19 24 23
+f 20 25 21
+f 21 25 26
+f 21 26 27
+f 21 27 22
+f 22 27 28
+f 23 24 29
+f 23 29 30
+f 23 30 31
+f 26 32 27
+f 27 33 28
+f 27 32 34
+f 27 34 33
+f 29 35 30
+f 30 35 36
+f 30 36 37
+f 30 37 31
+f 31 37 38
+f 32 39 34
+f 33 34 40
+f 34 39 41
+f 34 41 42
+f 34 42 40
+f 36 43 41
+f 36 41 37
+f 37 41 38
+f 38 41 44
+f 39 45 41
+f 41 45 44
+f 41 43 42
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_107.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_107.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e2be7edb7cb69cacda52f26cb8171e84b3f1b48
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_107.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.03214225 0.02994061 0.01039403
+v -0.03214225 0.03025174 0.00910754
+v -0.03322615 0.02961753 0.01039403
+v -0.03214225 -0.00786473 0.01039403
+v -0.03214225 0.03047910 0.00784349
+v -0.03303870 0.03024775 0.00735732
+v -0.03330004 0.02959360 0.01039403
+v -0.03329970 -0.00699918 0.01039403
+v -0.03214225 -0.00854282 0.00881210
+v -0.03214225 0.03071842 0.00650464
+v -0.03330004 0.03014404 0.00737041
+v -0.03330004 0.03010415 0.00760601
+v -0.03330004 -0.00685159 0.01039403
+v -0.03330004 -0.00802428 0.00748073
+v -0.03330004 -0.00877417 0.00453003
+v -0.03214225 -0.00912917 0.00600725
+v -0.03214225 0.03075033 0.00592124
+v -0.03330004 0.03027966 0.00460670
+v -0.03330004 -0.00932063 0.00162983
+v -0.03330004 -0.00979130 -0.00130404
+v -0.03214225 -0.00951209 0.00312574
+v -0.03214225 0.03075033 0.00526864
+v -0.03330004 0.03028365 0.00452069
+v -0.03330004 -0.00979130 -0.00134144
+v -0.03214225 -0.00999871 -0.00130404
+v -0.03214225 -0.00983916 0.00031529
+v -0.03214225 0.03063865 0.00384004
+v -0.03303870 0.03038337 0.00451695
+v -0.03326321 0.03000444 0.00162983
+v -0.03330004 0.02999247 0.00166723
+v -0.03330004 -0.00976737 -0.00423790
+v -0.03214225 -0.00996680 -0.00423790
+v -0.03214225 0.03039932 0.00162983
+v -0.03317969 0.02999247 0.00140357
+v -0.03326321 0.02943006 -0.00130404
+v -0.03330004 0.02942208 -0.00126664
+v -0.03330004 0.02994460 0.00140357
+v -0.03330004 0.02998848 0.00162983
+v -0.03214225 0.03036741 0.00140357
+v -0.03214225 0.03018792 0.00039009
+v -0.03330004 -0.00976338 -0.00427530
+v -0.03214225 -0.00957192 -0.00717364
+v -0.03214225 0.02983691 -0.00140688
+v -0.03330004 0.02924258 -0.00195476
+v -0.03330004 0.02941410 -0.00130030
+v -0.03330004 -0.00932462 -0.00717364
+v -0.03214225 -0.00911321 -0.00870882
+v -0.03330004 -0.00886990 -0.00870882
+v -0.03214225 0.02903916 -0.00432205
+v -0.03330004 0.02858843 -0.00437441
+v -0.03214225 0.02747956 -0.00870882
+v -0.03330004 0.02702883 -0.00870882
+v -0.03214225 0.02799810 -0.00766916
+v -0.03257529 0.02815765 -0.00664072
+v -0.03330004 0.02847276 -0.00474278
+v -0.03214225 0.02777074 -0.00832924
+v -0.03330004 0.02754737 -0.00753640
+v -0.03330004 0.02762315 -0.00731388
+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 16
+f 1 16 21
+f 1 21 26
+f 1 26 25
+f 1 25 32
+f 1 32 42
+f 1 42 47
+f 1 47 51
+f 1 51 56
+f 1 56 53
+f 1 53 49
+f 1 49 43
+f 1 43 40
+f 1 40 39
+f 1 39 33
+f 1 33 27
+f 1 27 22
+f 1 22 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 9
+f 5 10 6
+f 6 11 12
+f 6 12 7
+f 6 10 11
+f 7 12 11
+f 7 11 18
+f 7 18 23
+f 7 23 30
+f 7 30 38
+f 7 38 37
+f 7 37 36
+f 7 36 45
+f 7 45 44
+f 7 44 50
+f 7 50 55
+f 7 55 58
+f 7 58 57
+f 7 57 52
+f 7 52 48
+f 7 48 46
+f 7 46 41
+f 7 41 31
+f 7 31 24
+f 7 24 20
+f 7 20 19
+f 7 19 15
+f 7 15 14
+f 7 14 13
+f 8 14 9
+f 8 13 14
+f 9 14 15
+f 9 15 16
+f 10 17 11
+f 11 17 18
+f 15 19 16
+f 16 19 20
+f 16 20 21
+f 17 22 23
+f 17 23 18
+f 20 24 25
+f 20 25 26
+f 20 26 21
+f 22 27 28
+f 22 28 23
+f 23 28 29
+f 23 29 30
+f 24 31 25
+f 25 31 32
+f 27 33 29
+f 27 29 28
+f 29 34 35
+f 29 35 36
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 29 33 39
+f 29 39 40
+f 29 40 34
+f 31 41 32
+f 32 41 42
+f 34 43 35
+f 34 40 43
+f 35 44 45
+f 35 45 36
+f 35 43 44
+f 41 46 42
+f 42 46 48
+f 42 48 47
+f 43 49 50
+f 43 50 44
+f 47 48 52
+f 47 52 51
+f 49 53 54
+f 49 54 50
+f 50 54 55
+f 51 52 56
+f 52 57 56
+f 53 56 57
+f 53 57 58
+f 53 58 54
+f 54 58 55
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_108.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_108.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f928298fc0d565d497e5c4b5968d8fb482b1c569
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_108.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01678343 -0.00049821 -0.02513290
+v 0.01931578 -0.00002158 -0.02448100
+v 0.01931578 -0.00049821 -0.02447073
+v 0.01678343 -0.00049821 0.02630069
+v 0.01678343 -0.00002158 -0.02511237
+v 0.01931578 0.00291334 -0.02447073
+v 0.01931578 -0.00049821 0.02571552
+v 0.01678343 -0.00002158 0.02645982
+v 0.01678343 0.00291334 -0.02496864
+v 0.01780891 0.00291334 -0.02476845
+v 0.01931578 0.00313831 -0.02445533
+v 0.01911103 0.00313831 -0.02449639
+v 0.01931578 0.00300055 0.02574119
+v 0.01678343 0.00313831 0.02730678
+v 0.01678343 0.00313831 -0.02494811
+v 0.01780891 0.00304718 -0.02475818
+v 0.01931578 0.00313831 0.02574119
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 15
+f 1 15 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 17
+f 2 17 13
+f 2 13 7
+f 2 7 3
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 6 10 12
+f 6 12 11
+f 7 13 14
+f 7 14 8
+f 9 15 16
+f 9 16 10
+f 10 16 12
+f 11 12 15
+f 11 15 14
+f 11 14 17
+f 12 16 15
+f 13 17 14
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_109.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_109.obj
new file mode 100644
index 0000000000000000000000000000000000000000..564ebd866bc2039e559e4dedde51bef4fe907234
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_109.obj
@@ -0,0 +1,213 @@
+# https://github.com/mikedh/trimesh
+v -0.04369644 -0.01035845 -0.00318179
+v -0.04369644 -0.01025974 -0.00714860
+v -0.04230459 -0.01002319 -0.00409747
+v -0.04369644 -0.01035845 -0.00295541
+v -0.04230459 -0.00987513 -0.00717225
+v -0.04369644 -0.01025804 -0.00717225
+v -0.04230459 -0.01002149 -0.00406368
+v -0.04350611 -0.01030059 -0.00274929
+v -0.04369644 -0.01032101 -0.00262090
+v -0.04230459 -0.00984450 -0.00753379
+v -0.04369644 -0.01004361 -0.00968952
+v -0.04230459 -0.00989045 -0.00158020
+v -0.04369644 -0.01016955 -0.00158358
+v -0.04369644 -0.00998745 -0.01010851
+v -0.04230459 -0.00949562 -0.01010851
+v -0.04230459 -0.00988364 -0.00154641
+v -0.04230459 -0.00926758 0.00138308
+v -0.04369644 -0.00981557 -0.00005632
+v -0.04369644 -0.00967261 -0.01212232
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_11.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0540c9d5e3a591c5d128cbfaf4e88d3e0096a23f
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,222 @@
+# https://github.com/mikedh/trimesh
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+v 0.02416034 -0.00003684 0.00777426
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+v 0.02312194 0.00002291 0.00777126
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+v 0.02511167 -0.00003684 0.00777426
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+v 0.02312214 0.02798066 -0.00598344
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_110.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_110.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79b8247aa05c35136346e585231061de763cdddd
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_110.obj
@@ -0,0 +1,204 @@
+# https://github.com/mikedh/trimesh
+v 0.03113603 -0.01356030 -0.02432485
+v 0.03113603 -0.01210034 -0.02413901
+v 0.03113786 -0.01158105 -0.02407529
+v 0.03113786 -0.01210034 -0.02414077
+v 0.03132088 -0.01210034 -0.02413193
+v 0.03132271 -0.01356030 -0.02431422
+v 0.03113603 -0.01356030 -0.00624350
+v 0.03113603 -0.01210034 -0.00624350
+v 0.03113786 -0.01138611 -0.02404343
+v 0.03132088 -0.01176429 -0.02408945
+v 0.03165763 -0.01210034 -0.02408414
+v 0.03311812 -0.01356030 -0.02405582
+v 0.04983313 -0.01356030 -0.00624350
+v 0.03113786 -0.01138611 -0.00659217
+v 0.04965560 -0.01210034 -0.00624350
+v 0.03131905 -0.01138611 -0.02402750
+v 0.03384470 -0.01138611 -0.02354078
+v 0.03421256 -0.01356030 -0.02384343
+v 0.04972515 -0.01356030 -0.00717801
+v 0.04959521 -0.01138611 -0.00659217
+v 0.03415765 -0.01203330 -0.02358679
+v 0.03512216 -0.01138611 -0.02311246
+v 0.03740988 -0.01356030 -0.02287352
+v 0.03625138 -0.01356030 -0.02325936
+v 0.03425100 -0.01210034 -0.02357264
+v 0.03538936 -0.01356030 -0.02353016
+v 0.04927126 -0.01356030 -0.01001871
+v 0.04947624 -0.01138611 -0.00717624
+v 0.03542048 -0.01138611 -0.02300804
+v 0.03699809 -0.01210034 -0.02262751
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+v 0.03635387 -0.01138611 -0.02267352
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_111.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..415a9c201aaf1462a612a321edd39130fa0ad4f7
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_111.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00057014 -0.00753999 -0.02428267
+v -0.00092817 -0.00753999 -0.02406755
+v -0.00092817 -0.00589283 -0.02443324
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+v 0.00057014 -0.00753999 0.02825288
+v -0.00092817 -0.00753999 0.02815070
+v -0.00092817 -0.00367430 -0.02487422
+v -0.00025507 -0.00367430 -0.02497102
+v 0.00057014 -0.00367430 -0.02508395
+v 0.00057014 -0.00604684 0.02905955
+v -0.00088212 -0.00753999 0.02816146
+v -0.00092817 -0.00673363 0.02859168
+v -0.00092817 -0.00367430 0.02981781
+v 0.00057014 -0.00367430 0.02985546
+v -0.00092817 -0.00596889 0.02900577
+v 0.00057014 -0.00458094 0.02956506
+v -0.00092817 -0.00450147 0.02954355
+f 1 2 3
+f 1 3 4
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+f 1 6 2
+f 2 6 12
+f 2 12 15
+f 2 15 17
+f 2 17 13
+f 2 13 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 11
+f 6 11 12
+f 7 13 14
+f 7 14 9
+f 7 9 8
+f 10 15 11
+f 10 16 17
+f 10 17 15
+f 11 15 12
+f 13 17 16
+f 13 16 14
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_112.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_112.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4af742aaf65cd63f655a542c1f116be3922131e8
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_112.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.05087148 0.00585144 0.01515503
+v -0.05165085 0.00585144 0.01483887
+v -0.05165085 0.00273936 0.01445334
+v -0.05087148 0.00280569 0.01470498
+v -0.05087148 0.00790991 0.01510342
+v -0.05165085 0.00648752 0.01482274
+v -0.05165085 0.00206035 0.01433720
+v -0.05087148 0.00268667 0.01467434
+v -0.05165085 0.00878208 0.01468724
+v -0.05087148 0.00878208 0.01505180
+v -0.05165085 -0.00001763 0.01375649
+v -0.05087667 -0.00001763 0.01390167
+v -0.05087148 -0.00001763 0.01390167
+v -0.05087148 0.00995082 0.01485661
+v -0.05165085 0.00903183 0.01464530
+v -0.05165085 -0.00071809 0.01351291
+v -0.05165085 -0.00074736 0.01350001
+v -0.05087667 -0.00164879 0.01309513
+v -0.05087148 -0.00263998 0.01260313
+v -0.05165085 0.01110200 0.01411943
+v -0.05087148 0.01189612 0.01434043
+v -0.05089239 0.01191368 0.01432430
+v -0.05165085 0.01186490 0.01391780
+v -0.05165085 -0.00156489 0.01309513
+v -0.05165085 -0.00264778 0.01255797
+v -0.05165085 -0.00303411 0.01236440
+v -0.05165085 -0.00336971 0.01214502
+v -0.05087667 -0.00334044 0.01214502
+v -0.05087148 -0.00322142 0.01214502
+v -0.05087148 0.01192929 0.01432914
+v -0.05087148 0.01485017 0.01317417
+v -0.05165085 0.01463749 0.01283864
+v -0.05165085 -0.00332288 -0.00132424
+v -0.05087148 -0.00332288 -0.00132424
+v -0.05087148 -0.00332288 0.01206275
+v -0.05087148 0.01499260 0.01309513
+v -0.05165085 0.01595647 0.01214502
+v -0.05165085 0.01541990 0.01244183
+v -0.05100111 0.01486383 0.01309513
+v -0.05165085 0.01656328 -0.00132424
+v -0.05087148 0.01656328 -0.00132424
+v -0.05087148 0.01650279 0.01224019
+v -0.05118041 0.01639158 0.01214502
+v -0.05165085 0.01621597 0.01199984
+v -0.05165085 0.01656328 0.01166432
+v -0.05087148 0.01656328 0.01218535
+v -0.05093283 0.01656328 0.01214502
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 19
+f 1 19 29
+f 1 29 35
+f 1 35 34
+f 1 34 41
+f 1 41 46
+f 1 46 42
+f 1 42 36
+f 1 36 31
+f 1 31 30
+f 1 30 21
+f 1 21 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 9
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+f 2 20 23
+f 2 23 32
+f 2 32 38
+f 2 38 37
+f 2 37 44
+f 2 44 45
+f 2 45 40
+f 2 40 33
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+f 2 27 26
+f 2 26 25
+f 2 25 24
+f 2 24 17
+f 2 17 16
+f 2 16 11
+f 2 11 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 6
+f 5 10 9
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 9 10 14
+f 9 14 15
+f 11 16 12
+f 12 16 17
+f 12 17 18
+f 12 18 13
+f 13 18 19
+f 14 20 15
+f 14 21 22
+f 14 22 23
+f 14 23 20
+f 17 24 18
+f 18 24 25
+f 18 25 19
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 19 28 29
+f 21 30 22
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 27 33 34
+f 27 34 28
+f 28 34 35
+f 28 35 29
+f 31 36 37
+f 31 37 38
+f 31 38 39
+f 31 39 32
+f 32 39 38
+f 33 40 41
+f 33 41 34
+f 36 42 43
+f 36 43 44
+f 36 44 37
+f 40 45 47
+f 40 47 46
+f 40 46 41
+f 42 46 43
+f 43 46 47
+f 43 47 44
+f 44 47 45
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_113.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_113.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85f76b6829397a9ab9f864b2eb3dcc195552c7ba
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_113.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.03214225 0.02748114 -0.00870882
+v -0.03214225 0.02686139 -0.01014539
+v -0.03330004 0.02666794 -0.00954766
+v -0.03330004 0.02702976 -0.00870882
+v -0.03214225 -0.00911628 -0.00870882
+v -0.03214225 0.02548218 -0.01254484
+v -0.03326321 0.02533889 -0.01218434
+v -0.03330004 0.02533172 -0.01217271
+v -0.03326321 0.02643867 -0.01011128
+v -0.03330004 0.02642434 -0.01010818
+v -0.03330004 -0.00887268 -0.00870882
+v -0.03214225 -0.00875446 -0.01003220
+v -0.03214225 0.02503439 -0.01323327
+v -0.03214225 0.02454002 -0.01395117
+v -0.03326321 0.02432866 -0.01365114
+v -0.03330004 0.02431791 -0.01364339
+v -0.03330004 -0.00845354 -0.01011128
+v -0.03330004 -0.00844280 -0.01013764
+v -0.03330004 -0.00758303 -0.01206650
+v -0.03214225 -0.00819561 -0.01128193
+v -0.03214225 0.02310349 -0.01589631
+v -0.03262380 0.02246941 -0.01662893
+v -0.03308404 0.02274526 -0.01597151
+v -0.03330004 0.02279541 -0.01576296
+v -0.03330004 -0.00683073 -0.01351469
+v -0.03214225 -0.00722837 -0.01302240
+v -0.03214225 0.02254106 -0.01662893
+v -0.03330004 0.02203237 -0.01662893
+v -0.03330004 0.02244792 -0.01621572
+v -0.03330004 0.02270943 -0.01588158
+v -0.03330004 -0.00681282 -0.01354183
+v -0.03330004 -0.00536196 -0.01560248
+v -0.03214225 -0.00592081 -0.01487296
+v -0.03214225 -0.00440905 -0.01662893
+v -0.03330004 -0.00442697 -0.01662893
+v -0.03330004 -0.00534763 -0.01562109
+v -0.03214225 -0.00536196 -0.01558930
+v -0.03214225 -0.00453086 -0.01649636
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 5
+f 1 5 12
+f 1 12 20
+f 1 20 26
+f 1 26 33
+f 1 33 37
+f 1 37 38
+f 1 38 34
+f 1 34 27
+f 1 27 21
+f 1 21 14
+f 1 14 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 8
+f 3 8 16
+f 3 16 24
+f 3 24 30
+f 3 30 29
+f 3 29 28
+f 3 28 35
+f 3 35 36
+f 3 36 32
+f 3 32 31
+f 3 31 25
+f 3 25 19
+f 3 19 18
+f 3 18 17
+f 3 17 11
+f 3 11 4
+f 5 11 12
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 8 15 16
+f 8 10 9
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 20
+f 14 21 22
+f 14 22 15
+f 15 22 23
+f 15 23 16
+f 16 23 24
+f 19 25 20
+f 20 25 26
+f 21 27 22
+f 22 27 34
+f 22 34 35
+f 22 35 28
+f 22 28 29
+f 22 29 30
+f 22 30 23
+f 23 30 24
+f 25 31 26
+f 26 31 32
+f 26 32 33
+f 32 36 33
+f 33 36 37
+f 34 38 35
+f 35 38 37
+f 35 37 36
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_114.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_114.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ac005299c7f02226d43a5b7f4415348b3b6f878
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_114.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01820687 0.00313831 0.00360215
+v 0.01820687 0.00441457 0.00360215
+v 0.01931567 0.00313831 0.00360215
+v 0.01820687 0.00313831 0.02622336
+v 0.01931567 0.00441457 0.00360215
+v 0.01820687 0.00441457 0.02656958
+v 0.01931567 0.00313831 0.02574225
+v 0.01820687 0.00426254 0.02655609
+v 0.01931567 0.00441457 0.02579845
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 7
+f 4 7 8
+f 6 8 7
+f 6 7 9
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_115.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_115.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03c02262cfc566c232d477325fb7b4e05b292a5d
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_115.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.03330004 0.02781550 0.01458941
+v -0.03330004 0.02837331 0.01362326
+v -0.03407431 0.02762341 0.01450731
+v -0.03371573 0.02768621 0.01458941
+v -0.03330004 -0.00530180 0.01458941
+v -0.03463212 0.02832159 0.01291454
+v -0.03330004 0.02848782 0.01341521
+v -0.03374429 0.02767513 0.01458941
+v -0.03463212 0.02753106 0.01426098
+v -0.03463212 0.02731311 0.01452953
+v -0.03424134 0.02746826 0.01458941
+v -0.03402789 0.02756430 0.01458941
+v -0.03463212 -0.00401257 0.01458941
+v -0.03463212 -0.00533504 0.01284416
+v -0.03463212 -0.00536090 0.01279724
+v -0.03463212 -0.00581896 0.01191505
+v -0.03330004 -0.00593348 0.01317815
+v -0.03330004 0.02957757 0.01047168
+v -0.03463212 0.02877965 0.01167428
+v -0.03463212 0.02726139 0.01458941
+v -0.03463212 -0.00674248 0.00955553
+v -0.03330004 -0.00698629 0.01043834
+v -0.03330004 0.02958865 0.01043958
+v -0.03463212 0.02909365 0.01051922
+v -0.03463212 -0.00712297 0.00828317
+v -0.03330004 -0.00775096 0.00828317
+v -0.03330004 0.02998761 0.00828317
+v -0.03463212 0.02940025 0.00887706
+v -0.03463212 0.02911581 0.01040315
+v -0.03463212 0.02909734 0.01050193
+v -0.03463212 0.02949630 0.00828317
+v -0.03400885 0.02973272 0.00828317
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 11
+f 1 11 20
+f 1 20 13
+f 1 13 5
+f 1 5 17
+f 1 17 22
+f 1 22 26
+f 1 26 27
+f 1 27 23
+f 1 23 18
+f 1 18 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 8 4
+f 3 6 9
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 8
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 6 7 18
+f 6 18 19
+f 6 19 24
+f 6 24 30
+f 6 30 29
+f 6 29 28
+f 6 28 31
+f 6 31 25
+f 6 25 21
+f 6 21 16
+f 6 16 15
+f 6 15 14
+f 6 14 13
+f 6 13 20
+f 6 20 10
+f 6 10 9
+f 10 20 11
+f 16 21 17
+f 17 21 22
+f 18 23 19
+f 19 23 24
+f 21 25 26
+f 21 26 22
+f 23 27 28
+f 23 28 29
+f 23 29 30
+f 23 30 24
+f 25 31 32
+f 25 32 27
+f 25 27 26
+f 27 32 28
+f 28 32 31
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_116.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_116.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08655f9764f1ed9a62164ef5e2122bc2df385a5d
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_116.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.01372992 -0.01844111 -0.00416405
+v -0.01372992 -0.01191528 -0.00416405
+v -0.01472193 -0.01804315 -0.00416405
+v -0.01472193 -0.01767648 -0.00603500
+v -0.01372992 -0.01831271 -0.00481482
+v -0.01472193 -0.01191528 -0.00416405
+v -0.01372992 -0.01191528 -0.01849209
+v -0.01372992 -0.01823606 -0.00515843
+v -0.01472193 -0.01743630 -0.00710511
+v -0.01472193 -0.01191528 -0.01822281
+v -0.01372992 -0.01283449 -0.01778663
+v -0.01457802 -0.01191528 -0.01826208
+v -0.01372992 -0.01781638 -0.00702798
+v -0.01472193 -0.01691313 -0.00924675
+v -0.01472193 -0.01248379 -0.01778663
+v -0.01372992 -0.01325736 -0.01745984
+v -0.01408289 -0.01319796 -0.01741075
+v -0.01372992 -0.01752062 -0.00823694
+v -0.01472193 -0.01670617 -0.01002233
+v -0.01372992 -0.01750912 -0.00828182
+v -0.01472193 -0.01308298 -0.01725648
+v -0.01372992 -0.01356909 -0.01704891
+v -0.01472193 -0.01615873 -0.01152723
+v -0.01372992 -0.01703259 -0.01006581
+v -0.01372992 -0.01404754 -0.01635186
+v -0.01472193 -0.01346178 -0.01670389
+v -0.01372992 -0.01630182 -0.01205177
+v -0.01472193 -0.01562981 -0.01281473
+v -0.01372992 -0.01600606 -0.01281473
+v -0.01372992 -0.01616831 -0.01239678
+v -0.01372992 -0.01437396 -0.01584275
+v -0.01472193 -0.01410695 -0.01569829
+v -0.01472193 -0.01549439 -0.01309103
+v -0.01372992 -0.01568794 -0.01346690
+v -0.01372992 -0.01438610 -0.01582171
+v -0.01372992 -0.01525165 -0.01428596
+v -0.01472193 -0.01460712 -0.01481050
+v -0.01372992 -0.01540879 -0.01400686
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 8
+f 1 8 13
+f 1 13 18
+f 1 18 20
+f 1 20 24
+f 1 24 27
+f 1 27 30
+f 1 30 29
+f 1 29 34
+f 1 34 38
+f 1 38 36
+f 1 36 35
+f 1 35 31
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+f 1 16 11
+f 1 11 7
+f 1 7 2
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+f 2 10 6
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+f 3 26 32
+f 3 32 37
+f 3 37 33
+f 3 33 28
+f 3 28 23
+f 3 23 19
+f 3 19 14
+f 3 14 9
+f 3 9 4
+f 4 8 5
+f 4 9 8
+f 7 11 12
+f 8 9 13
+f 9 14 13
+f 10 12 15
+f 11 16 17
+f 11 17 15
+f 11 15 12
+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 19 23 24
+f 19 24 20
+f 21 22 25
+f 21 25 26
+f 23 27 24
+f 23 28 29
+f 23 29 30
+f 23 30 27
+f 25 31 32
+f 25 32 26
+f 28 33 34
+f 28 34 29
+f 31 35 32
+f 32 35 36
+f 32 36 37
+f 33 37 34
+f 34 37 38
+f 36 38 37
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_117.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_117.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60e3c35c5c736a1bafed0458d10cfabe5bd04af4
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_117.obj
@@ -0,0 +1,333 @@
+# https://github.com/mikedh/trimesh
+v 0.05056640 -0.00882812 -0.00129452
+v 0.05050238 -0.00693856 -0.00129852
+v 0.05044205 -0.00717217 0.00456336
+v 0.05041620 -0.00728495 0.00606487
+v 0.05041620 -0.00745902 0.00606487
+v 0.05050853 -0.00990757 -0.00129452
+v 0.05049130 -0.00990757 -0.00318842
+v 0.05051469 -0.00882812 -0.00327251
+v 0.05048145 -0.00702857 -0.00308432
+v 0.05031401 -0.00632984 -0.00228752
+v 0.05033863 -0.00632984 -0.00129852
+v 0.05031647 -0.00632984 0.00001479
+v 0.05025738 -0.00632984 0.00320600
+v 0.05022906 -0.00632984 0.00456336
+v 0.04976861 -0.00651196 0.00684966
+v 0.04781845 -0.00632984 0.00993676
+v 0.04750082 -0.00765376 0.01075759
+v 0.04721765 -0.00882812 0.01148231
+v 0.04807700 -0.00882812 0.01001284
+v 0.05027954 -0.00765376 0.00626507
+v 0.04919858 -0.00990757 0.00743024
+v 0.05012318 -0.00990757 0.00456336
+v 0.05032140 -0.00990757 0.00217697
+v 0.05037311 -0.00990757 0.00146025
+v 0.05042851 -0.00990757 0.00066345
+v 0.04711423 -0.00990792 0.01119803
+v 0.04711423 -0.00990792 -0.01374303
+v 0.05033863 -0.00990757 -0.00385309
+v 0.05017366 -0.00882812 -0.00474198
+v 0.04955439 -0.00882812 -0.00717243
+v 0.04870735 -0.00882812 -0.01010737
+v 0.05005424 -0.00632984 -0.00378502
+v 0.04961594 -0.00632984 0.00702584
+v 0.04697142 -0.00632984 0.01118201
+v 0.04711423 -0.00765376 0.01133016
+v 0.04711423 -0.00777424 0.01136219
+v 0.04550388 -0.00632984 0.01307592
+v 0.04711423 -0.00882812 0.01161445
+v 0.04711423 -0.00889887 0.01159843
+v 0.04711423 -0.00899694 0.01157441
+v 0.04796373 -0.00990757 0.00984867
+v 0.04962456 -0.00858295 0.00721403
+v 0.04870735 -0.00990757 0.00845928
+v 0.04655406 -0.00990792 0.01203887
+v 0.04702313 -0.00990792 -0.01392321
+v 0.04791202 -0.00990757 -0.01245774
+v 0.04877014 -0.00990757 -0.01010737
+v 0.04952114 -0.00990757 -0.00717243
+v 0.04785785 -0.00882812 -0.01228556
+v 0.04761778 -0.00701982 -0.01179707
+v 0.04780368 -0.00632984 -0.01054782
+v 0.04425426 -0.00632984 0.01454940
+v 0.04575011 -0.00882812 0.01330815
+v 0.04562453 -0.00990792 0.01319203
+v 0.04686431 -0.00882812 -0.01375504
+v 0.04711423 -0.00882812 -0.01338667
+v 0.04475288 -0.00990792 -0.01707037
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_118.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_118.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aff220bf39d82c11e6031fd967aa7e1843371ff
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_118.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.03132698 -0.01025233 -0.00130352
+v -0.03214218 -0.00984148 0.00031289
+v -0.03214218 -0.00999857 -0.00130352
+v -0.03214218 -0.00999000 -0.00235792
+v -0.03214218 -0.00996845 -0.00423992
+v -0.03132698 -0.01014899 -0.00423992
+v -0.03132698 -0.00965903 0.00421218
+v -0.03214218 -0.00951853 0.00312495
+v -0.03214218 -0.00976732 -0.00560268
+v -0.03174850 -0.00985273 -0.00560268
+v -0.03132698 -0.00994405 -0.00560268
+v -0.03132698 -0.00959402 0.00455933
+v -0.03212518 -0.00925677 0.00455933
+v -0.03214218 -0.00924953 0.00455933
+v -0.03214218 -0.00830468 -0.00560268
+v -0.03132698 -0.00830468 -0.00560268
+v -0.03132698 -0.00830468 0.00455933
+v -0.03214218 -0.00830468 0.00455933
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 16
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+f 1 17 12
+f 1 12 7
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+f 2 18 15
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+f 2 5 4
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+f 6 9 10
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+f 8 12 13
+f 8 13 14
+f 9 15 16
+f 9 16 11
+f 9 11 10
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+f 12 18 14
+f 12 14 13
+f 15 18 17
+f 15 17 16
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_119.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_119.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faff8883b060bd0f650fc1b084e42b3b2835c2ba
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_119.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.02907111 -0.00295837 0.02460231
+v 0.02907111 -0.00547996 0.02427546
+v 0.02991168 -0.00412567 0.02415654
+v 0.02991168 -0.00295837 0.02430751
+v 0.02907111 -0.00002287 0.02447343
+v 0.02907111 -0.00593562 0.02420449
+v 0.02991168 -0.00550719 0.02394030
+v 0.02991168 -0.00002287 0.02416699
+v 0.02907111 0.00066335 0.02429801
+v 0.02907111 -0.00791804 0.02384227
+v 0.02991168 -0.00688144 0.02367588
+v 0.02991168 0.00144034 0.02379243
+v 0.02991168 0.00150025 0.02377700
+v 0.02991168 0.00161280 0.02374353
+v 0.02907111 0.00193958 0.02391609
+v 0.02907111 -0.00882755 0.02363838
+v 0.02991168 -0.00882755 0.02325313
+v 0.02982158 -0.00729172 0.02363387
+v 0.02991168 -0.00722092 0.02360657
+v 0.02991168 0.00433409 0.02217739
+v 0.02986749 0.00437221 0.02217739
+v 0.02985408 0.00438310 0.02217739
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+v 0.02991168 -0.01302475 0.02217739
+v 0.02907111 0.00498581 0.02217739
+v 0.02907111 -0.01356030 0.02232599
+v 0.02991168 -0.01288860 0.02222036
+v 0.02946614 -0.01356030 0.02217739
+v 0.02907111 -0.01356030 0.02217739
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_12.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5439b0334ae39778548c0e31a7a723523c0312ee
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,201 @@
+# https://github.com/mikedh/trimesh
+v -0.03330005 0.00878695 0.02479526
+v -0.03535422 0.00878695 0.02398811
+v -0.03330005 0.00584966 0.02467639
+v -0.03330005 0.01171775 0.02450956
+v -0.03514569 0.01365649 0.02380031
+v -0.03537487 0.01171775 0.02391819
+v -0.03619032 0.00878695 0.02346067
+v -0.03506958 0.00584966 0.02386524
+v -0.03619032 0.01171775 0.02352960
+v -0.03479569 0.00419622 0.02369143
+v -0.03334334 0.00309716 0.02414595
+v -0.03330005 0.00458526 0.02444163
+v -0.03330005 0.01450267 0.02392318
+v -0.03619032 0.01448645 0.02303312
+v -0.03619032 0.01246342 0.02344269
+v -0.03330005 0.01500842 0.02375935
+v -0.03380086 0.01561144 0.02345468
+v -0.03615410 0.01464207 0.02302213
+v -0.03619032 0.00584966 0.02293323
+v -0.03437523 0.00223802 0.02338575
+v -0.03330005 0.00299018 0.02413696
+v -0.03330005 0.00302260 0.02414495
+v -0.03330005 0.00309392 0.02416193
+v -0.03619032 0.01464207 0.02300115
+v -0.03330005 0.01574761 0.02350662
+v -0.03619032 0.01555633 0.02258759
+v -0.03330005 0.01667159 0.02304111
+v -0.03330005 0.02008222 0.02124900
+v -0.03535082 0.01946623 0.02094432
+v -0.03619032 0.01789384 0.02149774
+v -0.03619032 0.01771877 0.02158765
+v -0.03619032 0.00414110 0.02228891
+v -0.03526085 0.00061376 0.02142881
+v -0.03351820 -0.00026483 0.02243675
+v -0.03330005 -0.00005086 0.02273743
+v -0.03619032 0.00323009 0.02193528
+v -0.03330005 0.02152493 0.02045184
+v -0.03619032 0.02051017 0.01998534
+v -0.03619032 0.02038373 0.02006226
+v -0.03619032 0.01918417 0.02078649
+v -0.03619032 -0.00018702 0.01934202
+v -0.03461800 -0.00134119 0.02046283
+v -0.03330005 -0.00081922 0.02220400
+v -0.03330005 -0.00061497 0.02234784
+v -0.03330005 -0.00034913 0.02253465
+v -0.03330005 0.02154762 0.02043786
+v -0.03619032 0.02273097 0.01841799
+v -0.03619032 -0.00019351 0.01933502
+v -0.03619032 -0.00239485 0.01627625
+v -0.03330005 -0.00344203 0.01934701
+v -0.03330005 -0.00290061 0.02007724
+v -0.03330005 0.02355769 0.01879659
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+v -0.03330005 0.02660520 0.01587867
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+v -0.03424168 0.02746759 0.01459003
+v -0.03619032 0.02565529 0.01554902
+v -0.03330005 -0.00530297 0.01459003
+v -0.03619032 0.02643986 0.01459003
+v -0.03330005 0.02776261 0.01468593
+v -0.03371569 0.02768805 0.01459003
+v -0.03330005 0.02781773 0.01459003
+f 1 2 3
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+f 1 21 35
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_120.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_120.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdb6f944ae8417bd191bc30e18229bcf94f9641d
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_120.obj
@@ -0,0 +1,330 @@
+# https://github.com/mikedh/trimesh
+v 0.05454148 -0.02644218 -0.00131196
+v 0.05419515 -0.02437935 -0.00131196
+v 0.05372582 -0.02437935 0.00162984
+v 0.05387959 -0.02530705 0.00163335
+v 0.05406546 -0.02644218 0.00162984
+v 0.05404807 -0.02930728 0.00162634
+v 0.05405877 -0.02930728 0.00155630
+v 0.05426068 -0.02930728 -0.00131196
+v 0.05445590 -0.02644218 -0.00424676
+v 0.05417109 -0.02437935 -0.00424676
+v 0.05419515 -0.02437935 -0.00337122
+v 0.05343566 -0.02437935 0.00290813
+v 0.05340089 -0.02456316 0.00319180
+v 0.05345840 -0.02530705 0.00326885
+v 0.05354397 -0.02644218 0.00338092
+v 0.05359478 -0.02930728 0.00345096
+v 0.05360682 -0.02930728 0.00340893
+v 0.05425800 -0.02930728 -0.00137850
+v 0.05394778 -0.02930728 -0.00417672
+v 0.05385552 -0.02930728 -0.00486664
+v 0.05366431 -0.02861259 -0.00717106
+v 0.05343299 -0.02812824 -0.00887310
+v 0.05389029 -0.02644218 -0.00717106
+v 0.05360414 -0.02530705 -0.00812364
+v 0.05339421 -0.02447632 -0.00882057
+v 0.05412028 -0.02530705 -0.00541298
+v 0.05393442 -0.02437935 -0.00579121
+v 0.05322306 -0.02437935 0.00339843
+v 0.05241676 -0.02437935 0.00447709
+v 0.05316957 -0.02745623 0.00391675
+v 0.05084161 -0.02437935 0.00654686
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_121.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_121.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6830791d876e0028e562b14ce0a84592b06df4e
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_121.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.01678343 0.00313831 -0.00723640
+v 0.01678343 0.01175132 -0.00723640
+v 0.01820673 0.00313831 -0.00723640
+v 0.01678343 0.00313831 0.02730335
+v 0.01820673 0.01175132 -0.00723640
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+v 0.01680419 0.01175132 0.02737620
+v 0.01820673 0.00425540 0.02655407
+v 0.01678343 0.00593821 0.02812201
+v 0.01704510 0.01175132 0.02722357
+v 0.01820673 0.01088378 0.02678996
+v 0.01678343 0.00866308 0.02820179
+v 0.01820673 0.01066711 0.02685240
+v 0.01820673 0.00585812 0.02693565
+v 0.01820673 0.00839076 0.02712297
+v 0.01678343 0.00646683 0.02816017
+v 0.01820673 0.00876425 0.02712991
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_122.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_122.obj
new file mode 100644
index 0000000000000000000000000000000000000000..779814da2fca2690b2234c262038fef689e5a071
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_122.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.00881396 0.02192894 -0.02172788
+v -0.00973127 0.02192894 -0.02166397
+v -0.00881396 0.02358417 -0.02102487
+v -0.00881396 0.02192894 0.02490858
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_123.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_123.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acf4575c7a2dbc37d0f4914b7a9aa702e6d40532
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_123.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.02991168 -0.01356030 -0.00470438
+v 0.02991168 0.00302388 -0.00470438
+v 0.03113603 -0.01356030 -0.00470438
+v 0.02991168 -0.01356030 0.02205247
+v 0.03113603 0.00302388 -0.00470438
+v 0.02991168 0.00328942 0.02273410
+v 0.03113603 -0.01356030 0.02172869
+v 0.02991168 -0.01177405 0.02256369
+v 0.03113603 0.00302388 0.02230524
+v 0.02991168 0.00161204 0.02374234
+v 0.02999306 0.00158235 0.02372530
+v 0.03113603 -0.01176416 0.02210643
+v 0.02991168 -0.00722021 0.02360602
+v 0.02991168 -0.00882667 0.02325100
+v 0.03113603 0.00272700 0.02246428
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+v 0.02991168 -0.00550654 0.02393831
+v 0.02991168 -0.00295995 0.02430469
+v 0.02991168 -0.00412439 0.02415416
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_124.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_124.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f88d65004f9e828c6f5b089ef36587d5a8856f7c
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_124.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.00386178 0.03646655 -0.00299417
+v -0.00280034 0.03644915 -0.00299417
+v -0.00239933 0.03617073 -0.00424103
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+v -0.00386178 0.03500485 -0.00840436
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_125.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_125.obj
new file mode 100644
index 0000000000000000000000000000000000000000..613b087e4f2cfd94fb6e50c29373786b8e114493
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_125.obj
@@ -0,0 +1,300 @@
+# https://github.com/mikedh/trimesh
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+v -0.03913832 0.01063155 -0.02124348
+v -0.03766314 0.01177943 -0.02123056
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_126.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_126.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e9c860ab236b8f4d106e807922b24997a3c3d2c
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_126.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.01068461 -0.02098557 -0.01905877
+v 0.01065243 -0.02044262 -0.01950590
+v 0.01141571 -0.01953992 -0.02042274
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+v 0.01052494 -0.02045185 -0.01945170
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+v 0.01141571 -0.02098557 -0.01903619
+v 0.01052494 -0.02098557 0.01754259
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+v 0.01141571 -0.01914720 -0.02071631
+v 0.01141571 -0.02098557 0.01798971
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_127.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_127.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e5ed1401df4ee0fb29595fc38d80f63c13b0d03
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_127.obj
@@ -0,0 +1,267 @@
+# https://github.com/mikedh/trimesh
+v 0.05400070 -0.02323047 -0.00162754
+v 0.05400070 -0.02323047 -0.00424115
+v 0.05358100 -0.02097358 -0.00424115
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_128.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_128.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1d6e21d117b22648f796954ead4e190a5054d88
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_128.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.05235707 -0.01738735 -0.00130838
+v 0.05096736 -0.01492290 0.00162655
+v 0.05099823 -0.01498622 0.00162655
+v 0.05154582 -0.01626489 0.00162907
+v 0.05202558 -0.01738735 0.00162907
+v 0.05229684 -0.01738735 -0.00423574
+v 0.05114449 -0.01492290 -0.00130838
+v 0.05028617 -0.01356067 0.00153837
+v 0.05028060 -0.01356067 0.00162907
+v 0.05009032 -0.01356067 0.00360919
+v 0.04995721 -0.01356067 0.00464460
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+v 0.05084944 -0.01626489 0.00411304
+v 0.05098710 -0.01738735 0.00453628
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+v 0.04927248 -0.01356067 -0.01001489
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+v 0.05034589 -0.01356067 -0.00130586
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+v 0.05065966 -0.01738735 0.00519884
+v 0.05167942 -0.01738735 -0.00743518
+v 0.04889747 -0.01356067 -0.01115611
+v 0.05097546 -0.01738735 -0.00994183
+v 0.05008171 -0.01356067 -0.00423322
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+v 0.04763732 -0.01537210 0.00917421
+v 0.04928311 -0.01738735 0.00730997
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+v 0.04718690 -0.01492290 0.00958736
+v 0.04718690 -0.01356067 -0.01447899
+v 0.04732355 -0.01738735 0.00970577
+v 0.04778864 -0.01738735 0.00930269
+v 0.04770463 -0.01626489 0.00923215
+v 0.04914191 -0.01738735 -0.01332518
+v 0.04732405 -0.01356067 -0.01426738
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+v 0.04732355 -0.01738735 -0.01603085
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_129.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_129.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e6ab12768ebd8fd64e4f20ccb3c0079fc42b22a
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_129.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.02724139 0.02285390 0.01756884
+v -0.02724139 0.02285390 0.01652077
+v -0.02883613 0.02285390 0.01756884
+v -0.02724139 -0.00878677 0.01756884
+v -0.02724139 0.02285072 0.01491857
+v -0.02883613 0.02285390 0.01652077
+v -0.02883613 -0.00798353 0.01756884
+v -0.02724139 -0.00957731 0.01640092
+v -0.02735331 -0.00875185 0.01756884
+v -0.02883613 0.02285072 0.01491857
+v -0.02724139 -0.00957731 0.01491857
+v -0.02745696 -0.00871692 0.01756884
+v -0.02883613 -0.00876772 0.01629533
+v -0.02756592 -0.00957731 0.01621880
+v -0.02751800 -0.00940269 0.01652077
+v -0.02738531 -0.00957731 0.01632620
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+v -0.02759012 -0.00957731 0.01618819
+v -0.02751550 -0.00957731 0.01625823
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+f 13 17 19
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+f 14 21 15
+f 14 19 20
+f 15 21 16
+f 18 20 19
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_13.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d7e3c65999dc645612fe737f505169f7963af06
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,276 @@
+# https://github.com/mikedh/trimesh
+v -0.04230428 -0.01002388 -0.00408758
+v -0.04230428 -0.01002241 -0.00405078
+v -0.04230428 -0.00987475 -0.00716659
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+v -0.04073934 -0.00975072 -0.00144200
+v -0.04230428 -0.00988951 -0.00157285
+v -0.04230428 -0.00984522 -0.00753460
+v -0.03913877 -0.00935795 -0.00717886
+v -0.03913877 -0.00960601 -0.00130707
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+v -0.04073934 -0.00974776 -0.00142565
+v -0.04230428 -0.00949527 -0.01010249
+v -0.04230428 -0.00944950 -0.01039281
+v -0.03913877 -0.00873927 -0.01011476
+v -0.03913877 -0.00907445 0.00162474
+v -0.04230428 -0.00926788 0.00138349
+v -0.04230428 -0.00876733 -0.01327146
+v -0.03913877 -0.00781051 -0.01294434
+v -0.03913877 -0.00812797 0.00456064
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+v -0.04230428 -0.00785038 -0.01579846
+v -0.03913877 -0.00778393 -0.01301386
+v -0.03913877 -0.00744433 0.00620441
+v -0.04230428 -0.00799213 0.00476918
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+v -0.04230428 -0.00229703 0.01383039
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+v -0.03913877 0.00451289 0.01987801
+v -0.04230428 0.00506069 0.01829557
+v -0.04073934 0.00506069 0.01915017
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+f 74 77 75
+f 75 77 76
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+f 79 86 87
+f 79 87 80
+f 81 88 89
+f 81 89 82
+f 82 84 83
+f 82 89 84
+f 84 89 90
+f 84 90 93
+f 84 93 91
+f 85 91 86
+f 86 91 92
+f 88 92 93
+f 88 93 90
+f 88 90 89
+f 91 93 92
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_130.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_130.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8e74d7f175fc36c641f58c42cce5e8fad147d7c
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_130.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v -0.03214239 0.02253945 -0.01662894
+v -0.03132698 0.02276035 -0.01665392
+v -0.03262369 0.02246759 -0.01662894
+v -0.03214239 -0.00440745 -0.01662894
+v -0.03132698 0.02215621 -0.01759406
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+v -0.03132698 -0.00436220 -0.01665392
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+v -0.03330004 0.01849409 -0.01927347
+v -0.03308393 0.02055936 -0.01815209
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+v -0.03330004 0.02080953 -0.01784810
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+v -0.03330004 -0.00402420 -0.01707111
+v -0.03132698 0.02053806 -0.01849010
+v -0.03330004 0.01732839 -0.01991494
+v -0.03214239 0.01771163 -0.01986923
+v -0.03252576 0.01639423 -0.02051123
+v -0.03132698 -0.00398960 -0.01705038
+v -0.03330004 -0.00400557 -0.01708865
+v -0.03132698 0.01787132 -0.01989368
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_131.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_131.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91c6aa7b45720a4b4f689418ead956f44ce5c2a4
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_131.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.01052485 0.02695048 -0.00005625
+v 0.01052485 0.02695048 -0.01640010
+v 0.00908136 0.02695048 -0.00005625
+v 0.01052485 -0.00988024 -0.00005625
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+v 0.01052485 -0.00988024 -0.02341580
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+v 0.00908136 0.02414924 -0.01962838
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+v 0.00908136 -0.00988024 -0.02341580
+v 0.01052485 -0.00987664 -0.02468081
+v 0.01052485 0.02247282 -0.02076942
+v 0.00908136 0.02268192 -0.02086809
+v 0.00908136 -0.00987664 -0.02459985
+v 0.00930675 -0.00987664 -0.02461250
+v 0.01052485 -0.00588929 -0.02551065
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_132.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_132.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d99b71672bca8220ce1c4e8fe0759971b2b3eef
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_132.obj
@@ -0,0 +1,303 @@
+# https://github.com/mikedh/trimesh
+v -0.05165140 0.00584543 0.01483965
+v -0.05165140 0.00648179 0.01482317
+v -0.05199842 0.00584543 0.01469837
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+v -0.05369571 0.00290541 0.01388831
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+v -0.05369571 0.00584543 0.01396130
+v -0.05165140 0.00859771 0.01469837
+v -0.05369571 0.00009267 0.01340321
+v -0.05165140 0.00205904 0.01433572
+v -0.05165140 0.00878226 0.01468659
+v -0.05186393 0.00878226 0.01458769
+v -0.05369571 0.00878226 0.01360102
+v -0.05369571 -0.00001870 0.01337260
+v -0.05165140 0.00203359 0.01432866
+v -0.05165140 0.00903044 0.01464656
+v -0.05369571 0.00890635 0.01357041
+v -0.05369571 -0.00256417 0.01248719
+v -0.05165140 -0.00001870 0.01375644
+v -0.05165140 0.01110182 0.01411908
+v -0.05369571 0.01173182 0.01282628
+v -0.05369571 -0.00266917 0.01243538
+v -0.05165140 -0.00074734 0.01349741
+v -0.05165140 -0.00071552 0.01351154
+v -0.05165140 0.01186546 0.01391656
+v -0.05304869 0.01404184 0.01234119
+v -0.05369571 0.01235546 0.01259787
+v -0.05165140 -0.00265008 0.01255783
+v -0.05369571 -0.00407554 0.01173129
+v -0.05165140 0.01464002 0.01283570
+v -0.05369571 0.01359638 0.01212455
+v -0.05165140 0.01542275 0.01244245
+v -0.05222917 0.01599867 0.01182077
+v -0.05165140 -0.00303826 0.01236238
+v -0.05369571 -0.00413600 0.01169361
+v -0.05369571 0.01528912 0.01102249
+v -0.05165140 0.01621185 0.01199974
+v -0.05329926 0.01701367 0.00986392
+v -0.05369571 0.01682594 0.00967789
+v -0.05165140 0.01708685 0.01115671
+v -0.05221736 0.01897050 0.00880189
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+v -0.05369571 -0.00504600 0.01086472
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_133.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_133.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3f1a0ca75fd0b45770c94e7059429df78c29bb2
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_133.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.00554852 0.03620573 0.00247405
+v -0.00554852 0.03671938 0.00043951
+v -0.00568445 0.03671354 0.00043079
+v -0.00642744 0.03610649 0.00247405
+v -0.00554852 -0.02291175 0.00247405
+v -0.00554852 0.03671938 -0.00038383
+v -0.00568445 0.03671354 -0.00035162
+v -0.00642744 0.03650925 -0.00080792
+v -0.00642744 0.03641002 0.00118502
+v -0.00642744 -0.02267827 0.00247405
+v -0.00554852 -0.02283587 0.00164467
+v -0.00554852 0.03670771 -0.00049589
+v -0.00642744 0.03645088 -0.00141854
+v -0.00642744 0.03650925 -0.00103539
+v -0.00642744 -0.02259655 0.00165205
+v -0.00642744 -0.02256153 0.00136351
+v -0.00554852 -0.02280085 0.00136284
+v -0.00554852 0.03650925 -0.00170440
+v -0.00642744 0.03597808 -0.00423952
+v -0.00642744 -0.02228135 -0.00076698
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+v -0.00554852 -0.02221714 -0.00302832
+v -0.00554852 0.03601310 -0.00438110
+v -0.00642744 -0.02163344 -0.00438110
+v -0.00642744 -0.02201869 -0.00244454
+v -0.00593404 -0.02209457 -0.00302832
+v -0.00577849 -0.02214710 -0.00302832
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+v -0.00624385 -0.02168598 -0.00438110
+v -0.00642744 -0.02191362 -0.00302832
+v -0.00554852 -0.02215294 -0.00335511
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+f 23 29 24
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+f 26 32 33
+f 26 33 27
+f 27 33 34
+f 27 34 35
+f 27 35 28
+f 30 38 34
+f 30 34 37
+f 31 39 32
+f 32 39 37
+f 32 37 34
+f 32 34 33
+f 34 40 35
+f 34 38 40
+f 36 40 38
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_134.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_134.obj
new file mode 100644
index 0000000000000000000000000000000000000000..451bc99ed37881574936fc4c7b5a5744349dafd7
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_134.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v -0.02153652 0.02688179 -0.01281285
+v -0.02153652 0.02672382 -0.01304720
+v -0.02193711 0.02686599 -0.01281285
+v -0.02153652 -0.01346417 -0.01281285
+v -0.02153652 0.02533366 -0.01508819
+v -0.02287745 0.02530602 -0.01505412
+v -0.02287745 0.02666852 -0.01304720
+v -0.02287745 0.02682255 -0.01281285
+v -0.02287745 -0.01289942 -0.01281285
+v -0.02287745 -0.01256769 -0.01341265
+v -0.02153652 -0.01286783 -0.01387928
+v -0.02153652 0.02384873 -0.01654898
+v -0.02287745 0.02387638 -0.01652214
+v -0.02287745 -0.01190420 -0.01452555
+v -0.02153652 -0.01285993 -0.01389270
+v -0.02153652 0.02384083 -0.01655621
+v -0.02287745 0.02241119 -0.01769904
+v -0.02287745 -0.01182522 -0.01465149
+v -0.02275157 -0.01019021 -0.01734288
+v -0.02153652 -0.01271381 -0.01412395
+v -0.02153652 0.02310232 -0.01711988
+v -0.02153652 0.02237565 -0.01766704
+v -0.02287745 0.02052343 -0.01869011
+v -0.02287745 -0.01109460 -0.01580465
+v -0.02287745 -0.01014677 -0.01729848
+v -0.02287745 -0.01004014 -0.01739346
+v -0.02287745 -0.00503244 -0.02080853
+v -0.02153652 -0.00541947 -0.02108417
+v -0.02153652 -0.00711371 -0.01990727
+v -0.02167237 -0.00905677 -0.01850532
+v -0.02153652 -0.01041137 -0.01755038
+v -0.02153652 -0.01072732 -0.01711988
+v -0.02153652 -0.01139474 -0.01620004
+v -0.02167237 -0.01133945 -0.01621140
+v -0.02153652 -0.01147373 -0.01607616
+v -0.02153652 0.02052343 -0.01863024
+v -0.02287745 0.01920042 -0.01936425
+v -0.02287745 -0.00284848 -0.02175315
+v -0.02153652 -0.00271420 -0.02246961
+v -0.02153652 -0.00903702 -0.01855591
+v -0.02153652 -0.00928582 -0.01837731
+v -0.02153652 0.02013640 -0.01882742
+v -0.02153652 0.01805907 -0.01988147
+v -0.02153652 0.01659388 -0.02062270
+v -0.02287745 0.01732055 -0.02031093
+v -0.02287745 0.00001871 -0.02255839
+v -0.02202558 -0.00001684 -0.02310452
+v -0.02153652 -0.00177822 -0.02277519
+v -0.02153652 0.01466268 -0.02129581
+v -0.02287745 0.01664522 -0.02064335
+v -0.02287745 0.00101393 -0.02270499
+v -0.02287745 0.00365995 -0.02281236
+v -0.02234244 0.00292144 -0.02304257
+v -0.02153652 0.00292144 -0.02335951
+v -0.02153652 -0.00001684 -0.02321498
+v -0.02153652 -0.00040782 -0.02316439
+v -0.02287745 0.01559471 -0.02100778
+v -0.02153652 0.01173231 -0.02228069
+v -0.02287745 0.00668906 -0.02262137
+v -0.02153652 0.00585181 -0.02328724
+v -0.02287745 0.01307112 -0.02178309
+v -0.02153652 0.00878218 -0.02287843
+v -0.02287745 0.00878218 -0.02242625
+v -0.02287745 0.00992353 -0.02227759
+v -0.02153652 0.00788964 -0.02300438
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 11
+f 1 11 15
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+f 1 20 35
+f 1 35 33
+f 1 33 32
+f 1 32 31
+f 1 31 41
+f 1 41 40
+f 1 40 29
+f 1 29 28
+f 1 28 39
+f 1 39 48
+f 1 48 56
+f 1 56 55
+f 1 55 54
+f 1 54 60
+f 1 60 65
+f 1 65 62
+f 1 62 58
+f 1 58 49
+f 1 49 44
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+f 1 42 36
+f 1 36 22
+f 1 22 21
+f 1 21 16
+f 1 16 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
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+f 6 23 37
+f 6 37 45
+f 6 45 50
+f 6 50 57
+f 6 57 61
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+f 6 10 9
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+f 6 8 7
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+f 10 15 11
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+f 13 16 17
+f 14 18 19
+f 14 19 15
+f 15 19 20
+f 16 21 17
+f 17 21 22
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+f 19 26 27
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+f 19 28 29
+f 19 29 30
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 34
+f 19 34 20
+f 19 24 25
+f 20 34 35
+f 22 36 23
+f 23 36 37
+f 27 38 39
+f 27 39 28
+f 29 40 30
+f 30 41 31
+f 30 40 41
+f 33 35 34
+f 36 42 37
+f 37 43 44
+f 37 44 45
+f 37 42 43
+f 38 46 47
+f 38 47 48
+f 38 48 39
+f 44 49 50
+f 44 50 45
+f 46 51 47
+f 47 51 52
+f 47 52 53
+f 47 53 54
+f 47 54 55
+f 47 55 56
+f 47 56 48
+f 49 57 50
+f 49 58 57
+f 52 59 60
+f 52 60 53
+f 53 60 54
+f 57 58 61
+f 58 62 61
+f 59 63 60
+f 60 63 64
+f 60 64 65
+f 61 62 64
+f 62 65 64
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_135.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_135.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aacd14c62d862b780fef55086b24cb9c78c8251
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_135.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.00327946 0.00877304 0.03158474
+v 0.00327946 0.00292269 0.03146874
+v 0.00437758 0.00292269 0.03141733
+v 0.00437758 0.00877304 0.03138174
+v 0.00327946 0.01171513 0.03151619
+v 0.00327946 -0.00001457 0.03106800
+v 0.00437758 -0.00001457 0.03111546
+v 0.00437758 0.01171513 0.03123542
+v 0.00327946 0.01464755 0.03106800
+v 0.00327946 -0.00294700 0.03021777
+v 0.00437758 -0.00294700 0.03029422
+v 0.00437758 0.01464755 0.03077009
+v 0.00403727 0.02052207 0.02973926
+v 0.00355141 0.02205833 0.02955866
+v 0.00327946 0.02181195 0.02961139
+v 0.00327946 -0.00388421 0.02992249
+v 0.00437758 -0.00325135 0.03019931
+v 0.00437758 0.01949789 0.02982758
+v 0.00437758 0.02052207 0.02959953
+v 0.00327946 0.02205833 0.02955866
+v 0.00437758 0.02304385 0.02825892
+v 0.00437758 0.02371537 0.02763277
+v 0.00368104 0.02502940 0.02671926
+v 0.00327946 0.02503906 0.02672848
+v 0.00327946 -0.00556057 0.02937016
+v 0.00437758 -0.00509680 0.02958371
+v 0.00437758 0.02554149 0.02571479
+v 0.00437758 0.02874928 0.02175623
+v 0.00327946 0.02884107 0.02186959
+v 0.00327946 -0.00621759 0.02911179
+v 0.00437758 -0.00630455 0.02910916
+v 0.00437758 0.03022274 0.01975915
+v 0.00327946 0.03030487 0.01993447
+v 0.00327946 -0.00771521 0.02837887
+v 0.00437758 -0.00678765 0.02887188
+v 0.00437758 0.03106817 0.01829199
+v 0.00327946 0.03117445 0.01846599
+v 0.00327946 -0.01045922 0.02672848
+v 0.00385335 -0.01046405 0.02673244
+v 0.00437758 -0.00969109 0.02714108
+v 0.00437758 0.03113580 0.01811931
+v 0.00409940 0.03118411 0.01811931
+v 0.00327946 0.03131938 0.01811931
+v 0.00327946 -0.01090851 0.02633962
+v 0.00327946 -0.01345445 0.02386931
+v 0.00327946 -0.01385059 0.02347780
+v 0.00376854 -0.01340131 0.02383108
+v 0.00437758 -0.01035777 0.02662435
+v 0.00437758 -0.01790381 0.01811931
+v 0.00327946 -0.01803425 0.01811931
+v 0.00327946 -0.01623711 0.02079921
+v 0.00350906 -0.01619363 0.02075439
+v 0.00437758 -0.01679268 0.01965501
+v 0.00437758 -0.01599556 0.02056457
+v 0.00437758 -0.01424674 0.02253397
+v 0.00437758 -0.01324189 0.02366367
+v 0.00437758 -0.01236747 0.02457718
+v 0.00437758 -0.01707288 0.01927669
+v 0.00327946 -0.01744487 0.01915410
+v 0.00327946 -0.01752216 0.01901964
+v 0.00327946 -0.01737723 0.01924769
+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 24
+f 1 24 29
+f 1 29 33
+f 1 33 37
+f 1 37 43
+f 1 43 50
+f 1 50 60
+f 1 60 59
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+f 1 61 51
+f 1 51 46
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+f 1 44 38
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+f 1 34 30
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+f 1 16 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
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+f 3 26 31
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+f 3 35 40
+f 3 40 48
+f 3 48 57
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+f 3 49 41
+f 3 41 36
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+f 9 12 13
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+f 10 16 17
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+f 23 29 24
+f 25 30 31
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+f 31 34 35
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+f 32 37 33
+f 34 38 39
+f 34 39 35
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+f 36 41 42
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+f 36 43 37
+f 38 44 39
+f 39 44 45
+f 39 45 46
+f 39 46 47
+f 39 47 48
+f 39 48 40
+f 41 49 50
+f 41 50 43
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+f 47 51 52
+f 47 52 53
+f 47 53 54
+f 47 54 55
+f 47 55 56
+f 47 56 57
+f 47 57 48
+f 49 58 59
+f 49 59 60
+f 49 60 50
+f 51 61 58
+f 51 58 53
+f 51 53 52
+f 58 61 59
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_136.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_136.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7db98b05b40c70e9958bb0c411c1cfa7166350fe
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_136.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.00056999 -0.00367348 -0.02507153
+v 0.00056999 -0.00367348 0.02984789
+v -0.00092788 -0.00367348 -0.02486881
+v 0.00056999 -0.00295664 -0.02521793
+v 0.00057014 0.00149975 -0.02554453
+v 0.00056999 -0.00295991 0.03008439
+v 0.00053948 -0.00367348 0.02984789
+v 0.00057014 0.00149975 0.03129506
+v -0.00092788 -0.00300077 -0.02500396
+v -0.00092788 -0.00367348 0.02981410
+v -0.00092803 0.00149975 -0.02543191
+v 0.00051719 -0.00151068 -0.02542065
+v 0.00056999 -0.00156299 -0.02541502
+v 0.00056999 -0.00151068 -0.02542065
+v 0.00056999 -0.00004265 -0.02554453
+v 0.00056999 0.00137061 -0.02555580
+v 0.00057014 0.00289258 -0.02547696
+v 0.00056999 -0.00002140 0.03102477
+v -0.00092788 -0.00002140 0.03104730
+v 0.00057014 0.00152019 0.03130069
+v -0.00092788 -0.00006554 -0.02542628
+v -0.00092803 0.00149975 0.03143021
+v -0.00092803 0.00286969 -0.02543754
+v -0.00092788 -0.00002140 -0.02543191
+v -0.00092788 0.00149975 -0.02543754
+v -0.00092803 0.00291302 -0.02543754
+v 0.00057014 0.00467530 -0.02533055
+v 0.00057014 0.00291302 0.03165545
+v -0.00092803 0.00291302 0.03179060
+v -0.00092803 0.00467530 -0.02529114
+v 0.00057014 0.00467530 0.03176244
+v 0.00033298 0.00467530 0.03179623
+v -0.00092803 0.00467530 0.03197079
+f 1 2 7
+f 1 7 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 8
+f 1 8 2
+f 2 6 7
+f 2 8 6
+f 3 9 4
+f 3 10 22
+f 3 22 11
+f 3 11 9
+f 4 12 13
+f 4 13 5
+f 4 9 12
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 27
+f 5 27 31
+f 5 31 28
+f 5 28 20
+f 5 20 8
+f 6 8 18
+f 6 18 19
+f 6 19 7
+f 7 19 10
+f 8 20 18
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+f 9 21 12
+f 10 19 22
+f 11 23 24
+f 11 24 21
+f 11 22 29
+f 11 29 33
+f 11 33 30
+f 11 30 26
+f 11 26 23
+f 12 21 24
+f 12 24 15
+f 12 15 14
+f 12 14 13
+f 15 24 16
+f 16 24 25
+f 16 25 23
+f 16 23 26
+f 16 26 17
+f 17 26 27
+f 18 20 28
+f 18 28 29
+f 18 29 19
+f 19 29 22
+f 23 25 24
+f 26 30 27
+f 27 30 33
+f 27 33 32
+f 27 32 31
+f 28 31 32
+f 28 32 33
+f 28 33 29
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_137.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_137.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e84463f0f39fc4e4b3057458e8e3d60588a504a0
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_137.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.01373021 -0.00023729 0.01138519
+v -0.01472193 -0.00023729 0.01138519
+v -0.01372992 -0.00090707 0.01138519
+v -0.01372992 -0.00023729 0.01105189
+v -0.01472193 -0.00023729 0.00390172
+v -0.01472193 -0.01640413 0.01138519
+v -0.01372992 -0.01739661 0.01138519
+v -0.01372992 -0.00023729 0.00390172
+v -0.01472193 -0.01869679 0.00390172
+v -0.01472193 -0.01687504 0.01060065
+v -0.01405153 -0.01707954 0.01138519
+v -0.01396229 -0.01716772 0.01138519
+v -0.01372992 -0.01794633 0.01043730
+v -0.01372992 -0.01936845 0.00390172
+v -0.01449976 -0.01886377 0.00390172
+v -0.01472193 -0.01867052 0.00456685
+v -0.01472193 -0.01696885 0.01043730
+v -0.01372992 -0.01815833 0.01001390
+v -0.01372992 -0.01940410 0.00456685
+v -0.01416300 -0.01908891 0.00456685
+v -0.01472193 -0.01851855 0.00620404
+v -0.01398579 -0.01895007 0.00750281
+v -0.01472193 -0.01776622 0.00884479
+v -0.01472193 -0.01830467 0.00751526
+v -0.01372992 -0.01867990 0.00872319
+v -0.01372992 -0.01919022 0.00691312
+v -0.01372992 -0.01913393 0.00750281
+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 8
+f 1 8 5
+f 1 5 2
+f 2 5 9
+f 2 9 16
+f 2 16 21
+f 2 21 24
+f 2 24 23
+f 2 23 17
+f 2 17 10
+f 2 10 6
+f 3 7 13
+f 3 13 18
+f 3 18 25
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+f 3 26 19
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+f 3 14 8
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+f 9 15 16
+f 10 17 13
+f 10 12 11
+f 13 17 18
+f 14 19 15
+f 15 20 16
+f 15 19 20
+f 16 20 22
+f 16 22 21
+f 17 23 18
+f 18 23 24
+f 18 24 25
+f 19 26 20
+f 20 26 22
+f 21 22 24
+f 22 25 24
+f 22 26 27
+f 22 27 25
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_138.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_138.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33bf7a1fa9c54476b43e054a32e0b42e6fabfcd0
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_138.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.00642753 -0.00313610 -0.01743851
+v -0.00642753 -0.00313610 -0.02437967
+v -0.00744080 -0.00313610 -0.01743851
+v -0.00642753 -0.01618121 -0.01743851
+v -0.00642753 -0.00337361 -0.02433210
+v -0.00744080 -0.00313610 -0.02428454
+v -0.00744080 -0.01568065 -0.01743851
+v -0.00644955 -0.01617227 -0.01743851
+v -0.00642753 -0.01617737 -0.01744326
+v -0.00642753 -0.00610240 -0.02375452
+v -0.00744080 -0.00572699 -0.02373210
+v -0.00744080 -0.01465145 -0.01832526
+v -0.00731345 -0.01574450 -0.01743851
+v -0.00717707 -0.01581217 -0.01743851
+v -0.00642753 -0.01537036 -0.01811054
+v -0.00642753 -0.00656593 -0.02364648
+v -0.00744080 -0.00742786 -0.02335158
+v -0.00744080 -0.00652507 -0.02355543
+v -0.00744080 -0.01423900 -0.01864327
+v -0.00679431 -0.01483532 -0.01840273
+v -0.00642753 -0.01280245 -0.02006684
+v -0.00642753 -0.00758236 -0.02340797
+v -0.00642753 -0.00887589 -0.02276448
+v -0.00744080 -0.00824509 -0.02289495
+v -0.00744080 -0.01228529 -0.02012664
+v -0.00642753 -0.01267220 -0.02016401
+v -0.00744080 -0.00870351 -0.02259596
+v -0.00642753 -0.01135186 -0.02113706
+v -0.00744080 -0.01075170 -0.02125666
+v -0.00744080 -0.01111563 -0.02099301
+v -0.00642753 -0.01167492 -0.02090331
+v -0.00684321 -0.01124332 -0.02108746
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 13
+f 1 13 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 21
+f 1 21 26
+f 1 26 31
+f 1 31 28
+f 1 28 23
+f 1 23 22
+f 1 22 16
+f 1 16 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 6 11
+f 3 11 18
+f 3 18 17
+f 3 17 24
+f 3 24 27
+f 3 27 29
+f 3 29 30
+f 3 30 25
+f 3 25 19
+f 3 19 12
+f 3 12 7
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 7 12 13
+f 8 14 12
+f 8 12 9
+f 9 12 15
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 12 19 20
+f 12 20 15
+f 12 14 13
+f 15 20 21
+f 16 22 17
+f 17 22 23
+f 17 23 24
+f 19 25 21
+f 19 21 20
+f 21 25 26
+f 23 27 24
+f 23 28 29
+f 23 29 27
+f 25 30 31
+f 25 31 26
+f 28 31 32
+f 28 32 29
+f 29 32 30
+f 30 32 31
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_139.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_139.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2420eca756bb27661ae33ffc5db9dcaf28ddb2df
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_139.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.00388950 0.03630779 0.00301186
+v -0.00390782 0.03630779 0.00301186
+v -0.00386193 0.03630190 0.00301186
+v -0.00386193 0.03648441 0.00198362
+v -0.00386193 0.03671402 0.00066376
+v -0.00390782 0.03673757 0.00054819
+v -0.00554835 0.03671402 0.00043910
+v -0.00554835 0.03608407 0.00301186
+v -0.00386193 -0.02340153 0.00301186
+v -0.00386193 0.03673168 0.00054495
+v -0.00390782 0.03673757 -0.00077167
+v -0.00554835 0.03671402 -0.00038392
+v -0.00554835 -0.02295410 0.00301186
+v -0.00390782 -0.02340742 0.00301186
+v -0.00386193 -0.02328379 0.00162935
+v -0.00386193 0.03673168 -0.00078355
+v -0.00386193 0.03661982 -0.00226974
+v -0.00554835 0.03670813 -0.00049625
+v -0.00554835 -0.02283635 0.00164447
+v -0.00390782 -0.02328379 0.00162935
+v -0.00386193 -0.02295410 -0.00130631
+v -0.00390782 0.03624892 -0.00396763
+v -0.00554835 0.03605464 -0.00423981
+v -0.00554835 0.03651385 -0.00170486
+v -0.00390782 0.03661982 -0.00223842
+v -0.00386193 0.03619005 -0.00423981
+v -0.00390782 0.03619005 -0.00423981
+v -0.00554835 -0.02247133 -0.00130631
+v -0.00390782 -0.02294821 -0.00130631
+v -0.00399516 -0.02324257 0.00147382
+v -0.00390782 -0.02326613 0.00147382
+v -0.00386193 -0.02263029 -0.00285838
+v -0.00554835 0.03531872 -0.00717439
+v -0.00386193 0.03617827 -0.00428517
+v -0.00390782 0.03578971 -0.00573788
+v -0.00554835 -0.02219463 -0.00313596
+v -0.00554835 -0.02215342 -0.00335414
+v -0.00474171 -0.02193559 -0.00524104
+v -0.00386622 -0.02239480 -0.00396763
+v -0.00386193 -0.02232415 -0.00429705
+v -0.00390782 0.03540114 -0.00717439
+v -0.00498060 0.03507734 -0.00802225
+v -0.00554835 0.03504790 -0.00802225
+v -0.00388454 0.03578971 -0.00573788
+v -0.00386193 0.03540114 -0.00717439
+v -0.00554835 -0.02178840 -0.00484141
+v -0.00554835 -0.02152936 -0.00573788
+v -0.00554835 -0.02145283 -0.00598414
+v -0.00386193 -0.02131742 -0.00802225
+v -0.00386193 -0.02162356 -0.00694865
+v -0.00386193 -0.02195325 -0.00573788
+v -0.00386193 -0.02200035 -0.00556075
+v -0.00390782 0.03513033 -0.00802225
+v -0.00554835 -0.02078756 -0.00802225
+v -0.00389461 0.03513033 -0.00802225
+v -0.00386193 0.03512444 -0.00802225
+f 1 2 8
+f 1 8 13
+f 1 13 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 2 7 8
+f 3 9 15
+f 3 15 21
+f 3 21 32
+f 3 32 40
+f 3 40 52
+f 3 52 51
+f 3 51 50
+f 3 50 49
+f 3 49 56
+f 3 56 45
+f 3 45 34
+f 3 34 26
+f 3 26 17
+f 3 17 16
+f 3 16 10
+f 3 10 5
+f 3 5 4
+f 5 10 6
+f 6 11 12
+f 6 12 7
+f 6 10 16
+f 6 16 11
+f 7 12 18
+f 7 18 24
+f 7 24 23
+f 7 23 33
+f 7 33 43
+f 7 43 54
+f 7 54 48
+f 7 48 47
+f 7 47 46
+f 7 46 37
+f 7 37 36
+f 7 36 28
+f 7 28 19
+f 7 19 13
+f 7 13 8
+f 9 14 15
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 13 19 14
+f 14 20 15
+f 14 19 20
+f 15 20 21
+f 17 22 23
+f 17 23 24
+f 17 24 25
+f 17 25 18
+f 17 26 27
+f 17 27 22
+f 18 25 24
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 20 30 31
+f 20 31 21
+f 21 31 29
+f 21 29 32
+f 22 27 23
+f 23 27 33
+f 26 34 27
+f 27 34 35
+f 27 35 33
+f 28 36 29
+f 29 31 30
+f 29 36 37
+f 29 37 38
+f 29 38 32
+f 32 39 40
+f 32 38 39
+f 33 35 41
+f 33 41 42
+f 33 42 43
+f 34 44 35
+f 34 45 44
+f 35 44 45
+f 35 45 41
+f 37 46 38
+f 38 46 47
+f 38 47 48
+f 38 48 49
+f 38 49 50
+f 38 50 51
+f 38 51 52
+f 38 52 40
+f 38 40 39
+f 41 45 55
+f 41 55 53
+f 41 53 42
+f 42 53 55
+f 42 55 56
+f 42 56 49
+f 42 49 54
+f 42 54 43
+f 45 56 55
+f 48 54 49
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_14.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d421e6994164bc60e2eceaf4a59f213b58cce69c
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.02774370 0.01465950 0.01410277
+v 0.02774370 -0.02478967 0.01410277
+v 0.02907111 0.01383702 0.01410277
+v 0.02907111 0.01385198 0.01408758
+v 0.02774370 0.01930527 0.00747216
+v 0.02774370 -0.02563209 0.01295011
+v 0.02907111 -0.03117013 0.00593661
+v 0.02907111 -0.03055202 0.00673436
+v 0.02907111 -0.02577665 0.01287097
+v 0.02907111 -0.02479466 0.01410277
+v 0.02907111 0.01420589 0.01346089
+v 0.02907111 0.01671820 0.00773595
+v 0.02907111 0.01700731 0.00703572
+v 0.02774370 0.01975390 0.00593661
+v 0.02774370 -0.03033269 0.00593661
+v 0.02841936 -0.03080126 0.00593661
+v 0.02907111 0.01719673 0.00593661
+f 1 2 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 3 10 9
+f 3 9 8
+f 3 8 7
+f 3 7 17
+f 3 17 13
+f 3 13 12
+f 3 12 11
+f 3 11 4
+f 4 11 5
+f 5 12 13
+f 5 13 14
+f 5 11 12
+f 6 15 16
+f 6 16 7
+f 7 16 15
+f 7 15 14
+f 7 14 17
+f 13 17 14
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_140.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_140.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02dd831eebd70bc0d15958d2de4456a396fdac34
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_140.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.02883613 0.02538879 -0.01402545
+v -0.02883613 0.02501481 -0.01463075
+v -0.02954694 0.02529054 -0.01402545
+v -0.02883613 -0.00698928 -0.01402545
+v -0.02911315 0.02499263 -0.01460242
+v -0.02883613 0.02386117 -0.01598462
+v -0.03032877 0.02225748 -0.01767616
+v -0.03032877 0.02507186 -0.01402545
+v -0.03032847 -0.00657092 -0.01402545
+v -0.02883613 -0.00576274 -0.01593188
+v -0.03018587 0.02385483 -0.01574139
+v -0.03032877 0.02399745 -0.01549896
+v -0.02883613 0.02233354 -0.01771788
+v -0.03032877 0.02052701 -0.01868133
+v -0.03032877 0.02375975 -0.01580122
+v -0.03032877 -0.00607967 -0.01402545
+v -0.03032877 -0.00536023 -0.01557216
+v -0.03032760 -0.00397523 -0.01703937
+v -0.02883613 -0.00526832 -0.01645532
+v -0.03032877 0.02379778 -0.01575320
+v -0.02883613 0.02052701 -0.01874430
+v -0.03032877 0.01807077 -0.01992342
+v -0.03032877 -0.00397206 -0.01704016
+v -0.03032877 -0.00250465 -0.01835073
+v -0.02883613 -0.00281525 -0.01848376
+v -0.02883613 0.01813098 -0.01994467
+v -0.02883613 0.01738619 -0.02030282
+v -0.03032877 0.01660336 -0.02060744
+v -0.03032877 -0.00038435 -0.01981873
+v -0.02883613 -0.00182324 -0.01917092
+v -0.02883613 0.01666358 -0.02063892
+v -0.03032877 0.01465421 -0.02126312
+v -0.03032877 0.00108305 -0.02053187
+v -0.02883613 0.00032558 -0.02019970
+v -0.02883613 0.01465421 -0.02126312
+v -0.03032877 0.01171939 -0.02182513
+v -0.03032877 0.00291494 -0.02115528
+v -0.02883613 0.00107038 -0.02054132
+v -0.02883613 0.01171939 -0.02177633
+v -0.03032760 0.01171939 -0.02182513
+v -0.03032760 0.00878774 -0.02206599
+v -0.03032877 0.00878774 -0.02206520
+v -0.02883613 0.00197364 -0.02084751
+v -0.03032877 0.00584976 -0.02190542
+v -0.03032760 0.00291494 -0.02115528
+v -0.02883613 0.01022663 -0.02193611
+v -0.02883613 0.00878774 -0.02205418
+v -0.03032760 0.00584976 -0.02190542
+v -0.02883613 0.00291494 -0.02114268
+v -0.02883613 0.00584976 -0.02188889
+v -0.02883613 0.00436016 -0.02151106
+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 19
+f 1 19 25
+f 1 25 30
+f 1 30 34
+f 1 34 38
+f 1 38 43
+f 1 43 49
+f 1 49 51
+f 1 51 50
+f 1 50 47
+f 1 47 46
+f 1 46 39
+f 1 39 35
+f 1 35 31
+f 1 31 27
+f 1 27 26
+f 1 26 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 3 5 8
+f 4 9 10
+f 5 7 11
+f 5 11 12
+f 5 12 8
+f 6 13 7
+f 7 13 14
+f 7 14 22
+f 7 22 28
+f 7 28 32
+f 7 32 36
+f 7 36 42
+f 7 42 44
+f 7 44 37
+f 7 37 33
+f 7 33 29
+f 7 29 24
+f 7 24 23
+f 7 23 17
+f 7 17 16
+f 7 16 8
+f 7 8 12
+f 7 12 20
+f 7 20 15
+f 7 15 11
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 11 20 12
+f 11 15 20
+f 13 21 14
+f 14 21 22
+f 17 23 18
+f 18 23 24
+f 18 24 19
+f 19 24 25
+f 21 26 22
+f 22 26 27
+f 22 27 28
+f 24 29 30
+f 24 30 25
+f 27 31 28
+f 28 31 32
+f 29 33 30
+f 30 33 34
+f 31 35 32
+f 32 35 40
+f 32 40 36
+f 33 37 38
+f 33 38 34
+f 35 39 40
+f 36 40 41
+f 36 41 42
+f 37 43 38
+f 37 44 48
+f 37 48 45
+f 37 45 43
+f 39 46 40
+f 40 46 41
+f 41 46 47
+f 41 47 48
+f 41 48 44
+f 41 44 42
+f 43 45 49
+f 45 48 49
+f 47 50 48
+f 48 50 51
+f 48 51 49
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_141.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_141.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d877c2af1707719668ff59d496ee25c81b74689
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_141.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.01197764 0.03197271 -0.00702115
+v -0.01197764 0.03164176 -0.01011253
+v -0.01271143 0.03104901 -0.00702115
+v -0.01197764 -0.01848998 -0.00702115
+v -0.01197764 0.03084155 -0.01276080
+v -0.01271136 0.02968568 -0.01328792
+v -0.01271136 0.03060445 -0.01011253
+v -0.01271143 0.03070324 -0.00925049
+v -0.01271143 -0.01818373 -0.00702115
+v -0.01271143 -0.01814421 -0.00720070
+v -0.01198030 -0.01790217 -0.00925049
+v -0.01197764 -0.01789723 -0.00926430
+v -0.01271136 0.02941895 -0.01400494
+v -0.01271136 0.02946835 -0.01387489
+v -0.01197764 0.02821863 -0.01762229
+v -0.01271136 0.02860886 -0.01603287
+v -0.01271136 0.02871753 -0.01580844
+v -0.01271136 0.02668736 -0.01838075
+v -0.01271136 0.02606498 -0.01877896
+v -0.01271143 -0.01759592 -0.00925049
+v -0.01271136 -0.01735882 -0.01012058
+v -0.01197764 -0.01766013 -0.01013670
+v -0.01197764 0.02804575 -0.01783521
+v -0.01271136 -0.01189565 -0.01877896
+v -0.01197764 0.02639099 -0.01877896
+v -0.01271136 -0.01464699 -0.01599028
+v -0.01271136 -0.01583743 -0.01400494
+v -0.01271136 -0.01589176 -0.01390826
+v -0.01271136 -0.01638572 -0.01281719
+v -0.01271136 -0.01644500 -0.01266757
+v -0.01271136 -0.01342198 -0.01760042
+v -0.01197764 -0.01685004 -0.01235452
+v -0.01197764 -0.01217720 -0.01877896
+v -0.01197764 -0.01484457 -0.01612149
+v -0.01197764 -0.01545214 -0.01524909
+v -0.01197764 -0.01604983 -0.01425815
+v -0.01197764 -0.01616838 -0.01400494
+v -0.01197764 -0.01666234 -0.01285862
+v -0.01197764 -0.01354547 -0.01770516
+v -0.01197764 -0.01363932 -0.01760848
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 12
+f 1 12 22
+f 1 22 32
+f 1 32 38
+f 1 38 37
+f 1 37 36
+f 1 36 35
+f 1 35 34
+f 1 34 40
+f 1 40 39
+f 1 39 33
+f 1 33 25
+f 1 25 23
+f 1 23 15
+f 1 15 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 20
+f 3 20 10
+f 3 10 9
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 5 13 14
+f 5 14 6
+f 5 15 16
+f 5 16 17
+f 5 17 13
+f 6 14 8
+f 6 8 7
+f 8 14 13
+f 8 13 17
+f 8 17 16
+f 8 16 18
+f 8 18 19
+f 8 19 24
+f 8 24 20
+f 10 20 11
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 15 23 16
+f 16 23 18
+f 18 23 19
+f 19 23 25
+f 19 25 33
+f 19 33 24
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 30
+f 20 30 21
+f 20 24 31
+f 20 31 26
+f 21 30 22
+f 22 30 32
+f 24 33 31
+f 26 34 35
+f 26 35 36
+f 26 36 27
+f 26 31 34
+f 27 36 28
+f 28 36 37
+f 28 37 29
+f 29 37 38
+f 29 38 30
+f 30 38 32
+f 31 33 39
+f 31 39 40
+f 31 40 34
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_142.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_142.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7dfcd746cd42c1468c6de8fecb8b6a622470184
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_142.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.01529485 0.00004831 -0.02532249
+v 0.01529485 0.00426165 -0.02509684
+v 0.01657302 0.00004831 -0.02516131
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_143.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_143.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47cd8961ff3b11a6b9506d2b1561cb80861fbb7e
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_143.obj
@@ -0,0 +1,234 @@
+# https://github.com/mikedh/trimesh
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+v 0.05242574 -0.01864223 0.00163118
+v 0.05318810 -0.01973605 -0.00095878
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+v 0.05240085 -0.02062684 -0.01005723
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+v 0.05108632 -0.02062684 -0.01349556
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_144.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_144.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75ed1e27a95fc6a88143e5e30c19842773f57cb4
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_144.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v -0.04230459 0.00702742 -0.02142733
+v -0.04368349 0.00702742 -0.02111704
+v -0.04369644 0.00848161 -0.02082342
+v -0.04230459 0.00900204 -0.02103029
+v -0.04230459 0.00702742 0.01265842
+v -0.04369644 0.00702742 -0.02111370
+v -0.04369644 0.01001472 -0.02029625
+v -0.04341265 0.01013496 -0.02034297
+v -0.04230459 0.00902459 -0.02102361
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+v -0.04369644 0.00702742 0.01265842
+v -0.04369644 0.01002223 -0.02029292
+v -0.04230459 0.01181273 -0.01999931
+v -0.04230459 0.02534952 0.01243821
+v -0.04369644 0.02505267 0.01205785
+v -0.04369644 0.02395169 0.01265842
+v -0.04369644 0.01190292 -0.01937204
+v -0.04230459 0.01185219 -0.01997929
+v -0.04230459 0.02595074 0.01066653
+v -0.04369644 0.02506395 0.01202448
+v -0.04369644 0.01409736 -0.01810417
+v -0.04230459 0.01464221 -0.01839778
+v -0.04230459 0.02599395 0.01043631
+v -0.04369644 0.02537395 0.01043631
+v -0.04369644 0.01546137 -0.01697643
+v -0.04305596 0.01576198 -0.01710655
+v -0.04230459 0.01497288 -0.01813086
+v -0.04230459 0.02619874 0.00785385
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+v -0.04369644 0.01605319 -0.01642257
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+v -0.04369644 0.01707714 -0.01544831
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+v -0.04230459 0.01715981 -0.01624907
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+v -0.04369644 0.02555807 0.00750018
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_145.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_145.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d0267888769947e99f4c5e43cd4458c39756061
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_145.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.04452842 -0.01973624 0.01191478
+v 0.04408509 -0.01864223 0.01225093
+v 0.04452842 -0.01974907 0.01191478
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+v 0.04314700 -0.01864223 0.01292324
+v 0.04408509 -0.01864223 -0.01999195
+v 0.04452842 -0.02004107 0.01190292
+v 0.04452842 -0.02062684 -0.02044674
+v 0.03928570 -0.01864223 0.01536726
+v 0.04449815 -0.02062684 0.01188710
+v 0.04275209 -0.01864223 -0.02134051
+v 0.04452842 -0.02062684 0.01186337
+v 0.04321963 -0.02062684 -0.02141170
+v 0.03905118 -0.01864223 0.01550567
+v 0.04346777 -0.02062684 0.01245658
+v 0.04083960 -0.02062684 -0.02293031
+v 0.04031911 -0.01864223 -0.02287495
+v 0.02907262 -0.01864223 0.01550567
+v 0.03817664 -0.01973605 0.01550567
+v 0.04004979 -0.02062684 0.01422434
+v 0.04058692 -0.01973605 -0.02291449
+v 0.03933109 -0.02062684 -0.02361448
+v 0.03932807 -0.02057049 -0.02361053
+v 0.04079573 -0.02057049 -0.02294218
+v 0.03920854 -0.01973624 -0.02353934
+v 0.03904815 -0.01864223 -0.02344047
+v 0.02907262 -0.01973605 0.01550567
+v 0.02907262 -0.01864223 -0.02461503
+v 0.03747912 -0.02062684 0.01549777
+v 0.03883179 -0.02062684 -0.02378058
+v 0.03883179 -0.02057049 -0.02377662
+v 0.03718710 -0.02057049 -0.02431842
+v 0.03728545 -0.01864223 -0.02395854
+v 0.02907262 -0.02062684 0.01549777
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+v 0.02907262 -0.02062684 -0.02451616
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+v 0.03425784 -0.01973605 -0.02470203
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+v 0.03342264 -0.01973605 -0.02477717
+v 0.03232870 -0.01864223 -0.02474553
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+v 0.03138002 -0.02062684 -0.02489581
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_146.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_146.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9801f46106c7b5fabdf5faaf5870da1a8df38490
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_146.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v 0.00602317 -0.02574629 -0.00130248
+v 0.00543849 -0.02550686 -0.00130248
+v 0.00602317 -0.02574511 -0.00137352
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+v 0.00562227 -0.02539717 0.00162757
+v 0.00437769 -0.02473668 0.00111703
+v 0.00437769 -0.02490062 -0.00130248
+v 0.00437769 -0.02482042 -0.00423698
+v 0.00551387 -0.02544907 -0.00423698
+v 0.00602317 -0.02566019 -0.00423698
+v 0.00437769 -0.02470012 0.00162757
+v 0.00602317 -0.02528630 0.00454431
+v 0.00590559 -0.02523205 0.00456206
+v 0.00437769 -0.02439818 0.00456206
+v 0.00437769 -0.02440408 -0.00717147
+v 0.00595617 -0.02518959 -0.00717147
+v 0.00602317 -0.02523323 -0.00706493
+v 0.00602317 -0.02528394 0.00456206
+v 0.00602317 -0.02516718 0.00528570
+v 0.00437769 -0.02386743 0.00741221
+v 0.00437769 -0.02386979 -0.00999054
+v 0.00602317 -0.02515303 -0.00752219
+v 0.00602317 -0.02521672 -0.00717147
+v 0.00602317 -0.02492775 0.00649324
+v 0.00602317 -0.02447838 0.00789611
+v 0.00602317 -0.02422244 0.00865526
+v 0.00602317 -0.02359380 0.01047545
+v 0.00437769 -0.02279296 0.01051096
+v 0.00602317 -0.02484401 -0.00907157
+v 0.00602317 -0.02493954 -0.00860098
+v 0.00437769 -0.02364923 -0.01062539
+v 0.00602317 -0.02450551 -0.01038121
+v 0.00602317 -0.02256296 0.01258420
+v 0.00437769 -0.02130096 0.01338774
+v 0.00437769 -0.02272927 -0.01289840
+v 0.00602317 -0.02396414 -0.01175745
+v 0.00602317 -0.02154156 0.01401815
+v 0.00437769 -0.01973819 0.01572291
+v 0.00437769 -0.02261604 -0.01311593
+v 0.00602317 -0.02336617 -0.01307154
+v 0.00602317 -0.02005429 0.01588273
+v 0.00437769 -0.01679784 0.01965185
+v 0.00437769 -0.02102379 -0.01596164
+v 0.00602317 -0.02228698 -0.01497607
+v 0.00602317 -0.01731443 0.01911467
+v 0.00437769 -0.01600525 0.02055750
+v 0.00437769 -0.02100846 -0.01598827
+v 0.00602317 -0.02175033 -0.01591724
+v 0.00602317 -0.01449202 0.02180943
+v 0.00437769 -0.01371477 0.02313240
+v 0.00437769 -0.02079734 -0.01632567
+v 0.00602317 -0.02145311 -0.01639671
+v 0.00602317 -0.01369826 0.02240432
+v 0.00440926 -0.01369826 0.02313240
+v 0.00437769 -0.01369826 0.02313240
+v 0.00437769 -0.01963087 -0.01795496
+v 0.00602317 -0.02100846 -0.01701823
+v 0.00602317 -0.01369826 -0.02222130
+v 0.00437769 -0.01369826 -0.02222130
+v 0.00437769 -0.01787821 -0.01938891
+v 0.00602317 -0.01892438 -0.01910035
+v 0.00602317 -0.02005429 -0.01816362
+v 0.00602317 -0.02070888 -0.01743554
+v 0.00602317 -0.01478099 -0.02222130
+v 0.00437769 -0.01411460 -0.02222130
+v 0.00437769 -0.01732151 -0.01981510
+v 0.00602317 -0.01818487 -0.01969524
+v 0.00510540 -0.01442008 -0.02222130
+v 0.00602317 -0.01497206 -0.02208812
+v 0.00437769 -0.01453095 -0.02191941
+v 0.00437769 -0.01497206 -0.02159089
+v 0.00557943 -0.01497206 -0.02195937
+v 0.00602317 -0.01542732 -0.02175516
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+f 68 69 72
+f 68 72 70
+f 69 73 72
+f 70 72 71
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_147.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_147.obj
new file mode 100644
index 0000000000000000000000000000000000000000..165ac2eec0a760d254f62cf54b9c5d25537b3eb8
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_147.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v -0.01197764 0.02639931 -0.01877958
+v -0.01197764 0.02446942 -0.02005515
+v -0.01271151 0.02432968 -0.01993413
+v -0.01264778 0.02609717 -0.01877958
+v -0.01197764 -0.01218334 -0.01877958
+v -0.01197764 0.02305316 -0.02085963
+v -0.01271151 0.02286433 -0.02084296
+v -0.01271151 0.02606696 -0.01877958
+v -0.01271151 -0.01190009 -0.01877958
+v -0.01197764 -0.01183210 -0.01904939
+v -0.01197764 0.02052656 -0.02210865
+v -0.01271151 0.02051900 -0.02205555
+v -0.01271151 -0.01172636 -0.01891232
+v -0.01197764 -0.00920353 -0.02104424
+v -0.01271151 -0.00883719 -0.02111153
+v -0.01197764 0.01832097 -0.02307674
+v -0.01271151 0.01825677 -0.02306563
+v -0.01197764 -0.00889384 -0.02126836
+v -0.01271151 -0.00865213 -0.02122946
+v -0.01197764 0.01795086 -0.02320764
+v -0.01197764 0.01685184 -0.02355215
+v -0.01271151 0.01679519 -0.02352375
+v -0.01197764 -0.00615197 -0.02296561
+v -0.01271151 -0.00591403 -0.02290511
+v -0.01197764 0.01625890 -0.02368921
+v -0.01271151 0.01678764 -0.02352560
+v -0.01197764 -0.00496986 -0.02341015
+v -0.01271151 -0.00469039 -0.02339965
+v -0.01197764 0.01465381 -0.02401582
+v -0.01271151 0.01465003 -0.02396087
+v -0.01197764 -0.00485278 -0.02344225
+v -0.01271151 -0.00320615 -0.02373676
+v -0.01197764 -0.00314195 -0.02383307
+v -0.01271151 0.01464248 -0.02396211
+v -0.01197764 0.01171932 -0.02446345
+v -0.01271151 0.01170799 -0.02441590
+v -0.01271151 -0.00002240 -0.02440603
+v -0.01197764 -0.00001862 -0.02450358
+v -0.01197764 0.00878484 -0.02484130
+v -0.01271151 0.00878106 -0.02479499
+v -0.01271151 0.00290453 -0.02490736
+v -0.01197764 0.00217941 -0.02488020
+v -0.01197764 0.00804460 -0.02490736
+v -0.01271151 0.00877350 -0.02479561
+v -0.01271151 0.00291209 -0.02490860
+v -0.01197764 0.00291586 -0.02498948
+v -0.01197764 0.00585035 -0.02508641
+v -0.01271151 0.00585035 -0.02503331
+v -0.01271151 0.00583902 -0.02503331
+v -0.01197764 0.00511389 -0.02508270
+f 1 2 3
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+f 40 43 44
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+f 45 49 46
+f 46 49 50
+f 47 50 49
+f 47 49 48
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_148.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_148.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76a5da9a5672e394aaf5602508568fdbfa40971b
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_148.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.01535528 -0.02770915 0.00134734
+v 0.01678343 -0.02759565 0.00134734
+v 0.01535528 -0.00452095 0.00134734
+v 0.01535528 -0.02770688 -0.00140306
+v 0.01678343 -0.02769326 -0.00424251
+v 0.01678343 -0.02768191 -0.00154712
+v 0.01678343 -0.00452095 0.00134734
+v 0.01535528 -0.00452095 -0.02541270
+v 0.01535528 -0.02746853 -0.00424251
+v 0.01678343 -0.02766602 -0.00483712
+v 0.01678343 -0.00452095 -0.02519791
+v 0.01664140 -0.00452095 -0.02523982
+v 0.01664140 -0.00589431 -0.02520053
+v 0.01535528 -0.00460721 -0.02541008
+v 0.01535528 -0.02703950 -0.00718151
+v 0.01678343 -0.02725742 -0.00718413
+v 0.01678343 -0.00589431 -0.02515862
+v 0.01535528 -0.00591474 -0.02533674
+v 0.01535528 -0.00589431 -0.02533936
+v 0.01535528 -0.00528140 -0.02537341
+v 0.01678343 -0.00603505 -0.02515076
+v 0.01678343 -0.00605094 -0.02514814
+v 0.01664140 -0.00882944 -0.02470284
+v 0.01535528 -0.02669673 -0.00856456
+v 0.01678343 -0.02651513 -0.01011264
+v 0.01535528 -0.00754461 -0.02505908
+v 0.01678343 -0.00882944 -0.02467664
+v 0.01535528 -0.00882944 -0.02483643
+v 0.01678343 -0.00895883 -0.02465307
+v 0.01535528 -0.01557819 -0.02340360
+v 0.01535528 -0.02626542 -0.01011264
+v 0.01535528 -0.02593854 -0.01105564
+v 0.01535528 -0.02593173 -0.01107397
+v 0.01535528 -0.02537331 -0.01253299
+v 0.01678343 -0.02542098 -0.01276874
+v 0.01678343 -0.01175776 -0.02388034
+v 0.01678343 -0.01469969 -0.02298711
+v 0.01535528 -0.01635227 -0.02311809
+v 0.01535528 -0.02503508 -0.01323500
+v 0.01678343 -0.02540282 -0.01280803
+v 0.01678343 -0.01763937 -0.02168788
+v 0.01678343 -0.02029755 -0.01947447
+v 0.01678343 -0.02237916 -0.01772993
+v 0.01535528 -0.01930556 -0.02055367
+v 0.01535528 -0.02363902 -0.01585966
+v 0.01678343 -0.02377295 -0.01575488
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+v 0.01535528 -0.02170042 -0.01840312
+v 0.01678343 -0.02246088 -0.01762777
+v 0.01535528 -0.02311010 -0.01674503
+v 0.01678343 -0.02374117 -0.01580465
+v 0.01535528 -0.02309875 -0.01676074
+f 1 2 7
+f 1 7 3
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+f 1 20 19
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+f 1 18 26
+f 1 26 28
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+f 1 15 9
+f 1 9 4
+f 1 4 5
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+f 11 13 12
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+f 23 30 28
+f 24 31 25
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 29 36 30
+f 30 37 38
+f 30 36 37
+f 34 39 40
+f 34 40 35
+f 37 41 38
+f 38 41 42
+f 38 42 43
+f 38 43 44
+f 39 45 40
+f 40 45 46
+f 43 47 48
+f 43 48 44
+f 43 49 47
+f 45 50 46
+f 46 50 51
+f 47 49 52
+f 49 51 50
+f 49 50 52
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_149.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_149.obj
new file mode 100644
index 0000000000000000000000000000000000000000..274ad8030dc600bc4ec2b46a1925a800707cb5de
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_149.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01141571 -0.01425412 -0.02370043
+v 0.01088421 -0.01425412 -0.02367174
+v 0.01077033 -0.01416552 -0.02369087
+v 0.01077033 -0.01176426 -0.02433644
+v 0.01141571 -0.01239830 -0.02419776
+v 0.01141571 -0.01425412 0.02243643
+v 0.01054692 -0.01425412 -0.02361436
+v 0.01052494 -0.01411776 -0.02367652
+v 0.01052494 -0.01396463 -0.02371956
+v 0.01052494 -0.01176426 -0.02431253
+v 0.01052494 -0.01151888 -0.02436513
+v 0.01052494 -0.01052935 -0.02455642
+v 0.01077033 -0.01052935 -0.02457076
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diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_15.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeefd5f9655ba620a709e5aaa1ec23be5b93758c
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_15.obj
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+f 182 197 199
+f 182 199 198
+f 182 198 194
+f 182 194 208
+f 182 208 184
+f 182 184 183
+f 184 208 185
+f 185 209 186
+f 185 208 210
+f 185 210 209
+f 187 206 207
+f 188 203 211
+f 188 211 204
+f 191 212 192
+f 192 212 213
+f 192 213 193
+f 193 213 194
+f 200 214 202
+f 200 202 201
+f 202 214 211
+f 202 211 203
+f 204 211 215
+f 204 215 214
+f 204 214 205
+f 211 214 215
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_150.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_150.obj
new file mode 100644
index 0000000000000000000000000000000000000000..974dc90cf6f49ca499de23a1192f3ab77f7b50e3
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_150.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00387183 0.03349575 0.01137093
+v -0.00554852 0.03349575 0.01137093
+v -0.00386193 0.03348930 0.01137093
+v -0.00386193 0.03349575 0.00875426
+v -0.00554852 0.03349575 0.00624350
+v -0.00554852 0.00052844 0.01137093
+v -0.00386193 0.00052844 0.01137093
+v -0.00386193 0.03349575 0.00624350
+v -0.00554852 0.00052844 0.00624350
+v -0.00386193 0.00052844 0.00624350
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 3 7 10
+f 3 10 8
+f 3 8 4
+f 5 8 10
+f 5 10 9
+f 6 9 10
+f 6 10 7
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_151.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_151.obj
new file mode 100644
index 0000000000000000000000000000000000000000..636810def0186b64a5f43af9b64f03eabd3e1db0
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_151.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00908108 -0.01245945 -0.02398371
+v 0.00908108 -0.01176299 -0.02417019
+v 0.00908108 -0.01245945 0.01328927
+v 0.00868554 -0.01245945 -0.02394565
+v 0.00761700 -0.00589412 -0.02544129
+v 0.00908108 -0.01007432 -0.02456217
+v 0.00783483 -0.01176299 -0.02404840
+v 0.00761700 -0.01154526 -0.02408266
+v 0.00908108 -0.00521397 0.01328927
+v 0.00761700 -0.01245945 0.01328927
+v 0.00783483 -0.01245945 -0.02384670
+v 0.00761700 -0.00567639 -0.02547935
+v 0.00783483 -0.00589412 -0.02545271
+v 0.00908108 -0.00714024 -0.02521675
+v 0.00761700 -0.01245945 -0.02381626
+v 0.00761700 -0.00521397 0.01328927
+v 0.00908108 -0.00521397 -0.02558971
+v 0.00761700 -0.00521397 -0.02555166
+v 0.00783483 -0.00521397 -0.02555927
+v 0.00908108 -0.00589412 -0.02548315
+f 1 2 6
+f 1 6 14
+f 1 14 20
+f 1 20 17
+f 1 17 9
+f 1 9 3
+f 1 3 10
+f 1 10 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 16
+f 3 16 10
+f 4 11 7
+f 5 8 15
+f 5 15 10
+f 5 10 16
+f 5 16 18
+f 5 18 12
+f 5 12 13
+f 5 13 6
+f 6 13 14
+f 7 11 8
+f 8 11 15
+f 9 17 19
+f 9 19 18
+f 9 18 16
+f 12 18 19
+f 12 19 13
+f 13 20 14
+f 13 19 17
+f 13 17 20
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_152.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_152.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b90c51a75abd8a2700c159b2ddbb235a7158897
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_152.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v -0.01472193 0.02740046 -0.01444779
+v -0.01472193 0.02725175 -0.01515362
+v -0.01564527 0.02678498 -0.01444779
+v -0.01472193 -0.01479067 -0.01444779
+v -0.01472193 0.02687585 -0.01614219
+v -0.01564935 0.02638843 -0.01551012
+v -0.01564935 0.02678085 -0.01445394
+v -0.01564935 0.02665280 -0.01444779
+v -0.01485511 -0.01474110 -0.01444779
+v -0.01472193 -0.01460479 -0.01481248
+v -0.01472193 0.02575230 -0.01746985
+v -0.01564935 0.02627277 -0.01567915
+v -0.01564935 -0.01443956 -0.01444779
+v -0.01472193 -0.01410498 -0.01569964
+v -0.01564935 -0.01385713 -0.01555827
+v -0.01472193 0.02519052 -0.01807221
+v -0.01564935 0.02331105 -0.01870735
+v -0.01472193 -0.01346058 -0.01670562
+v -0.01564935 -0.01291120 -0.01703241
+v -0.01472193 0.02255926 -0.02025936
+v -0.01564935 0.02324909 -0.01876267
+v -0.01472193 -0.01308056 -0.01725779
+v -0.01564935 -0.01144479 -0.01833139
+v -0.01472193 0.02200161 -0.02071830
+v -0.01564935 0.02039889 -0.02107582
+v -0.01472193 -0.01248160 -0.01778742
+v -0.01472193 -0.01153980 -0.01850964
+v -0.01564935 -0.00950336 -0.01979837
+v -0.01472193 -0.01020558 -0.01951870
+v -0.01556157 0.02039889 -0.02113319
+v -0.01564935 0.02034519 -0.02110861
+v -0.01472193 0.01771806 -0.02275998
+v -0.01557228 0.01748674 -0.02263090
+v -0.01472193 -0.00967272 -0.01992130
+v -0.01564935 -0.00803695 -0.02089245
+v -0.01472193 -0.00828893 -0.02096109
+v -0.01564935 0.01748674 -0.02258993
+v -0.01472193 0.01662342 -0.02327322
+v -0.01564935 0.01732977 -0.02267085
+v -0.01564935 -0.00589311 -0.02227440
+v -0.01472193 -0.00676469 -0.02194454
+v -0.01472193 0.01612360 -0.02344327
+v -0.01564935 0.01469437 -0.02356620
+v -0.01564935 -0.00403842 -0.02323634
+v -0.01472193 -0.00586833 -0.02248646
+v -0.01472193 0.01172026 -0.02425667
+v -0.01564935 0.01171613 -0.02418496
+v -0.01564935 0.01173678 -0.02418086
+v -0.01557228 0.01461589 -0.02360718
+v -0.01564935 0.01457045 -0.02360001
+v -0.01472193 -0.00279921 -0.02358772
+v -0.01472193 -0.00424909 -0.02328346
+v -0.01472193 -0.00465803 -0.02311341
+v -0.01564935 -0.00257202 -0.02352728
+v -0.01472193 0.00878332 -0.02471766
+v -0.01564935 0.00878332 -0.02468180
+v -0.01472193 -0.00001923 -0.02413271
+v -0.01564935 -0.00001923 -0.02400671
+v -0.01472193 0.00785391 -0.02479347
+v -0.01472193 0.00585051 -0.02491332
+v -0.01564935 0.00585051 -0.02485698
+v -0.01472193 0.00198829 -0.02450355
+v -0.01564935 0.00291357 -0.02454760
+v -0.01472193 0.00492523 -0.02487337
+v -0.01472193 0.00291770 -0.02466234
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 9
+f 1 9 4
+f 1 4 10
+f 1 10 14
+f 1 14 18
+f 1 18 22
+f 1 22 26
+f 1 26 27
+f 1 27 29
+f 1 29 34
+f 1 34 36
+f 1 36 41
+f 1 41 45
+f 1 45 53
+f 1 53 52
+f 1 52 51
+f 1 51 57
+f 1 57 62
+f 1 62 65
+f 1 65 64
+f 1 64 60
+f 1 60 59
+f 1 59 55
+f 1 55 46
+f 1 46 42
+f 1 42 38
+f 1 38 32
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+f 1 20 16
+f 1 16 11
+f 1 11 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 5 11 12
+f 5 12 6
+f 6 12 17
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+f 6 21 25
+f 6 25 31
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+f 6 39 43
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+f 6 50 48
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+f 6 63 58
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+f 6 44 40
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+f 6 28 23
+f 6 23 19
+f 6 19 15
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+f 6 13 8
+f 6 8 7
+f 9 13 10
+f 10 13 15
+f 10 15 14
+f 11 16 12
+f 12 16 17
+f 14 15 18
+f 15 19 18
+f 16 20 21
+f 16 21 17
+f 18 19 22
+f 19 23 22
+f 20 24 21
+f 21 24 25
+f 22 23 26
+f 23 27 26
+f 23 28 29
+f 23 29 27
+f 24 30 31
+f 24 31 25
+f 24 32 33
+f 24 33 30
+f 28 34 29
+f 28 35 36
+f 28 36 34
+f 30 33 37
+f 30 37 31
+f 32 38 33
+f 33 38 39
+f 33 39 37
+f 35 40 41
+f 35 41 36
+f 38 42 39
+f 39 42 43
+f 40 44 45
+f 40 45 41
+f 42 46 47
+f 42 47 48
+f 42 48 49
+f 42 49 50
+f 42 50 43
+f 44 51 52
+f 44 52 53
+f 44 53 45
+f 44 54 51
+f 46 55 56
+f 46 56 47
+f 48 50 49
+f 51 54 57
+f 54 58 57
+f 55 59 56
+f 56 59 60
+f 56 60 61
+f 57 58 62
+f 58 63 62
+f 60 64 61
+f 61 64 65
+f 61 65 63
+f 62 63 65
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_153.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_153.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51197ea37869930d443a4073117652cce0c057a4
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_153.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.02416034 -0.03292970 -0.00717216
+v 0.02312205 -0.03192188 -0.00717216
+v 0.02416034 -0.03284880 -0.01010796
+v 0.02416044 -0.02615245 -0.02011287
+v 0.02416044 -0.02615245 0.00777450
+v 0.02416034 -0.03273161 -0.00424187
+v 0.02312205 -0.03180394 -0.00424187
+v 0.02312205 -0.03168902 -0.01007485
+v 0.02312194 -0.02615245 0.00777450
+v 0.02312194 -0.02615245 -0.01908920
+v 0.02312205 -0.03168448 -0.01010796
+v 0.02416034 -0.03216911 -0.01304377
+v 0.02416034 -0.03103806 -0.01573400
+v 0.02416034 -0.02891204 -0.01833594
+v 0.02416034 -0.02842061 -0.01882708
+v 0.02416044 -0.02567311 -0.02041087
+v 0.02416044 -0.02520587 0.00777450
+v 0.02416034 -0.02736138 0.00777726
+v 0.02416034 -0.03033569 0.00219813
+v 0.02416034 -0.03112349 0.00064470
+v 0.02416034 -0.03190147 -0.00120950
+v 0.02312205 -0.03107889 -0.00130883
+v 0.02312205 -0.03019960 0.00108617
+v 0.02312205 -0.02703174 0.00777726
+v 0.02312194 -0.02520587 0.00777450
+v 0.02312194 -0.02520587 -0.01971555
+v 0.02312205 -0.02672705 -0.01876638
+v 0.02312205 -0.02811062 -0.01748058
+v 0.02312205 -0.02818623 -0.01740884
+v 0.02312205 -0.02930216 -0.01574504
+v 0.02312205 -0.02934601 -0.01567882
+v 0.02312205 -0.02940952 -0.01556569
+v 0.02312205 -0.03025781 -0.01403432
+v 0.02312205 -0.03074698 -0.01310171
+v 0.02312205 -0.03104033 -0.01232637
+v 0.02397013 -0.02811062 -0.01881604
+v 0.02390313 -0.02520587 -0.02041087
+v 0.02416044 -0.02520587 -0.02041087
+v 0.02416034 -0.02615245 0.00777726
+v 0.02414377 -0.02735684 0.00777726
+v 0.02381041 -0.03097757 0.00042396
+v 0.02312205 -0.02615245 0.00777726
+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 10
+f 2 10 8
+f 3 8 11
+f 3 11 12
+f 3 12 4
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 4 15 16
+f 4 16 38
+f 4 38 17
+f 4 17 5
+f 5 17 39
+f 5 39 18
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 6
+f 6 21 22
+f 6 22 7
+f 7 22 9
+f 8 10 11
+f 9 22 23
+f 9 23 24
+f 9 24 42
+f 9 42 25
+f 9 25 26
+f 9 26 10
+f 10 26 27
+f 10 27 28
+f 10 28 29
+f 10 29 30
+f 10 30 31
+f 10 31 32
+f 10 32 33
+f 10 33 34
+f 10 34 35
+f 10 35 11
+f 11 35 12
+f 12 35 34
+f 12 34 13
+f 13 30 29
+f 13 29 14
+f 13 34 33
+f 13 33 32
+f 13 32 31
+f 13 31 30
+f 14 29 15
+f 15 36 26
+f 15 26 16
+f 15 29 28
+f 15 28 36
+f 16 37 38
+f 16 26 37
+f 17 25 42
+f 17 42 39
+f 17 38 37
+f 17 37 26
+f 17 26 25
+f 18 39 42
+f 18 42 24
+f 18 24 40
+f 18 40 19
+f 19 40 24
+f 19 24 20
+f 20 41 21
+f 20 24 23
+f 20 23 41
+f 21 41 23
+f 21 23 22
+f 26 36 27
+f 27 36 28
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_154.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_154.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19afe3a606f64845cc78a5655b13bb859283fab2
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_154.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.02511187 0.00914879 -0.02029447
+v 0.02511187 0.01090922 -0.02032717
+v 0.02602868 0.00914879 -0.01903715
+v 0.02511187 0.00914879 -0.01540787
+v 0.02511187 0.01179395 -0.02028853
+v 0.02657131 0.00914879 -0.01829108
+v 0.02657131 0.00914879 -0.01540787
+v 0.02511187 0.00915060 0.01003872
+v 0.02622242 0.01198173 -0.01863885
+v 0.02511187 0.01447883 -0.01972080
+v 0.02657131 0.01536897 -0.01781847
+v 0.02657131 0.01255229 -0.01805924
+v 0.02657131 0.00915060 0.01003872
+v 0.02511187 0.02315096 0.01003872
+v 0.02511187 0.01520647 -0.01936411
+v 0.02657131 0.01587633 -0.01753313
+v 0.02657131 0.02016817 0.01003872
+v 0.02645116 0.02063581 0.01003872
+v 0.02657131 0.02092470 0.00947100
+v 0.02657131 0.02203512 0.00821962
+v 0.02511187 0.02343263 0.00971473
+v 0.02511187 0.01759162 -0.01784523
+v 0.02620856 0.01759162 -0.01685542
+v 0.02657131 0.01652995 -0.01714969
+v 0.02615912 0.02337666 0.00753895
+v 0.02657131 0.02291082 0.00711092
+v 0.02511187 0.02496375 0.00751219
+v 0.02511187 0.02015553 -0.01563377
+v 0.02560750 0.01994066 -0.01540787
+v 0.02657131 0.01952177 -0.01496498
+v 0.02652388 0.02414041 0.00456359
+v 0.02657131 0.02403750 0.00456359
+v 0.02511187 0.02620959 0.00439119
+v 0.02511187 0.02039747 -0.01540787
+v 0.02519888 0.02031983 -0.01540787
+v 0.02609041 0.02125512 -0.01378495
+v 0.02534947 0.02018081 -0.01540787
+v 0.02657131 0.02031261 -0.01423972
+v 0.02657131 0.02422708 0.00403450
+v 0.02657131 0.02537181 0.00071138
+v 0.02511187 0.02645876 0.00356784
+v 0.02511187 0.02168484 -0.01420405
+v 0.02511187 0.02265985 -0.01311319
+v 0.02657131 0.02233485 -0.01213230
+v 0.02657131 0.02592973 -0.00130687
+v 0.02593953 0.02670973 -0.00130687
+v 0.02511187 0.02759446 -0.00130687
+v 0.02524674 0.02273568 -0.01290215
+v 0.02511187 0.02295235 -0.01276245
+v 0.02511187 0.02435889 -0.01062530
+v 0.02657131 0.02283499 -0.01134759
+v 0.02657131 0.02591709 -0.00287332
+v 0.02511187 0.02752224 -0.00257608
+v 0.02511187 0.02466222 -0.01002191
+v 0.02649931 0.02454486 -0.00776587
+v 0.02657131 0.02438416 -0.00795610
+v 0.02511187 0.02626015 -0.00662744
+v 0.02657131 0.02576362 -0.00431790
+v 0.02511187 0.02729113 -0.00423467
+v 0.02657131 0.02544584 -0.00547713
+v 0.02657131 0.02518042 -0.00610133
+f 1 2 3
+f 1 3 6
+f 1 6 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 21
+f 1 21 27
+f 1 27 33
+f 1 33 41
+f 1 41 47
+f 1 47 53
+f 1 53 59
+f 1 59 57
+f 1 57 54
+f 1 54 50
+f 1 50 49
+f 1 49 43
+f 1 43 42
+f 1 42 34
+f 1 34 28
+f 1 28 22
+f 1 22 15
+f 1 15 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 4 7 13
+f 4 13 8
+f 5 9 6
+f 5 10 11
+f 5 11 9
+f 6 9 12
+f 6 12 11
+f 6 11 16
+f 6 16 24
+f 6 24 30
+f 6 30 38
+f 6 38 44
+f 6 44 51
+f 6 51 56
+f 6 56 61
+f 6 61 60
+f 6 60 58
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+f 6 26 20
+f 6 20 19
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+f 6 17 13
+f 6 13 7
+f 8 13 17
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+f 8 18 14
+f 9 11 12
+f 10 15 11
+f 11 15 16
+f 14 18 19
+f 14 19 20
+f 14 20 21
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+f 15 23 24
+f 15 24 16
+f 17 19 18
+f 20 25 21
+f 20 26 25
+f 21 25 27
+f 22 28 29
+f 22 29 30
+f 22 30 23
+f 23 30 24
+f 25 26 31
+f 25 31 27
+f 26 32 31
+f 27 31 33
+f 28 34 35
+f 28 35 36
+f 28 36 37
+f 28 37 29
+f 29 37 36
+f 29 36 38
+f 29 38 30
+f 31 32 39
+f 31 39 40
+f 31 40 33
+f 33 40 41
+f 34 42 35
+f 35 42 36
+f 36 42 43
+f 36 43 44
+f 36 44 38
+f 40 45 41
+f 41 45 46
+f 41 46 47
+f 43 48 44
+f 43 49 48
+f 44 49 50
+f 44 50 51
+f 44 48 49
+f 45 52 46
+f 46 52 53
+f 46 53 47
+f 50 54 51
+f 51 55 56
+f 51 54 57
+f 51 57 55
+f 52 58 53
+f 53 58 59
+f 55 57 59
+f 55 59 60
+f 55 60 61
+f 55 61 56
+f 58 60 59
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_155.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_155.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2bc5b4212e1dc5b7cff0c3964ae3b7a945bcbb7
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_155.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v -0.05087667 0.01846780 -0.00783897
+v -0.05087148 0.01744441 -0.01011633
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_156.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_156.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15909e0a9cb2eab535ed18225ef36c1d4779374e
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_156.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_157.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_157.obj
new file mode 100644
index 0000000000000000000000000000000000000000..204b7903ffd03d0a45e9b1186b7984c6d5419c53
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_157.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_158.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_158.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6bf8bf268eb5fadf2aba6381bb14d5c8c606f3e
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_158.obj
@@ -0,0 +1,333 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_159.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_159.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ef47647ef1391cbaa59245dbe6397d5d89b10ae
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_159.obj
@@ -0,0 +1,219 @@
+# https://github.com/mikedh/trimesh
+v -0.01692599 0.02703276 -0.01304503
+v -0.01692599 0.02651290 -0.01443916
+v -0.01857179 0.02668072 -0.01304503
+v -0.01692599 -0.01478137 -0.01304503
+v -0.01858266 0.02667663 -0.01304959
+v -0.01692599 0.02585795 -0.01538985
+v -0.01858266 0.02667663 -0.01304503
+v -0.01701990 -0.01475681 -0.01304503
+v -0.01692599 -0.01470360 -0.01320006
+v -0.01858266 0.02531352 -0.01501368
+v -0.01692599 0.02352061 -0.01773923
+v -0.01858266 -0.01426151 -0.01304503
+v -0.01711282 -0.01472816 -0.01304503
+v -0.01858266 -0.01417555 -0.01324908
+v -0.01858266 -0.01397497 -0.01363209
+v -0.01692599 -0.01422467 -0.01411314
+v -0.01858266 0.02379078 -0.01648076
+v -0.01692599 0.02284520 -0.01832173
+v -0.01858266 0.02232125 -0.01775063
+v -0.01858266 -0.01424104 -0.01309861
+v -0.01852817 -0.01428198 -0.01304503
+v -0.01790653 -0.01447846 -0.01304503
+v -0.01838610 -0.01432700 -0.01304503
+v -0.01858266 -0.01336915 -0.01477657
+v -0.01790426 -0.01347558 -0.01497378
+v -0.01692599 -0.01363931 -0.01522684
+v -0.01692599 0.02039735 -0.02024136
+v -0.01858266 0.02047103 -0.01917439
+v -0.01858266 -0.01273058 -0.01575577
+v -0.01692599 -0.01275514 -0.01659475
+v -0.01692599 -0.01277970 -0.01655713
+v -0.01692599 0.01961551 -0.02075661
+v -0.01858266 0.01748284 -0.02103817
+v -0.01858266 -0.01260778 -0.01594158
+v -0.01692599 -0.01205107 -0.01743829
+v -0.01858266 -0.01255047 -0.01602707
+v -0.01858266 -0.01093357 -0.01796494
+v -0.01692599 0.01747466 -0.02190793
+v -0.01692599 0.01738869 -0.02195238
+v -0.01692599 0.01597647 -0.02267623
+v -0.01858266 0.01742963 -0.02106438
+v -0.01692599 -0.01122421 -0.01817240
+v -0.01858266 -0.00873951 -0.01960187
+v -0.01692599 -0.00917341 -0.01971244
+v -0.01692599 0.01535837 -0.02297033
+v -0.01858266 0.01470751 -0.02236731
+v -0.01858266 -0.00848981 -0.01978539
+v -0.01692599 -0.00780621 -0.02071785
+v -0.01692599 0.01385199 -0.02348102
+v -0.01735820 0.01361048 -0.02344112
+v -0.01858266 0.01461746 -0.02240037
+v -0.01858266 -0.00750739 -0.02049556
+v -0.01692599 -0.00725360 -0.02110542
+v -0.01692599 0.01313155 -0.02362921
+v -0.01858266 0.00878026 -0.02419803
+v -0.01858266 0.00883348 -0.02418663
+v -0.01858266 0.01133045 -0.02357335
+v -0.01858266 -0.00624253 -0.02138242
+v -0.01692599 -0.00599283 -0.02191933
+v -0.01692599 0.00878026 -0.02447161
+v -0.01858266 0.00584939 -0.02447275
+v -0.01858266 -0.00612382 -0.02145766
+v -0.01692599 -0.00479347 -0.02258390
+v -0.01692599 0.00584939 -0.02469048
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+v -0.01692599 -0.00228011 -0.02347304
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_16.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..033ebe3bf05f560ebb2a8a53f2c097907992d062
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v 0.02511187 -0.00295623 0.02552282
+v 0.02511187 -0.00329015 0.02551979
+v 0.02544834 -0.00295623 0.02547432
+v 0.02544834 -0.00002457 0.02543946
+v 0.02511187 -0.00036341 0.02549099
+v 0.02511187 -0.00588788 0.02544098
+v 0.02657131 -0.00295623 0.02523334
+v 0.02544834 -0.00588788 0.02538490
+v 0.02511187 -0.00002457 0.02546826
+v 0.02657131 -0.00002457 0.02516514
+v 0.02560807 0.00314279 0.02446341
+v 0.02511187 0.00310842 0.02454980
+v 0.02511187 -0.00882445 0.02504692
+v 0.02544834 -0.00882445 0.02499842
+v 0.02657131 -0.00476334 0.02517726
+v 0.02657131 -0.00788651 0.02476653
+v 0.02657131 0.00281869 0.02432246
+v 0.02657131 0.00414947 0.02368742
+v 0.02511187 0.00940386 0.02126852
+v 0.02511187 0.00399724 0.02411179
+v 0.02511187 -0.00915837 0.02495144
+v 0.02511187 -0.01178556 0.02414059
+v 0.02531704 -0.01178556 0.02410573
+v 0.02657131 -0.01120611 0.02396326
+v 0.02657131 -0.00882445 0.02461952
+v 0.02657131 0.00828914 0.02120638
+v 0.02511187 0.01305247 0.01927095
+v 0.02511187 -0.01193779 0.02408754
+v 0.02511187 -0.01209002 0.02402995
+v 0.02657131 -0.01950510 0.02087749
+v 0.02657131 0.00963466 0.02020760
+v 0.02511187 0.01713812 0.01643526
+v 0.02544834 -0.01967206 0.02096691
+v 0.02511187 -0.01967697 0.02098358
+v 0.02657131 -0.02018276 0.02056679
+v 0.02657131 0.01133374 0.01891478
+v 0.02511187 0.01769303 0.01594268
+v 0.02544834 -0.02113543 0.02028641
+v 0.02511187 -0.02114525 0.02027731
+v 0.02657131 -0.02087517 0.02021214
+v 0.02657131 0.01438325 0.01597148
+v 0.02511187 0.02064923 0.01319944
+v 0.02511187 -0.02139078 0.02011060
+v 0.02544834 -0.02315370 0.01881930
+v 0.02657131 -0.02296710 0.01869957
+v 0.02657131 0.02014344 0.01006820
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+v 0.02511187 -0.02335013 0.01867380
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+v 0.02511187 -0.02458270 0.01658833
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+v 0.02511187 -0.02507377 0.01520459
+v 0.02511187 -0.02645366 0.01043953
+v 0.02580423 -0.02677285 0.01003941
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+f 1 4 5
+f 1 5 9
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+f 1 20 19
+f 1 19 27
+f 1 27 32
+f 1 32 37
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+f 1 42 48
+f 1 48 53
+f 1 53 59
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+f 54 60 61
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+f 56 62 57
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+f 57 64 65
+f 58 65 64
+f 58 64 59
+f 60 62 61
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_160.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_160.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d10afe74176bd9c82e1ef58339f91d75be66eaa
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_160.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.00057014 -0.02355843 -0.00130189
+v -0.00092817 -0.02329663 -0.00130189
+v 0.00057014 -0.02334158 -0.00423900
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+v -0.00092817 -0.02334000 0.00456508
+v -0.00092817 -0.02333629 0.00162797
+v -0.00092817 -0.02292058 -0.00423900
+v 0.00057014 -0.02289255 -0.00710367
+v 0.00057014 -0.02336274 0.00456508
+v -0.00092817 -0.02315859 0.00750218
+v -0.00092817 -0.02239010 -0.00703124
+v -0.00092817 -0.02206166 -0.00864647
+v 0.00057014 -0.02287827 -0.00717248
+v 0.00057014 -0.02306761 0.00750218
+v -0.00092817 -0.02258526 0.01043567
+v 0.00057014 -0.02236789 -0.00958084
+v -0.00092817 -0.02165547 -0.01020013
+v 0.00057014 -0.02222032 -0.01020013
+v 0.00057014 -0.02222667 -0.01017478
+v 0.00057014 -0.02245357 0.01047913
+v 0.00057014 -0.02215368 0.01188068
+v -0.00092817 -0.02257627 0.01047550
+v -0.00092817 -0.02164330 -0.01023634
+v 0.00057014 -0.02191145 -0.01114536
+v 0.00057014 -0.02209762 0.01209797
+v -0.00092817 -0.02213411 0.01218851
+v -0.00092817 -0.02061989 -0.01299961
+v 0.00057014 -0.02181307 -0.01140974
+v 0.00057014 -0.02142804 0.01340175
+v -0.00092817 -0.02155656 0.01365163
+v -0.00092817 -0.02059926 -0.01304669
+v 0.00057014 -0.02109854 -0.01308653
+v 0.00057014 -0.01913475 0.01782370
+v -0.00092817 -0.02152959 0.01370234
+v -0.00092817 -0.01953988 -0.01532829
+v 0.00057014 -0.02061989 -0.01411868
+v 0.00057014 -0.01815629 0.01888483
+v -0.00083445 -0.01815629 0.01902245
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+v -0.00083181 -0.01991381 0.01652717
+v -0.00092817 -0.02104565 0.01455703
+v -0.00092817 -0.01951503 -0.01537899
+v 0.00057014 -0.01975197 -0.01582445
+v -0.00092817 -0.01815577 0.01899347
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+v -0.00092817 -0.01827794 0.01883412
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+v -0.00092817 -0.01981597 0.01665031
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+v -0.00092817 -0.01815629 -0.01737087
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+f 14 20 15
+f 15 20 21
+f 15 21 22
+f 17 23 24
+f 17 24 18
+f 21 25 22
+f 22 25 26
+f 23 27 24
+f 24 27 28
+f 25 29 30
+f 25 30 26
+f 27 31 32
+f 27 32 28
+f 29 33 30
+f 30 33 34
+f 31 35 36
+f 31 36 32
+f 33 37 38
+f 33 38 39
+f 33 39 40
+f 33 40 41
+f 33 41 34
+f 35 42 36
+f 36 42 43
+f 37 44 38
+f 37 45 44
+f 38 44 46
+f 38 46 47
+f 38 47 48
+f 38 48 39
+f 39 49 40
+f 39 48 49
+f 40 49 50
+f 40 50 41
+f 42 51 52
+f 42 52 43
+f 44 45 53
+f 44 53 54
+f 44 54 55
+f 44 47 46
+f 45 56 53
+f 47 49 48
+f 51 55 56
+f 51 56 52
+f 53 56 54
+f 54 56 55
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_161.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_161.obj
new file mode 100644
index 0000000000000000000000000000000000000000..425e2fbeab637b59e9585ec7ef948a8fcda92f51
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_161.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.02579640 -0.01464803 -0.00129967
+v -0.02679020 -0.01406239 -0.00129967
+v -0.02665095 -0.01393327 -0.00423720
+v -0.02579640 -0.01451891 -0.00309519
+v -0.02579640 -0.01454430 -0.00005205
+v -0.02669053 -0.01386520 0.00162795
+v -0.02724158 -0.01327362 0.00291849
+v -0.02794439 -0.01251834 0.00456548
+v -0.02724158 -0.01358535 -0.00033260
+v -0.02883583 -0.01211369 0.00057837
+v -0.02883583 -0.01221256 -0.00129967
+v -0.02883583 -0.01213260 -0.00230965
+v -0.02633764 -0.01356914 -0.00717473
+v -0.02579640 -0.01438492 -0.00423720
+v -0.02883583 -0.01196296 -0.00423390
+v -0.02579640 -0.01439681 0.00162795
+v -0.02647689 -0.01361776 0.00456218
+v -0.02724158 -0.01304509 0.00456548
+v -0.02883583 -0.01140757 0.00753602
+v -0.02883583 -0.01172579 0.00456548
+v -0.02815832 -0.01261397 0.00163126
+v -0.02579640 -0.01400729 -0.00632647
+v -0.02883583 -0.01117743 -0.00717473
+v -0.02608443 -0.01334277 -0.00889433
+v -0.02579640 -0.01399972 0.00456218
+v -0.02621564 -0.01341300 0.00672737
+v -0.02724128 -0.01256102 0.00750301
+v -0.02883583 -0.01091702 0.01043394
+v -0.02579640 -0.01353348 -0.00858738
+v -0.02883583 -0.01034705 -0.00984490
+v -0.02579640 -0.01339896 -0.00906927
+v -0.02645011 -0.01083544 -0.01304648
+v -0.02602313 -0.01038055 -0.01465057
+v -0.02579640 -0.01063069 -0.01441623
+v -0.02579640 -0.01355995 0.00696831
+v -0.02579640 -0.01317421 0.00855260
+v -0.02860345 -0.01017633 0.01441775
+v -0.02883583 -0.01031410 0.01334176
+v -0.02883583 -0.01049022 0.01258262
+v -0.02724158 -0.01254427 0.00759543
+v -0.02727342 -0.01251726 0.00762183
+v -0.02883583 -0.00958097 -0.01078557
+v -0.02635073 -0.00912932 -0.01547242
+v -0.02579640 -0.00912932 -0.01593120
+v -0.02579640 -0.01043890 -0.01473968
+v -0.02579640 -0.01314450 0.00866152
+v -0.02579640 -0.01260316 0.01043394
+v -0.02579640 -0.01172092 0.01330215
+v -0.02664679 -0.01058963 0.01527590
+v -0.02756561 -0.00958097 0.01621657
+v -0.02724128 -0.00912932 0.01706153
+v -0.02883583 -0.00999481 0.01427583
+v -0.02724128 -0.00912932 -0.01393104
+v -0.02695921 -0.00912932 -0.01441953
+v -0.02883583 -0.00958097 0.01461579
+v -0.02579640 -0.00912932 0.01778766
+v -0.02579640 -0.01075873 0.01549374
+v -0.02724158 -0.00989918 0.01594593
+v -0.02751532 -0.00958097 0.01625288
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 22
+f 1 22 29
+f 1 29 31
+f 1 31 34
+f 1 34 45
+f 1 45 44
+f 1 44 56
+f 1 56 57
+f 1 57 48
+f 1 48 47
+f 1 47 46
+f 1 46 36
+f 1 36 35
+f 1 35 25
+f 1 25 16
+f 1 16 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 3
+f 3 13 14
+f 3 14 4
+f 3 12 15
+f 3 15 13
+f 5 16 6
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 8
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 9 21 10
+f 10 21 20
+f 10 20 19
+f 10 19 28
+f 10 28 39
+f 10 39 38
+f 10 38 52
+f 10 52 55
+f 10 55 42
+f 10 42 30
+f 10 30 23
+f 10 23 15
+f 10 15 12
+f 10 12 11
+f 13 22 14
+f 13 15 23
+f 13 23 24
+f 13 24 22
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 17 27 28
+f 17 28 19
+f 17 19 18
+f 22 24 29
+f 23 30 24
+f 24 31 29
+f 24 30 32
+f 24 32 33
+f 24 33 34
+f 24 34 31
+f 25 35 26
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 28
+f 26 28 40
+f 26 40 27
+f 27 40 41
+f 27 41 28
+f 28 41 40
+f 30 42 33
+f 30 33 32
+f 33 43 44
+f 33 44 45
+f 33 45 34
+f 33 42 43
+f 36 46 37
+f 37 47 48
+f 37 48 49
+f 37 49 50
+f 37 50 51
+f 37 51 52
+f 37 52 38
+f 37 46 47
+f 42 53 54
+f 42 54 43
+f 42 55 51
+f 42 51 53
+f 43 54 53
+f 43 53 51
+f 43 51 56
+f 43 56 44
+f 48 57 49
+f 49 57 51
+f 49 51 58
+f 49 58 50
+f 50 58 59
+f 50 59 51
+f 51 55 52
+f 51 59 58
+f 51 57 56
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_162.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_162.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2fbf577182da77e529cc9c0d9d9117962f4edb9
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_162.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.03132698 0.02963271 -0.00325228
+v -0.03132698 0.02935378 -0.00428599
+v -0.03133535 0.02963271 -0.00325228
+v -0.03132698 -0.00829770 -0.00325228
+v -0.03214210 0.02903612 -0.00432403
+v -0.03132698 0.02811798 -0.00817552
+v -0.03175157 0.02783905 -0.00860054
+v -0.03214210 0.02799013 -0.00767178
+v -0.03214210 0.02932667 -0.00325228
+v -0.03214210 -0.00829770 -0.00325228
+v -0.03132698 -0.00994416 -0.00560436
+v -0.03132698 0.02785454 -0.00880912
+v -0.03160060 0.02779256 -0.00880912
+v -0.03214210 0.02685505 -0.01014455
+v -0.03214210 0.02776931 -0.00833293
+v -0.03214210 -0.00975820 -0.00560436
+v -0.03214210 -0.00956838 -0.00717723
+v -0.03132698 -0.00974271 -0.00717723
+v -0.03132698 0.02769183 -0.00918430
+v -0.03132698 0.02715722 -0.01016947
+v -0.03214210 0.02547590 -0.01254385
+v -0.03214210 -0.00874709 -0.01003173
+v -0.03132698 -0.00896791 -0.00997401
+v -0.03132698 0.02558050 -0.01280621
+v -0.03132698 0.02532094 -0.01320763
+v -0.03214210 0.02502652 -0.01323255
+v -0.03214210 -0.00818923 -0.01128058
+v -0.03132698 -0.00863087 -0.01072568
+v -0.03132698 0.02480570 -0.01399603
+v -0.03214210 0.02453452 -0.01395012
+v -0.03214210 -0.00722460 -0.01302135
+v -0.03132698 -0.00751515 -0.01266323
+v -0.03132698 0.02468560 -0.01416788
+v -0.03214210 0.02310113 -0.01589422
+v -0.03214210 -0.00591906 -0.01487101
+v -0.03132698 -0.00632583 -0.01434366
+v -0.03132698 0.02341105 -0.01582994
+v -0.03214210 0.02252003 -0.01665376
+v -0.03214210 -0.00536121 -0.01558726
+v -0.03132698 -0.00601979 -0.01473720
+v -0.03132698 0.02275635 -0.01665376
+v -0.03214210 -0.00438108 -0.01665376
+v -0.03132698 -0.00535733 -0.01558070
+v -0.03214210 -0.00452829 -0.01649503
+v -0.03132698 -0.00490020 -0.01607919
+v -0.03132698 -0.00436171 -0.01665376
+v -0.03191053 -0.00437721 -0.01665376
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 11
+f 1 11 18
+f 1 18 23
+f 1 23 28
+f 1 28 32
+f 1 32 36
+f 1 36 40
+f 1 40 43
+f 1 43 45
+f 1 45 46
+f 1 46 41
+f 1 41 37
+f 1 37 33
+f 1 33 29
+f 1 29 25
+f 1 25 24
+f 1 24 20
+f 1 20 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 5 9
+f 4 10 11
+f 5 8 15
+f 5 15 14
+f 5 14 21
+f 5 21 26
+f 5 26 30
+f 5 30 34
+f 5 34 38
+f 5 38 42
+f 5 42 44
+f 5 44 39
+f 5 39 35
+f 5 35 31
+f 5 31 27
+f 5 27 22
+f 5 22 17
+f 5 17 16
+f 5 16 10
+f 5 10 9
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 8
+f 10 16 11
+f 11 16 17
+f 11 17 18
+f 12 19 13
+f 13 19 20
+f 13 20 14
+f 14 20 21
+f 17 22 23
+f 17 23 18
+f 20 24 21
+f 21 24 25
+f 21 25 26
+f 22 27 23
+f 23 27 28
+f 25 29 26
+f 26 29 30
+f 27 31 28
+f 28 31 32
+f 29 33 30
+f 30 33 34
+f 31 35 32
+f 32 35 36
+f 33 37 38
+f 33 38 34
+f 35 39 40
+f 35 40 36
+f 37 41 38
+f 38 41 46
+f 38 46 47
+f 38 47 42
+f 39 43 40
+f 39 44 45
+f 39 45 43
+f 42 47 44
+f 44 47 45
+f 45 47 46
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_163.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_163.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8b866deb492c0645e362e64fc24f65d080f26d9
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_163.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.02020655 -0.01204403 -0.02356545
+v 0.01931578 -0.01204403 -0.02346494
+v 0.01931578 -0.01175544 -0.02361821
+v 0.01931578 -0.01125303 -0.02375641
+v 0.02020655 -0.00945724 -0.02409813
+v 0.02020655 -0.01204403 0.00121214
+v 0.01931578 -0.01204403 0.00121214
+v 0.01931578 -0.00882740 -0.02419864
+v 0.01931578 -0.00856620 -0.02424387
+v 0.01931578 -0.00589410 -0.02441976
+v 0.02020655 -0.00652289 -0.02425643
+v 0.02020655 -0.00128403 0.00121214
+v 0.01931578 -0.00128403 0.00121214
+v 0.01931578 -0.00563290 -0.02442730
+v 0.01931578 -0.00128403 -0.02445493
+v 0.01945381 -0.00128403 -0.02442227
+v 0.01957710 -0.00128403 -0.02439212
+v 0.02020655 -0.00128403 -0.02416095
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 18
+f 1 18 12
+f 1 12 6
+f 1 6 7
+f 1 7 2
+f 2 7 13
+f 2 13 15
+f 2 15 14
+f 2 14 10
+f 2 10 9
+f 2 9 8
+f 2 8 4
+f 2 4 3
+f 4 8 5
+f 5 8 9
+f 5 9 10
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 10 14 11
+f 11 14 15
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 12 18 17
+f 12 17 16
+f 12 16 15
+f 12 15 13
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_164.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_164.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5edef25cd77b45cf06aa5e934c5df848429453ec
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_164.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.02312157 0.00002638 0.00552458
+v 0.02312157 0.00002638 -0.02286114
+v 0.02174876 0.00002638 0.00552458
+v 0.02312157 -0.01437522 0.00552458
+v 0.02307292 0.00002638 -0.02289009
+v 0.02312157 -0.00253494 -0.02322587
+v 0.02174876 0.00002638 -0.02354719
+v 0.02174876 -0.01437522 0.00552458
+v 0.02312157 -0.02797621 0.00552168
+v 0.02312157 -0.00883037 -0.02393219
+v 0.02174876 -0.00022381 -0.02357614
+v 0.02174876 -0.02739765 0.00552168
+v 0.02275146 -0.02786363 0.00552168
+v 0.02312157 -0.02855791 0.00436668
+v 0.02312157 -0.00944021 -0.02399877
+v 0.02174876 -0.00806729 -0.02404798
+v 0.02174876 -0.02908643 0.00155011
+v 0.02312157 -0.03019666 0.00108696
+v 0.02312157 -0.02989955 0.00169485
+v 0.02312157 -0.01237682 -0.02396693
+v 0.02174876 -0.01100077 -0.02396982
+v 0.02174876 -0.03004967 -0.00132146
+v 0.02312157 -0.03107858 -0.00130699
+v 0.02312157 -0.01244562 -0.02395824
+v 0.02312157 -0.01502259 -0.02359640
+v 0.02174876 -0.01357774 -0.02355587
+v 0.02174876 -0.03067202 -0.00424224
+v 0.02312157 -0.03180413 -0.00424224
+v 0.02312157 -0.01835638 -0.02290745
+v 0.02174876 -0.01662068 -0.02286693
+v 0.02174876 -0.03069078 -0.00472566
+v 0.02312157 -0.03192297 -0.00717460
+v 0.02312157 -0.02154006 -0.02185088
+v 0.02174876 -0.01770588 -0.02251956
+v 0.02174876 -0.03069704 -0.00717460
+v 0.02174876 -0.03066264 -0.00764065
+v 0.02312157 -0.03168842 -0.01007512
+v 0.02312157 -0.02164951 -0.02179588
+v 0.02174876 -0.02058308 -0.02143693
+v 0.02174876 -0.02027034 -0.02159035
+v 0.02174876 -0.03032801 -0.01010986
+v 0.02312157 -0.03168529 -0.01010986
+v 0.02312157 -0.02339772 -0.02087535
+v 0.02174876 -0.02236569 -0.02047299
+v 0.02174876 -0.03029360 -0.01022565
+v 0.02312157 -0.03103792 -0.01232722
+v 0.02312157 -0.02451420 -0.02019799
+v 0.02312157 -0.02672526 -0.01876510
+v 0.02174876 -0.02523975 -0.01858852
+v 0.02174876 -0.02924593 -0.01313485
+v 0.02312157 -0.03074708 -0.01310301
+v 0.02312157 -0.02818262 -0.01741036
+v 0.02174876 -0.02569010 -0.01819773
+v 0.02174876 -0.02540863 -0.01844668
+v 0.02174876 -0.02918964 -0.01325353
+v 0.02312157 -0.03025608 -0.01403511
+v 0.02312157 -0.02930222 -0.01574879
+v 0.02174876 -0.02754776 -0.01595432
+v 0.02174876 -0.02741641 -0.01614826
+v 0.02312157 -0.02934288 -0.01567932
+v 0.02312157 -0.02940856 -0.01556642
+v 0.02174876 -0.02829208 -0.01477616
+v 0.02174876 -0.02827957 -0.01479642
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 19
+f 1 19 18
+f 1 18 23
+f 1 23 28
+f 1 28 32
+f 1 32 37
+f 1 37 42
+f 1 42 46
+f 1 46 51
+f 1 51 56
+f 1 56 61
+f 1 61 60
+f 1 60 57
+f 1 57 52
+f 1 52 48
+f 1 48 47
+f 1 47 43
+f 1 43 38
+f 1 38 33
+f 1 33 29
+f 1 29 25
+f 1 25 24
+f 1 24 20
+f 1 20 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 5
+f 3 7 11
+f 3 11 16
+f 3 16 21
+f 3 21 26
+f 3 26 30
+f 3 30 34
+f 3 34 40
+f 3 40 39
+f 3 39 44
+f 3 44 49
+f 3 49 54
+f 3 54 53
+f 3 53 59
+f 3 59 58
+f 3 58 63
+f 3 63 62
+f 3 62 55
+f 3 55 50
+f 3 50 45
+f 3 45 41
+f 3 41 36
+f 3 36 35
+f 3 35 31
+f 3 31 27
+f 3 27 22
+f 3 22 17
+f 3 17 12
+f 3 12 8
+f 4 8 9
+f 5 6 7
+f 6 10 11
+f 6 11 7
+f 8 12 13
+f 8 13 9
+f 9 13 14
+f 10 15 11
+f 11 15 16
+f 12 17 18
+f 12 18 13
+f 13 18 19
+f 13 19 14
+f 15 20 16
+f 16 20 21
+f 17 22 23
+f 17 23 18
+f 20 24 21
+f 21 24 25
+f 21 25 26
+f 22 27 28
+f 22 28 23
+f 25 29 26
+f 26 29 30
+f 27 31 32
+f 27 32 28
+f 29 33 34
+f 29 34 30
+f 31 35 32
+f 32 35 36
+f 32 36 37
+f 33 38 39
+f 33 39 40
+f 33 40 34
+f 36 41 42
+f 36 42 37
+f 38 43 39
+f 39 43 44
+f 41 45 46
+f 41 46 42
+f 43 47 44
+f 44 47 48
+f 44 48 49
+f 45 50 46
+f 46 50 51
+f 48 52 53
+f 48 53 54
+f 48 54 49
+f 50 55 51
+f 51 55 56
+f 52 57 58
+f 52 58 59
+f 52 59 53
+f 55 57 60
+f 55 60 61
+f 55 61 56
+f 55 62 57
+f 57 62 63
+f 57 63 58
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_165.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_165.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0f43ab8694565fcb8772542e36432460140cefc
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_165.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.01049982 0.02998595 -0.01542013
+v -0.01197750 0.02998595 -0.01393148
+v -0.01197750 0.03021260 -0.01385952
+v -0.01117314 0.03078642 -0.01447980
+v -0.01049982 0.03035878 -0.01527871
+v -0.01049982 0.02998595 0.00084096
+v -0.01197750 0.02998595 0.00084096
+v -0.01197750 0.03085445 -0.01275792
+v -0.01168127 0.03133574 -0.01252221
+v -0.01049982 0.03290014 -0.01028427
+v -0.01049982 0.03138278 -0.01379750
+v -0.01049982 0.03043109 0.00992673
+v -0.01197750 0.03043109 0.00781035
+v -0.01197750 0.03152663 -0.01052245
+v -0.01187364 0.03179449 -0.01011059
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+v -0.01049982 0.03339621 -0.00872862
+v -0.01049982 0.03223885 0.00484793
+v -0.01197750 0.03145743 0.00476109
+v -0.01197750 0.03164870 -0.01011059
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+v -0.01197750 0.03256619 -0.00264994
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+v -0.01049982 0.03317577 0.00162995
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+f 9 16 17
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+f 13 18 19
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+f 16 22 23
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+f 16 25 26
+f 16 26 17
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+f 19 27 28
+f 22 29 24
+f 22 24 23
+f 24 29 30
+f 24 30 31
+f 27 32 28
+f 28 32 33
+f 28 33 30
+f 30 33 31
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_166.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_166.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e48634eeca1bd8fd8fedfe892ad46a72e11e2069
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_166.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.00327945 0.00024066 -0.02574637
+v 0.00195413 0.00024066 -0.02564157
+v 0.00195322 0.00292694 -0.02551161
+v 0.00327945 0.00160103 -0.02567929
+v 0.00327945 0.00024066 0.01708041
+v 0.00195322 0.00291606 -0.02551161
+v 0.00195322 0.00024066 -0.02546550
+v 0.00195322 0.00586171 -0.02527685
+v 0.00327945 0.00424922 -0.02548646
+v 0.00327945 0.00291606 -0.02558707
+v 0.00195309 0.01683355 -0.02322271
+v 0.00327945 0.01877071 0.01708041
+v 0.00195322 0.00024066 0.01708041
+v 0.00195322 0.00879830 -0.02502951
+v 0.00196387 0.00878560 -0.02503371
+v 0.00275047 0.00799840 -0.02514270
+v 0.00327945 0.00746876 -0.02520978
+v 0.00195309 0.01683355 0.01708041
+v 0.00195309 0.01813406 -0.02305502
+v 0.00195322 0.01171856 -0.02471930
+v 0.00195309 0.01877071 0.01708041
+v 0.00327945 0.01877071 -0.02281188
+v 0.00327945 0.01040353 -0.02490794
+v 0.00327945 0.00800021 -0.02515947
+v 0.00195309 0.01877071 -0.02271965
+v 0.00195582 0.01877071 -0.02288734
+v 0.00195322 0.01466240 -0.02406532
+v 0.00196387 0.01171856 -0.02471930
+v 0.00281201 0.01877071 -0.02284122
+v 0.00327945 0.01465333 -0.02401921
+v 0.00327945 0.01171856 -0.02470672
+v 0.00327945 0.01333830 -0.02435039
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 9
+f 1 9 17
+f 1 17 24
+f 1 24 23
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+f 1 31 32
+f 1 32 30
+f 1 30 22
+f 1 22 12
+f 1 12 5
+f 1 5 13
+f 1 13 7
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+f 16 23 24
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+f 19 26 27
+f 19 27 20
+f 20 27 28
+f 20 28 23
+f 22 30 29
+f 23 28 31
+f 26 29 30
+f 26 30 27
+f 27 30 32
+f 27 32 28
+f 28 32 31
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_167.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_167.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1248a4b88d0160b43dd7056d84bf1809243c1756
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_167.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.05165085 -0.00890248 -0.00684527
+v -0.05087148 -0.00890248 -0.00684527
+v -0.05165085 -0.00890248 0.00578804
+v -0.05165085 -0.00332646 -0.00684527
+v -0.05087148 -0.00332646 -0.00684527
+v -0.05087148 -0.00890248 0.00597579
+v -0.05087774 -0.00890248 0.00597951
+v -0.05165085 -0.00771806 0.00822138
+v -0.05165085 -0.00332646 0.01214558
+v -0.05087148 -0.00332646 0.01206379
+v -0.05087148 -0.00798387 0.00749268
+v -0.05112525 -0.00800243 0.00756517
+v -0.05165085 -0.00767604 0.00828458
+v -0.05165085 -0.00337394 0.01214558
+v -0.05087591 -0.00332646 0.01214558
+v -0.05087148 -0.00411297 0.01164181
+v -0.05087148 -0.00790473 0.00760979
+v -0.05165085 -0.00728633 0.00886643
+v -0.05165085 -0.00752921 0.00850394
+v -0.05087667 -0.00334556 0.01214558
+v -0.05165085 -0.00412061 0.01165668
+v -0.05087148 -0.00585248 0.01006730
+v -0.05165085 -0.00664390 0.00950962
+v -0.05087148 -0.00716406 0.00870470
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 13
+f 1 13 19
+f 1 19 18
+f 1 18 23
+f 1 23 21
+f 1 21 14
+f 1 14 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
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+f 2 22 24
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+f 2 17 11
+f 2 11 6
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+f 4 15 10
+f 4 10 5
+f 6 11 7
+f 7 11 12
+f 7 12 8
+f 8 12 11
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+f 9 20 15
+f 10 15 16
+f 11 17 18
+f 11 18 19
+f 11 19 13
+f 14 21 20
+f 15 20 16
+f 16 20 21
+f 16 21 23
+f 16 23 22
+f 17 24 18
+f 18 24 22
+f 18 22 23
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_168.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_168.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ed32d3376e5df28e22cde179be32d075c2efb04
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_168.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.01052494 0.02397470 -0.00700364
+v 0.01052494 0.03299785 -0.00700364
+v 0.01141571 0.02397470 -0.00700364
+v 0.01052494 0.02397470 0.02359584
+v 0.01052494 0.03303621 -0.00691079
+v 0.01059069 0.03297608 -0.00700364
+v 0.01141571 0.03264746 -0.00700364
+v 0.01141571 0.02397470 0.02294587
+v 0.01077033 0.02397470 0.02342511
+v 0.01141571 0.02464439 0.02232586
+v 0.01141571 0.02560434 0.02138235
+v 0.01052494 0.02567172 0.02192150
+v 0.01052494 0.03363125 -0.00546708
+v 0.01060752 0.03296986 -0.00700364
+v 0.01141571 0.03342703 -0.00519751
+v 0.01141571 0.02704427 0.01983980
+v 0.01077033 0.02728892 0.02007043
+v 0.01077033 0.02582100 0.02160700
+v 0.01052494 0.02736564 0.02015430
+v 0.01052494 0.03408324 -0.00427797
+v 0.01141571 0.03400549 -0.00370887
+v 0.01141571 0.03350789 -0.00499383
+v 0.01141571 0.03347264 -0.00508369
+v 0.01141571 0.03343429 -0.00517954
+v 0.01141571 0.02756571 0.01927070
+v 0.01052494 0.02832455 0.01891127
+v 0.01052494 0.03412989 -0.00414617
+v 0.01060770 0.03410605 -0.00414318
+v 0.01052494 0.03414440 -0.00405931
+v 0.01052494 0.03456529 -0.00130368
+v 0.01141571 0.03426362 -0.00195665
+v 0.01141571 0.02826339 0.01836613
+v 0.01052494 0.02849872 0.01865368
+v 0.01077033 0.02842096 0.01860276
+v 0.01052494 0.03454352 -0.00105807
+v 0.01077033 0.03449065 -0.00130368
+v 0.01141571 0.03427917 -0.00130368
+v 0.01141571 0.03049015 0.01387026
+v 0.01052494 0.02987541 0.01594298
+v 0.01052494 0.02967326 0.01634434
+v 0.01052494 0.03428021 0.00163466
+v 0.01141571 0.03404177 0.00131117
+v 0.01141571 0.03100745 0.01273506
+v 0.01052494 0.03112252 0.01320232
+v 0.01052494 0.03407184 0.00297354
+v 0.01092188 0.03415477 0.00163466
+v 0.01141571 0.03392878 0.00208395
+v 0.01141571 0.03102093 0.01270511
+v 0.01052494 0.03223279 0.01068032
+v 0.01052494 0.03382200 0.00456701
+v 0.01141571 0.03361778 0.00406081
+v 0.01141571 0.03200887 0.01038379
+v 0.01077033 0.03225042 0.01043770
+v 0.01052494 0.03233542 0.01043770
+v 0.01052494 0.03331715 0.00736458
+v 0.01141571 0.03353796 0.00456701
+v 0.01141571 0.03220273 0.00979073
+v 0.01052494 0.03328501 0.00752332
+v 0.01063072 0.03326220 0.00746342
+v 0.01141571 0.03347679 0.00490548
+v 0.01141571 0.03294809 0.00747241
+f 1 2 6
+f 1 6 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 12
+f 1 12 19
+f 1 19 26
+f 1 26 33
+f 1 33 40
+f 1 40 39
+f 1 39 44
+f 1 44 49
+f 1 49 54
+f 1 54 58
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+f 1 50 45
+f 1 45 41
+f 1 41 35
+f 1 35 30
+f 1 30 29
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+f 4 10 11
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+f 11 17 18
+f 11 18 12
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+f 13 24 15
+f 16 25 17
+f 17 19 18
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+f 19 25 26
+f 20 27 28
+f 20 28 21
+f 21 28 27
+f 21 27 29
+f 21 29 30
+f 21 30 31
+f 25 32 26
+f 26 32 34
+f 26 34 33
+f 30 35 36
+f 30 36 31
+f 31 36 37
+f 32 38 39
+f 32 39 40
+f 32 40 34
+f 33 34 40
+f 35 41 42
+f 35 42 36
+f 36 42 37
+f 38 43 39
+f 39 43 44
+f 41 45 46
+f 41 46 42
+f 42 46 47
+f 43 48 44
+f 44 48 49
+f 45 47 46
+f 45 50 47
+f 47 50 51
+f 48 52 53
+f 48 53 49
+f 49 53 54
+f 50 55 56
+f 50 56 51
+f 52 57 53
+f 53 57 58
+f 53 58 54
+f 55 58 59
+f 55 59 60
+f 55 60 56
+f 57 61 58
+f 58 61 59
+f 59 61 60
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_169.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_169.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6afd0cca73a8597615277b0cb8eadc18e6d6afb5
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_169.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.02451396 0.00590747 -0.02213411
+v -0.02449485 0.00590747 -0.02212929
+v -0.02579615 0.00590747 -0.02201343
+v -0.02579615 0.00718920 -0.02209067
+v -0.02579615 0.00871282 -0.02203757
+v -0.02449485 0.00878510 -0.02202791
+v -0.02449472 0.01019403 -0.02184448
+v -0.02449485 0.00590747 0.02718064
+v -0.02579615 0.00590747 0.02692962
+v -0.02579615 0.00878510 -0.02203274
+v -0.02579615 0.01012368 -0.02189275
+v -0.02449472 0.01172054 -0.02165139
+v -0.02449472 0.01019403 0.02684273
+v -0.02449485 0.00878510 0.02709857
+v -0.02579615 0.00878510 0.02685721
+v -0.02579615 0.01172054 -0.02168518
+v -0.02449472 0.01465503 -0.02119763
+v -0.02449472 0.01092452 0.02670757
+v -0.02579615 0.01034052 0.02659654
+v -0.02579615 0.01465503 -0.02122660
+v -0.02449472 0.01575173 -0.02090800
+v -0.02449472 0.01237586 0.02641794
+v -0.02579615 0.01048893 0.02656758
+v -0.02579615 0.01575173 -0.02091283
+v -0.02561753 0.01575173 -0.02091283
+v -0.02449472 0.01575173 0.02386435
+v -0.02449472 0.01241730 0.02640828
+v -0.02579615 0.01192967 0.02623933
+v -0.02579615 0.01575173 0.02500357
+v -0.02449701 0.01575173 0.02528837
+v -0.02449472 0.01569101 0.02531251
+v -0.02449472 0.01465503 0.02576627
+v -0.02579615 0.01465503 0.02547663
+v -0.02579615 0.01473502 0.02544284
+v -0.02452211 0.01575173 0.02528354
+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 2
+f 2 6 7
+f 2 7 13
+f 2 13 8
+f 3 9 15
+f 3 15 19
+f 3 19 23
+f 3 23 28
+f 3 28 33
+f 3 33 34
+f 3 34 29
+f 3 29 24
+f 3 24 20
+f 3 20 16
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+f 3 10 5
+f 3 5 4
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 7 12 17
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+f 7 26 31
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+f 7 32 27
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+f 7 22 18
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+f 8 14 15
+f 8 15 9
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+f 12 16 17
+f 13 18 19
+f 13 19 14
+f 14 19 15
+f 16 20 17
+f 17 20 21
+f 18 22 23
+f 18 23 19
+f 20 24 25
+f 20 25 21
+f 21 25 24
+f 21 24 29
+f 21 29 35
+f 21 35 30
+f 21 30 26
+f 22 27 28
+f 22 28 23
+f 26 30 31
+f 27 32 33
+f 27 33 28
+f 29 34 32
+f 29 32 35
+f 30 35 32
+f 30 32 31
+f 32 34 33
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_17.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aade18f2f266291e9667251ca11ce182e523f5e1
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,252 @@
+# https://github.com/mikedh/trimesh
+v 0.00761700 0.03394962 -0.00710637
+v 0.00908108 0.03345127 -0.00710637
+v 0.00837369 0.03342444 -0.00785857
+v 0.00761700 0.03355094 -0.00817936
+v 0.00761700 -0.00521326 -0.00710637
+v 0.00908108 0.03327876 -0.00758571
+v 0.00908108 -0.00521326 -0.00710637
+v 0.00908108 0.03228973 -0.01003406
+v 0.00761700 0.03288775 -0.00984970
+v 0.00761700 -0.00521326 -0.02555379
+v 0.00908108 -0.00521326 -0.02558882
+v 0.00908108 0.03177987 -0.01115683
+v 0.00761700 0.03287242 -0.00988473
+v 0.00765440 -0.00521326 -0.02555563
+v 0.00761700 -0.00295534 -0.02590592
+v 0.00908108 -0.00420122 -0.02574553
+v 0.00783483 -0.00521326 -0.02556301
+v 0.00783483 -0.00295534 -0.02591514
+v 0.00908108 0.03169937 -0.01132092
+v 0.00761700 0.03160736 -0.01233492
+v 0.00761700 -0.00273683 -0.02591330
+v 0.00908108 -0.00295534 -0.02588564
+v 0.00783483 -0.00001889 -0.02594095
+v 0.00908108 0.03123935 -0.01219480
+v 0.00783483 0.03146169 -0.01246766
+v 0.00761700 0.03148469 -0.01252113
+v 0.00761700 -0.00001889 -0.02593542
+v 0.00908108 -0.00126477 -0.02589855
+v 0.00783483 0.00291756 -0.02586537
+v 0.00908108 0.00291756 -0.02580084
+v 0.00908108 -0.00001889 -0.02587089
+v 0.00908108 0.03084833 -0.01268152
+v 0.00783483 0.03026564 -0.01393335
+v 0.00761700 0.03037682 -0.01388357
+v 0.00761700 0.00291756 -0.02585246
+v 0.00783483 0.00585401 -0.02564044
+v 0.00908108 0.00585401 -0.02561279
+v 0.00908108 0.03013147 -0.01355541
+v 0.00908108 0.02943761 -0.01437029
+v 0.00908108 0.02938394 -0.01442929
+v 0.00761700 0.03030015 -0.01397391
+v 0.00761700 0.00585401 -0.02562385
+v 0.00783483 0.00878663 -0.02520166
+v 0.00761700 0.00606869 -0.02560357
+v 0.00908108 0.00754074 -0.02536021
+v 0.00761700 0.02898143 -0.01533083
+v 0.00908108 0.02859424 -0.01524049
+v 0.00761700 0.00900130 -0.02516478
+v 0.00783483 0.01171924 -0.02461169
+v 0.00908108 0.01047336 -0.02482002
+v 0.00908108 0.00878663 -0.02515925
+v 0.00783483 0.02879742 -0.01544513
+v 0.00761700 0.02735603 -0.01694585
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diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_170.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_170.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fc9969c01b40810ebe15596328809261d9eabe6
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_170.obj
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+f 179 187 188
+f 179 188 185
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+f 187 191 192
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_171.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_171.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dfe91e7c88f6224c03aaa6b59fe14a90ea4563b
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_171.obj
@@ -0,0 +1,213 @@
+# https://github.com/mikedh/trimesh
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+v -0.00386150 0.02606678 0.02528508
+v -0.00239907 -0.01139278 0.02528508
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+v -0.00386150 0.02873791 0.02181233
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+v -0.00097225 0.03139310 0.01874361
+v -0.00386150 0.03217904 0.01630994
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_172.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_172.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c5fdbaed01c0f45e805b0f42639044b055327d1
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_172.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
+v -0.01858266 -0.01695056 -0.00130415
+v -0.01858266 -0.01655812 0.00450494
+v -0.02003354 -0.01659744 -0.00130415
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+v -0.01858266 -0.01597868 0.00731515
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+v -0.02003354 -0.01618493 -0.00580835
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+v -0.01858266 -0.01585990 0.00776321
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_173.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_173.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9897fc95da07f4ca01e6bb373ef55f95992f3d9f
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_173.obj
@@ -0,0 +1,252 @@
+# https://github.com/mikedh/trimesh
+v 0.01052485 -0.02730538 -0.00130048
+v 0.01052485 -0.02721529 0.00138547
+v 0.00821198 -0.02659335 -0.00092537
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_174.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_174.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e18266daa19dcdaa2db4451a219401783fae3a2b
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_174.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
+v 0.01375447 0.00595708 0.02998245
+v 0.01375447 0.00588517 0.02997758
+v 0.01382821 0.00595995 0.02996131
+v 0.01527419 0.00701267 0.02958405
+v 0.01527419 0.00756204 0.02958405
+v 0.01375447 0.00859463 0.02986700
+v 0.01375447 0.00567520 0.02995644
+v 0.01529470 0.00699254 0.02956453
+v 0.01375447 0.00374522 0.02969950
+v 0.01375447 0.00178072 0.02932061
+v 0.01488804 0.00505393 0.02936126
+v 0.01529470 0.00758218 0.02956453
+v 0.01529470 0.01018233 0.02873519
+v 0.01465795 0.00951791 0.02930922
+v 0.01375447 0.00869817 0.02984098
+v 0.01529470 0.00529553 0.02911408
+v 0.01450340 0.00291397 0.02907668
+v 0.01375447 0.00004632 0.02882788
+v 0.01377181 0.00004632 0.02881487
+v 0.01404201 0.00004632 0.02861160
+v 0.01529470 0.01399053 0.02734645
+v 0.01375447 0.01180743 0.02886203
+v 0.01375447 0.01156870 0.02894984
+v 0.01529470 0.01589462 0.02664395
+v 0.01519850 0.01614774 0.02659516
+v 0.01375447 0.01714868 0.02687161
+v 0.01529470 0.00417954 0.02880999
+v 0.01529470 0.00301177 0.02847175
+v 0.01375447 0.00004632 0.01336961
+v 0.01529470 0.00004632 0.02758387
+v 0.01529470 0.00151035 0.02803432
+v 0.01529470 0.01624841 0.02646995
+v 0.01437599 0.01810361 0.02597397
+v 0.01375447 0.01752835 0.02665859
+v 0.01529470 0.00004632 0.01336961
+v 0.01375447 0.02941314 0.01336961
+v 0.01529470 0.01777859 0.02554629
+v 0.01529470 0.01908442 0.02454620
+v 0.01375447 0.01957051 0.02526984
+v 0.01529470 0.02848698 0.01336961
+v 0.01375447 0.02941601 0.01339563
+v 0.01375779 0.02943039 0.01336961
+v 0.01529470 0.01958201 0.02415593
+v 0.01375447 0.02018316 0.02478850
+v 0.01401578 0.02927507 0.01336961
+v 0.01375447 0.02794911 0.01630971
+v 0.01529470 0.02740837 0.01544134
+v 0.01375447 0.02939588 0.01343954
+v 0.01375447 0.02938725 0.01345742
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+v 0.01375447 0.02615143 0.01900263
+v 0.01529470 0.02555317 0.01840257
+v 0.01529470 0.02689064 0.01632597
+v 0.01529470 0.02710924 0.01595358
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+v 0.01375447 0.02064048 0.02436082
+v 0.01375447 0.02579190 0.01937827
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+v 0.01529470 0.02553304 0.01843185
+v 0.01375447 0.02355703 0.02162074
+v 0.01529470 0.02410065 0.01990352
+v 0.01453612 0.02439978 0.02021086
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_175.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_175.obj
new file mode 100644
index 0000000000000000000000000000000000000000..415af4498d97e3e556e374ea4da8e1b3bf952368
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_175.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.01564935 0.02778948 0.01620599
+v -0.01564935 -0.01279516 0.01620599
+v -0.01472193 0.02757397 0.01620599
+v -0.01472193 0.02821071 0.01537176
+v -0.01564935 0.02831357 0.01551766
+v -0.01564935 -0.01367190 0.01524988
+v -0.01472193 -0.01405394 0.01563610
+v -0.01472193 -0.01318210 0.01620599
+v -0.01472193 0.02907765 0.01345267
+v -0.01564935 0.02929806 0.01337028
+v -0.01564935 -0.01500415 0.01319862
+v -0.01472193 -0.01533721 0.01353506
+v -0.01472193 0.02944010 0.01244335
+v -0.01475661 0.02943520 0.01247768
+v -0.01537311 0.02955765 0.01247768
+v -0.01564935 0.03036582 0.01031656
+v -0.01564935 -0.01624824 0.01043843
+v -0.01472193 -0.01776171 0.00884377
+v -0.01472193 -0.01720824 0.00995437
+v -0.01472193 -0.01696334 0.01043843
+v -0.01472193 0.03015521 0.01037492
+v -0.01472193 0.03066460 0.00848158
+v -0.01472193 0.03073317 0.00818977
+v -0.01564935 0.03102705 0.00743793
+v -0.01564935 -0.01739926 0.00775205
+v -0.01472193 -0.01830049 0.00751517
+v -0.01472193 0.03103684 0.00657107
+v -0.01564935 0.03103684 0.00738471
+v -0.01564935 -0.01748743 0.00753062
+v -0.01472193 -0.01851600 0.00620545
+v -0.01472193 0.03132092 0.00363923
+v -0.01564935 0.03120337 0.00456616
+v -0.01564935 -0.01790865 0.00496268
+v -0.01542549 -0.01810457 0.00496268
+v -0.01472193 -0.01863355 0.00496440
+v -0.01472193 0.03128664 0.00070910
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+v -0.01564935 -0.01797233 0.00456788
+v -0.01472193 -0.01866784 0.00456788
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+v -0.01563156 -0.01807518 -0.00133014
+v -0.01472193 -0.01854539 -0.00130268
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+f 47 52 48
+f 49 52 51
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_176.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_176.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c7625af63cdc262790cced0b52a192a1f27cdd5
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_176.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.01049982 0.03043082 0.00878795
+v -0.01049982 0.03043082 0.00084578
+v -0.01075150 0.03043082 0.00878795
+v -0.01049982 -0.02067884 0.00878795
+v -0.01049982 0.02998364 -0.00634113
+v -0.01197750 0.03043082 0.00084578
+v -0.01197750 0.03043082 0.00781054
+v -0.01197750 0.03017674 0.00878795
+v -0.01197750 -0.01991661 0.00878795
+v -0.01049982 -0.02110568 0.00754694
+v -0.01197750 0.02998364 -0.00634113
+v -0.01049982 -0.01933224 -0.00634113
+v -0.01197750 -0.02030281 0.00751288
+v -0.01049982 -0.02148171 0.00456437
+v -0.01197750 -0.01866657 -0.00634113
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+v -0.01052383 -0.01932716 -0.00634113
+v -0.01197750 -0.02058737 0.00456437
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+v -0.01197750 -0.02008939 -0.00130304
+v -0.01197750 -0.02015544 -0.00079360
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+f 15 21 22
+f 15 22 23
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+f 16 22 21
+f 16 21 17
+f 16 25 26
+f 16 26 24
+f 19 20 27
+f 19 27 25
+f 22 24 23
+f 25 27 26
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_177.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_177.obj
new file mode 100644
index 0000000000000000000000000000000000000000..817e3959692cec057f98e4ba39d21307e9d31f82
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_177.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.02287745 0.03091373 -0.00271028
+v -0.02153652 0.03090451 -0.00271028
+v -0.02153652 0.03085841 -0.00299410
+v -0.02287745 0.03084919 -0.00299904
+v -0.02287745 -0.01577695 -0.00271028
+v -0.02153652 -0.01618728 -0.00271028
+v -0.02153652 0.03055873 -0.00424110
+v -0.02287745 0.03066015 -0.00379214
+v -0.02287745 -0.01559253 -0.00424110
+v -0.02228245 -0.01597059 -0.00271028
+v -0.02158049 -0.01617806 -0.00271028
+v -0.02153652 -0.01618267 -0.00277852
+v -0.02153652 0.03050340 -0.00446360
+v -0.02287745 0.03054489 -0.00424110
+v -0.02153652 -0.01567552 -0.00596177
+v -0.02153652 -0.01584610 -0.00512220
+v -0.02205590 -0.01585533 -0.00424110
+v -0.02287745 -0.01498855 -0.00705055
+v -0.02153652 -0.01546804 -0.00694375
+v -0.02153652 -0.01601208 -0.00424110
+v -0.02203451 -0.01604436 -0.00271028
+v -0.02153652 0.02979799 -0.00716131
+v -0.02287745 0.03010228 -0.00592914
+v -0.02153652 -0.01593831 -0.00464457
+v -0.02287745 -0.01419554 -0.01005086
+v -0.02153652 -0.01467042 -0.01011019
+v -0.02153652 -0.01506232 -0.00855565
+v -0.02153652 0.02922168 -0.00855565
+v -0.02287745 0.02972422 -0.00717515
+v -0.02287745 -0.01366994 -0.01143235
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+v -0.02287745 -0.01344403 -0.01196339
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+v -0.02287745 -0.01289537 -0.01281285
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+v -0.02153652 0.02687953 -0.01281285
+v -0.02287745 0.02682421 -0.01281285
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+f 33 40 34
+f 35 36 37
+f 35 37 42
+f 35 42 41
+f 38 41 42
+f 38 42 39
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_178.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_178.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6019c202878cd18299095af067394e8100805214
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_178.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.03113603 -0.01138596 -0.02404432
+v 0.03113603 -0.00990828 -0.02379531
+v 0.03130802 -0.00990828 -0.02378098
+v 0.03131717 -0.01138596 -0.02402819
+v 0.03113603 -0.01138596 -0.00574479
+v 0.03113603 -0.00990828 -0.00574479
+v 0.03312855 -0.00990828 -0.02343702
+v 0.03384395 -0.01138596 -0.02354093
+v 0.04976399 -0.01138596 -0.00574479
+v 0.04982803 -0.00990828 -0.00574479
+v 0.03455753 -0.00990828 -0.02293004
+v 0.03506984 -0.01123407 -0.02309486
+v 0.03512290 -0.01138596 -0.02311277
+v 0.04947673 -0.01138596 -0.00717614
+v 0.04885464 -0.01138596 -0.01011231
+v 0.04952247 -0.00990828 -0.00717614
+v 0.03506252 -0.00990828 -0.02274732
+v 0.03635245 -0.01138596 -0.02267387
+v 0.03542114 -0.01138596 -0.02300887
+v 0.04798554 -0.01138596 -0.01270273
+v 0.04876864 -0.00990828 -0.01011231
+v 0.03533880 -0.00990828 -0.02263625
+v 0.03702028 -0.01138596 -0.02240336
+v 0.04791052 -0.00990828 -0.01246447
+v 0.04724086 -0.01138596 -0.01416992
+v 0.03725631 -0.00990828 -0.02185339
+v 0.03857550 -0.00990828 -0.02124968
+v 0.03978492 -0.01138596 -0.02113502
+v 0.04702496 -0.00990828 -0.01393166
+v 0.04603876 -0.01138596 -0.01597568
+v 0.03943362 -0.00990828 -0.02083227
+v 0.03999351 -0.01138596 -0.02103291
+v 0.04577712 -0.01138596 -0.01635009
+v 0.04479092 -0.01138596 -0.01775279
+v 0.04456953 -0.01021640 -0.01749124
+v 0.04475250 -0.00990828 -0.01707204
+v 0.03962391 -0.00990828 -0.02071404
+v 0.04132368 -0.01138596 -0.02021423
+v 0.04291916 -0.01138596 -0.01914832
+v 0.04414871 -0.00990828 -0.01765247
+v 0.04447256 -0.00990828 -0.01739630
+v 0.03990568 -0.00990828 -0.02053848
+v 0.04128709 -0.00990828 -0.01963022
+v 0.04250931 -0.01138596 -0.01942958
+v 0.04297771 -0.00990828 -0.01846937
+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 23
+f 1 23 28
+f 1 28 32
+f 1 32 38
+f 1 38 44
+f 1 44 39
+f 1 39 34
+f 1 34 33
+f 1 33 30
+f 1 30 25
+f 1 25 20
+f 1 20 15
+f 1 15 14
+f 1 14 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 16
+f 2 16 21
+f 2 21 24
+f 2 24 29
+f 2 29 36
+f 2 36 41
+f 2 41 40
+f 2 40 45
+f 2 45 43
+f 2 43 42
+f 2 42 37
+f 2 37 31
+f 2 31 27
+f 2 27 26
+f 2 26 22
+f 2 22 17
+f 2 17 11
+f 2 11 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 12 19 13
+f 15 20 21
+f 15 21 16
+f 17 22 18
+f 18 22 23
+f 20 24 21
+f 20 25 24
+f 22 26 23
+f 23 26 27
+f 23 27 28
+f 24 25 29
+f 25 30 29
+f 27 31 28
+f 28 31 32
+f 29 30 33
+f 29 33 34
+f 29 34 35
+f 29 35 36
+f 31 37 38
+f 31 38 32
+f 34 39 35
+f 35 39 40
+f 35 40 41
+f 35 41 36
+f 37 42 38
+f 38 43 44
+f 38 42 43
+f 39 44 43
+f 39 43 45
+f 39 45 40
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_179.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_179.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f60e60509c169fb571ce75c52fb0bc017ce9db09
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_179.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.00981186 -0.00240761 -0.00861061
+v -0.00981186 -0.00240761 -0.02424513
+v -0.01049968 -0.00240761 -0.00861061
+v -0.00981186 -0.01898160 -0.00861061
+v -0.01049968 -0.00240761 -0.02415636
+v -0.00981186 -0.00304851 -0.02409821
+v -0.01049968 -0.00301930 -0.02402781
+v -0.01049968 -0.01869117 -0.00861061
+v -0.01049968 -0.01827094 -0.01018385
+v -0.00981186 -0.01855163 -0.01020681
+v -0.00981186 -0.00539953 -0.02354880
+v -0.01049968 -0.00522754 -0.02351513
+v -0.01049968 -0.00327079 -0.02396965
+v -0.01049968 -0.01799024 -0.01095211
+v -0.00981186 -0.01851756 -0.01029863
+v -0.00981186 -0.00544496 -0.02353655
+v -0.00981186 -0.00684519 -0.02315242
+v -0.01049968 -0.00621403 -0.02324425
+v -0.01049968 -0.01792534 -0.01112505
+v -0.00981186 -0.01751485 -0.01295846
+v -0.01049968 -0.01722442 -0.01298601
+v -0.00981186 -0.00686466 -0.02314477
+v -0.01049968 -0.00663913 -0.02308815
+v -0.01049968 -0.00625135 -0.02323353
+v -0.00981186 -0.01748240 -0.01304416
+v -0.01049968 -0.01688856 -0.01376192
+v -0.00981186 -0.01746779 -0.01308089
+v -0.00981186 -0.00883115 -0.02190974
+v -0.01049968 -0.00885224 -0.02170620
+v -0.01049968 -0.01635150 -0.01482860
+v -0.00981186 -0.01647806 -0.01504286
+v -0.00981186 -0.01059482 -0.02063186
+v -0.01049968 -0.01015512 -0.02076195
+v -0.00981186 -0.01646995 -0.01505663
+v -0.01049968 -0.01525793 -0.01639114
+v -0.00981186 -0.01208591 -0.01949784
+v -0.01049968 -0.01199992 -0.01935857
+v -0.00981186 -0.01548346 -0.01646306
+v -0.01049968 -0.01486366 -0.01687627
+v -0.00981186 -0.01544776 -0.01651357
+v -0.00981186 -0.01396316 -0.01805162
+v -0.01049968 -0.01343260 -0.01825516
+v -0.01049968 -0.01483283 -0.01690841
+v -0.00981186 -0.01542829 -0.01653652
+v -0.01049968 -0.01384634 -0.01793224
+v -0.00981186 -0.01398263 -0.01803631
+v -0.00981186 -0.01402806 -0.01799040
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 4
+f 1 4 10
+f 1 10 15
+f 1 15 20
+f 1 20 25
+f 1 25 27
+f 1 27 31
+f 1 31 34
+f 1 34 38
+f 1 38 40
+f 1 40 44
+f 1 44 47
+f 1 47 46
+f 1 46 41
+f 1 41 36
+f 1 36 32
+f 1 32 28
+f 1 28 22
+f 1 22 17
+f 1 17 16
+f 1 16 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 13
+f 3 13 12
+f 3 12 18
+f 3 18 24
+f 3 24 23
+f 3 23 29
+f 3 29 33
+f 3 33 37
+f 3 37 42
+f 3 42 45
+f 3 45 43
+f 3 43 39
+f 3 39 35
+f 3 35 30
+f 3 30 26
+f 3 26 21
+f 3 21 19
+f 3 19 14
+f 3 14 9
+f 3 9 8
+f 4 8 9
+f 4 9 10
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 9 14 10
+f 10 14 15
+f 11 16 12
+f 12 16 17
+f 12 17 18
+f 14 19 15
+f 15 19 21
+f 15 21 20
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 20 21 25
+f 21 26 27
+f 21 27 25
+f 22 28 29
+f 22 29 23
+f 26 30 27
+f 27 30 31
+f 28 32 29
+f 29 32 33
+f 30 34 31
+f 30 35 34
+f 32 36 33
+f 33 36 37
+f 34 35 38
+f 35 39 40
+f 35 40 38
+f 36 41 42
+f 36 42 37
+f 39 43 44
+f 39 44 40
+f 41 45 42
+f 41 46 45
+f 43 47 44
+f 43 45 47
+f 45 46 47
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_18.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73a38e6a068be601767921617b12cc3211e81a10
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.02657159 0.00972508 -0.01778092
+v 0.02657159 0.01192943 -0.01810275
+v 0.02774370 0.00972508 -0.01688654
+v 0.02657159 0.00972508 0.02012725
+v 0.02657159 0.01254999 -0.01806158
+v 0.02774370 0.01011337 -0.01688654
+v 0.02774370 0.00972508 0.01941998
+v 0.02657159 0.01133528 0.01891479
+v 0.02657159 0.01536770 -0.01781834
+v 0.02689984 0.01556815 -0.01741793
+v 0.02774370 0.01215209 -0.01627657
+v 0.02774370 0.01085936 0.01844327
+v 0.02657159 0.01438405 0.01596970
+v 0.02657159 0.01573799 -0.01761252
+v 0.02659282 0.01585622 -0.01752645
+v 0.02680163 0.01585622 -0.01733934
+v 0.02774370 0.01585622 -0.01465247
+v 0.02774370 0.01209387 0.01715597
+v 0.02657159 0.01460130 0.01574891
+v 0.02657159 0.01585622 -0.01754516
+v 0.02774370 0.01585622 0.01121715
+v 0.02774370 0.01445247 0.01453271
+v 0.02657159 0.01585622 0.01354852
+v 0.02774370 0.01569598 0.01178970
+v 0.02774370 0.01495719 0.01351110
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 19
+f 1 19 23
+f 1 23 20
+f 1 20 14
+f 1 14 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 11
+f 3 11 17
+f 3 17 21
+f 3 21 24
+f 3 24 25
+f 3 25 22
+f 3 22 18
+f 3 18 12
+f 3 12 7
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 7 12 8
+f 8 12 13
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 12 18 19
+f 12 19 13
+f 14 20 15
+f 15 20 23
+f 15 23 21
+f 15 21 17
+f 15 17 16
+f 18 22 19
+f 19 22 23
+f 21 23 24
+f 22 25 23
+f 23 25 24
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_180.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_180.obj
new file mode 100644
index 0000000000000000000000000000000000000000..234454fbc051b4e0a7192d1b392454cedf0cee32
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_180.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v -0.00386193 0.02832276 0.02237280
+v -0.00386193 0.02874486 0.02181358
+v -0.00390782 0.02831741 0.02237280
+v -0.00386193 -0.01448624 0.02237280
+v -0.00390782 0.02871815 0.02183900
+v -0.00386193 0.03018750 0.01986946
+v -0.00390782 0.03018750 0.01986420
+v -0.00591480 0.02831207 0.02134902
+v -0.00703093 0.02654350 0.02237280
+v -0.00398419 -0.01447555 0.02237280
+v -0.00386193 -0.01468394 0.02220451
+v -0.00560127 0.03094088 0.01800072
+v -0.00386193 0.03020353 0.01984667
+v -0.00390782 0.03119201 0.01839603
+v -0.00744080 0.02810369 0.01973886
+v -0.00703723 0.02653816 0.02237280
+v -0.00673631 0.02923109 0.01907358
+v -0.00744080 0.02883569 0.01873963
+v -0.00684280 -0.01423511 0.02175398
+v -0.00386718 -0.01468394 0.02220363
+v -0.00611729 -0.01382370 0.02237280
+v -0.00386193 -0.01709902 0.01952937
+v -0.00390782 0.03218048 0.01630904
+v -0.00390782 0.03336665 0.01341916
+v -0.00652366 0.03245832 0.01341916
+v -0.00686417 0.03233543 0.01341916
+v -0.00690796 0.03230872 0.01341916
+v -0.00744080 0.03170495 0.01395296
+v -0.00744080 0.03099966 0.01540798
+v -0.00744080 0.03036917 0.01652905
+v -0.00744080 0.02998981 0.01708388
+v -0.00386193 0.03119201 0.01840129
+v -0.00386193 0.03218583 0.01630904
+v -0.00744080 0.02696026 0.02129205
+v -0.00744080 0.02628169 0.02215191
+v -0.00744080 0.02607331 0.02237280
+v -0.00684280 -0.01359394 0.02237280
+v -0.00744080 -0.01411757 0.02163301
+v -0.00684280 -0.01570447 0.02011927
+v -0.00491709 -0.01603040 0.02053649
+v -0.00390782 -0.01875539 0.01731967
+v -0.00386193 -0.01876073 0.01732668
+v -0.00386193 0.03325979 0.01369439
+v -0.00386193 0.03337200 0.01341916
+v -0.00744080 0.03187058 0.01341916
+v -0.00744080 -0.01334282 0.02237280
+v -0.00716265 -0.01346036 0.02237280
+v -0.00744080 -0.01560829 0.01993257
+v -0.00744080 -0.01591285 0.01956618
+v -0.00744080 -0.01861647 0.01607063
+v -0.00684280 -0.01830122 0.01673854
+v -0.00684280 -0.01941793 0.01527124
+v -0.00390782 -0.01985073 0.01585238
+v -0.00386193 -0.01983469 0.01589007
+v -0.00386193 -0.02120253 0.01341916
+v -0.00744080 -0.02014994 0.01341916
+v -0.00744080 -0.01932176 0.01514327
+v -0.00386578 -0.02121322 0.01341916
+v -0.00386193 -0.01985073 0.01586202
+v -0.00386193 -0.02042778 0.01483211
+v -0.00684280 -0.02036366 0.01341916
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 36
+f 1 36 46
+f 1 46 47
+f 1 47 37
+f 1 37 21
+f 1 21 10
+f 1 10 4
+f 1 4 11
+f 1 11 22
+f 1 22 42
+f 1 42 54
+f 1 54 59
+f 1 59 60
+f 1 60 55
+f 1 55 44
+f 1 44 43
+f 1 43 33
+f 1 33 32
+f 1 32 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 5 8
+f 4 10 11
+f 5 7 12
+f 5 12 8
+f 6 13 7
+f 7 13 14
+f 7 14 12
+f 8 15 16
+f 8 16 9
+f 8 12 17
+f 8 17 18
+f 8 18 15
+f 10 19 20
+f 10 20 11
+f 10 21 19
+f 11 20 22
+f 12 14 23
+f 12 23 24
+f 12 24 25
+f 12 25 26
+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 30
+f 12 30 31
+f 12 31 17
+f 13 32 14
+f 14 32 33
+f 14 33 23
+f 15 34 16
+f 15 18 31
+f 15 31 30
+f 15 30 29
+f 15 29 28
+f 15 28 45
+f 15 45 56
+f 15 56 57
+f 15 57 50
+f 15 50 49
+f 15 49 48
+f 15 48 38
+f 15 38 46
+f 15 46 36
+f 15 36 35
+f 15 35 34
+f 16 34 35
+f 16 35 36
+f 17 31 18
+f 19 21 37
+f 19 37 38
+f 19 38 39
+f 19 39 40
+f 19 40 20
+f 20 40 22
+f 22 41 42
+f 22 40 41
+f 23 33 43
+f 23 43 24
+f 24 43 44
+f 24 44 55
+f 24 55 58
+f 24 58 61
+f 24 61 56
+f 24 56 45
+f 24 45 27
+f 24 27 26
+f 24 26 25
+f 27 45 28
+f 37 47 38
+f 38 48 39
+f 38 47 46
+f 39 48 49
+f 39 49 50
+f 39 50 40
+f 40 50 51
+f 40 51 52
+f 40 52 41
+f 41 52 53
+f 41 53 54
+f 41 54 42
+f 50 57 52
+f 50 52 51
+f 52 57 58
+f 52 58 53
+f 53 59 54
+f 53 58 60
+f 53 60 59
+f 55 60 58
+f 56 61 57
+f 57 61 58
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_181.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_181.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b354fad3d47263ce64564876085f89be0c2b54e
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_181.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.03823442 -0.00765313 0.01912265
+v 0.03823442 -0.00632984 0.01910134
+v 0.03798875 -0.00866485 0.01936134
+v 0.03823442 -0.00765313 -0.02065441
+v 0.03823442 -0.00632984 -0.02015997
+v 0.03730742 -0.00632984 0.01979185
+v 0.03589033 -0.00632984 0.02081910
+v 0.03587096 -0.00765336 0.02080205
+v 0.03586758 -0.00788446 0.02079779
+v 0.03677029 -0.00866485 0.02015416
+v 0.03798875 -0.00866485 -0.02112755
+v 0.03823442 -0.00750272 -0.02060753
+v 0.03823442 -0.00709035 -0.02047539
+v 0.03725730 -0.00632984 -0.02074819
+v 0.03509340 -0.00632984 0.02121977
+v 0.03517703 -0.00834963 0.02101517
+v 0.03517703 -0.00866485 0.02096828
+v 0.03573507 -0.00866485 0.02072959
+v 0.03755554 -0.00866485 -0.02134067
+v 0.03725208 -0.00781291 -0.02122984
+v 0.03682255 -0.00632984 -0.02097836
+v 0.03711341 -0.00632984 -0.02082491
+v 0.03509340 -0.00765313 0.02106206
+v 0.03509340 -0.00632984 -0.02171150
+v 0.03517703 -0.00866485 -0.02232529
+v 0.03750912 -0.00866485 -0.02136198
+v 0.03746822 -0.00855833 -0.02134919
+v 0.03509340 -0.00658860 -0.02178822
+v 0.03509340 -0.00765313 -0.02207807
+v 0.03725208 -0.00866485 -0.02146854
+f 1 2 3
+f 1 3 11
+f 1 11 4
+f 1 4 12
+f 1 12 13
+f 1 13 5
+f 1 5 2
+f 2 5 14
+f 2 14 22
+f 2 22 21
+f 2 21 24
+f 2 24 15
+f 2 15 7
+f 2 7 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 3 10 18
+f 3 18 17
+f 3 17 25
+f 3 25 30
+f 3 30 26
+f 3 26 19
+f 3 19 11
+f 4 11 12
+f 5 13 14
+f 7 15 8
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 11 19 20
+f 11 20 21
+f 11 21 22
+f 11 22 14
+f 11 14 13
+f 11 13 12
+f 15 23 16
+f 15 24 28
+f 15 28 29
+f 15 29 23
+f 16 23 17
+f 17 23 29
+f 17 29 25
+f 19 26 20
+f 20 26 27
+f 20 27 28
+f 20 28 21
+f 21 28 24
+f 25 29 28
+f 25 28 30
+f 26 30 28
+f 26 28 27
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_182.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_182.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0feea72d2670628ed18a1410ab4f21ce0434e5f5
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_182.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v 0.05050834 -0.00990828 -0.00130092
+v 0.05042680 -0.00990828 0.00066831
+v 0.05046094 -0.01076712 -0.00130092
+v 0.05047231 -0.01078390 -0.00312653
+v 0.05049128 -0.00990828 -0.00319558
+v 0.05041164 -0.01043672 0.00031479
+v 0.05038130 -0.00990828 0.00135603
+v 0.05027131 -0.01138596 0.00126212
+v 0.05038130 -0.01138596 -0.00130092
+v 0.05022390 -0.01138596 -0.00376177
+v 0.04976500 -0.01138596 -0.00574205
+v 0.05033768 -0.00990828 -0.00385015
+v 0.05037371 -0.00990828 0.00146374
+v 0.05025424 -0.01138596 0.00150793
+v 0.04287585 -0.01138596 -0.00574205
+v 0.04982758 -0.00990828 -0.00574205
+v 0.05032251 -0.00990828 0.00218183
+v 0.05012151 -0.00990828 0.00456811
+v 0.04991102 -0.01138596 0.00456811
+v 0.04287585 -0.00990828 -0.00574205
+v 0.03113603 -0.01138596 -0.00573929
+v 0.04919802 -0.00990828 0.00743496
+v 0.04872775 -0.01138596 0.00766420
+v 0.03113603 -0.00990843 -0.00573929
+v 0.04287585 -0.00990828 0.01587532
+v 0.03113603 -0.01138596 0.02218350
+v 0.04885669 -0.00990828 0.00815029
+v 0.04800337 -0.01138596 0.00918048
+v 0.03113603 -0.00990843 0.02247350
+v 0.03131997 -0.00990843 0.02240169
+v 0.03552211 -0.00990843 0.02063131
+v 0.03705809 -0.00990843 0.01987179
+v 0.03954600 -0.00990843 0.01840798
+v 0.04101181 -0.00990843 0.01732532
+v 0.04226335 -0.00990843 0.01639732
+v 0.04374434 -0.00990828 0.01522628
+v 0.03129532 -0.01138596 0.02212550
+v 0.04870689 -0.00990828 0.00845963
+v 0.04782702 -0.01118098 0.00965277
+v 0.04778530 -0.01138596 0.00957543
+v 0.03523008 -0.01138596 0.02051255
+v 0.03716428 -0.01138596 0.01967293
+v 0.03955737 -0.01138596 0.01839141
+v 0.04102319 -0.01138596 0.01731151
+v 0.04127729 -0.01138596 0.01712094
+v 0.04382399 -0.00990828 0.01516552
+v 0.04796355 -0.00990828 0.00984886
+v 0.04713488 -0.00990828 0.01116905
+v 0.04655462 -0.00990828 0.01203905
+v 0.04564441 -0.01138596 0.01279857
+v 0.04761464 -0.01138596 0.00987648
+v 0.04296687 -0.01138596 0.01570409
+v 0.04436442 -0.00990828 0.01466009
+v 0.04647498 -0.00990828 0.01213848
+v 0.04562544 -0.00990828 0.01319076
+v 0.04545478 -0.01138596 0.01303333
+v 0.04424496 -0.01138596 0.01450266
+v 0.04511535 -0.00990828 0.01381219
+v 0.04518551 -0.00990828 0.01373209
+v 0.04441183 -0.01138596 0.01431209
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 16
+f 1 16 20
+f 1 20 25
+f 1 25 36
+f 1 36 46
+f 1 46 53
+f 1 53 58
+f 1 58 59
+f 1 59 55
+f 1 55 54
+f 1 54 49
+f 1 49 48
+f 1 48 47
+f 1 47 38
+f 1 38 27
+f 1 27 22
+f 1 22 18
+f 1 18 17
+f 1 17 13
+f 1 13 7
+f 1 7 2
+f 2 6 3
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+f 14 17 18
+f 14 18 19
+f 15 21 24
+f 15 24 20
+f 18 22 19
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+f 20 24 29
+f 20 29 25
+f 21 26 29
+f 21 29 24
+f 22 27 23
+f 23 27 28
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 26 37 29
+f 27 38 39
+f 27 39 28
+f 28 39 40
+f 29 37 30
+f 30 37 41
+f 30 41 31
+f 31 41 42
+f 31 42 32
+f 32 42 43
+f 32 43 33
+f 33 43 44
+f 33 44 34
+f 34 44 35
+f 35 44 45
+f 35 45 46
+f 35 46 36
+f 38 47 39
+f 39 47 48
+f 39 48 49
+f 39 49 50
+f 39 50 51
+f 39 51 40
+f 45 52 46
+f 46 52 53
+f 49 54 50
+f 50 54 55
+f 50 55 56
+f 52 57 53
+f 53 57 58
+f 55 59 56
+f 56 59 60
+f 57 60 59
+f 57 59 58
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_183.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_183.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aefbdb6a0a1ec5d044f6f5f348b93eb3c259a87a
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_183.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.04732327 -0.01626516 0.00102506
+v 0.04497085 -0.01626516 0.00102506
+v 0.04732327 -0.01738772 0.00102506
+v 0.04732327 -0.01626516 -0.01433618
+v 0.04497085 -0.01738772 0.00102506
+v 0.04497085 -0.01626516 -0.01609027
+v 0.04732327 -0.01738772 -0.01602995
+v 0.04732327 -0.01627055 -0.01439817
+v 0.04732028 -0.01626516 -0.01440487
+v 0.04497085 -0.01738772 -0.01609027
+v 0.04678744 -0.01626516 -0.01609027
+v 0.04728412 -0.01738772 -0.01609027
+v 0.04685030 -0.01626516 -0.01598137
+v 0.04732327 -0.01734706 -0.01598137
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 12
+f 3 12 7
+f 4 8 9
+f 6 11 12
+f 6 12 10
+f 7 12 11
+f 7 11 13
+f 7 13 14
+f 8 14 9
+f 9 14 13
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_184.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_184.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bafe6181cbb063e397d5e3074fa7d24f02fe43f6
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_184.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.02174876 0.02856342 0.00552457
+v 0.02225856 0.02830774 0.00552457
+v 0.02312171 0.02807803 0.00474229
+v 0.02174876 0.02862334 0.00527975
+v 0.02174876 0.00931563 0.00552457
+v 0.02312171 0.02782035 0.00552457
+v 0.02312171 0.02822385 0.00397450
+v 0.02264336 0.02840162 0.00436419
+v 0.02174876 0.02882309 0.00442359
+v 0.02174876 0.00931563 -0.00648054
+v 0.02312171 0.00931563 0.00552457
+v 0.02312171 0.02858939 0.00163055
+v 0.02251245 0.02891298 0.00163055
+v 0.02174876 0.02885905 0.00420629
+v 0.02174957 0.00931563 -0.00927502
+v 0.02174876 0.00969516 -0.00927502
+v 0.02312171 0.00931563 -0.00927502
+v 0.02312171 0.02902883 -0.00130445
+v 0.02251245 0.02937040 -0.00130445
+v 0.02174876 0.02930249 0.00144947
+v 0.02174876 0.02915467 0.00239400
+v 0.02174876 0.02705732 -0.00927502
+v 0.02312171 0.02635420 -0.00927502
+v 0.02312171 0.02899887 -0.00206065
+v 0.02174876 0.02971997 -0.00130445
+v 0.02174876 0.02960810 -0.00051348
+v 0.02174876 0.02795618 -0.00738741
+v 0.02177457 0.02704533 -0.00927502
+v 0.02275976 0.02657592 -0.00927502
+v 0.02312171 0.02758865 -0.00680939
+v 0.02174876 0.02924057 -0.00442633
+v 0.02312171 0.02864731 -0.00429305
+v 0.02312171 0.02798215 -0.00598075
+v 0.02275088 0.02877116 -0.00447703
+v 0.02312171 0.02846155 -0.00484644
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 21
+f 1 21 20
+f 1 20 26
+f 1 26 25
+f 1 25 31
+f 1 31 27
+f 1 27 22
+f 1 22 16
+f 1 16 10
+f 1 10 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 11
+f 3 11 17
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+f 3 23 30
+f 3 30 33
+f 3 33 35
+f 3 35 32
+f 3 32 24
+f 3 24 18
+f 3 18 12
+f 3 12 7
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 15
+f 5 15 17
+f 5 17 11
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 8 14 9
+f 10 16 15
+f 12 18 19
+f 12 19 13
+f 13 19 20
+f 13 20 21
+f 13 21 14
+f 15 16 22
+f 15 22 28
+f 15 28 29
+f 15 29 23
+f 15 23 17
+f 18 24 19
+f 19 25 26
+f 19 26 20
+f 19 24 25
+f 22 27 28
+f 23 29 30
+f 24 31 25
+f 24 32 31
+f 27 31 33
+f 27 33 30
+f 27 30 28
+f 28 30 29
+f 31 32 34
+f 31 34 35
+f 31 35 33
+f 32 35 34
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_185.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_185.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b59eef606a4824493c53781243648aa78893c9e
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_185.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.03132698 0.00878440 0.02542022
+v -0.03214210 0.01171773 0.02478782
+v -0.03214210 0.00878762 0.02516220
+v -0.03132698 0.00585107 0.02540926
+v -0.03132698 0.01171773 0.02498344
+v -0.03214210 0.01464461 0.02411327
+v -0.03214210 0.00585107 0.02510739
+v -0.03132698 0.00297576 0.02492526
+v -0.03132698 0.01464784 0.02427432
+v -0.03214210 0.01605970 0.02362590
+v -0.03214210 0.00302411 0.02460991
+v -0.03132698 0.00191203 0.02466303
+v -0.03132698 0.01624666 0.02371022
+v -0.03184374 0.01614029 0.02365626
+v -0.03177727 0.02198438 0.02070845
+v -0.03214210 0.01644007 0.02343281
+v -0.03214210 0.00109328 0.02413266
+v -0.03214210 0.00069357 0.02400028
+v -0.03132698 0.00034221 0.02413772
+v -0.03132698 0.01674629 0.02345895
+v -0.03132698 0.02153310 0.02103645
+v -0.03132698 0.02205852 0.02075904
+v -0.03132698 0.02251303 0.02038382
+v -0.03212071 0.02505632 0.01790735
+v -0.03214210 0.02505310 0.01790230
+v -0.03214210 0.02187801 0.02064437
+v -0.03214210 0.02152021 0.02084336
+v -0.03214210 -0.00079888 0.02305253
+v -0.03132698 -0.00111800 0.02341848
+v -0.03132698 0.02518848 0.01803299
+v -0.03132698 0.02561720 0.01760971
+v -0.03166707 0.02550438 0.01760971
+v -0.03132698 0.02640694 0.01680614
+v -0.03213643 0.02612328 0.01680614
+v -0.03214210 0.02533676 0.01760971
+v -0.03214210 -0.00369031 0.02102380
+v -0.03181725 -0.00444459 0.02073290
+v -0.03132698 -0.00123082 0.02333753
+v -0.03132698 0.02583962 0.01738710
+v -0.03132698 -0.00652371 0.01680614
+v -0.03214210 0.02609104 0.01680614
+v -0.03214210 -0.00483785 0.01926490
+v -0.03214210 -0.00484752 0.01924466
+v -0.03132698 -0.00544708 0.01921009
+v -0.03132698 -0.00456064 0.02083914
+v -0.03132698 -0.00390950 0.02134675
+v -0.03214210 -0.00565338 0.01680614
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 19
+f 1 19 29
+f 1 29 38
+f 1 38 46
+f 1 46 45
+f 1 45 44
+f 1 44 40
+f 1 40 33
+f 1 33 39
+f 1 39 31
+f 1 31 30
+f 1 30 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 10
+f 2 10 16
+f 2 16 27
+f 2 27 26
+f 2 26 25
+f 2 25 35
+f 2 35 41
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+f 2 42 36
+f 2 36 28
+f 2 28 18
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+f 2 17 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 9 13 14
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 13 20 14
+f 14 20 21
+f 14 21 15
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 27
+f 15 27 16
+f 15 21 22
+f 18 28 29
+f 18 29 19
+f 23 30 24
+f 24 30 31
+f 24 31 32
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 25 34 35
+f 28 36 37
+f 28 37 29
+f 29 37 38
+f 31 39 32
+f 32 39 33
+f 33 40 47
+f 33 47 41
+f 33 41 34
+f 34 41 35
+f 36 42 37
+f 37 42 43
+f 37 43 40
+f 37 40 44
+f 37 44 45
+f 37 45 46
+f 37 46 38
+f 40 43 47
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_186.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_186.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90246d364f1ccf04bd2ec34ba134f05092a5e70d
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_186.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.03619060 -0.00965398 -0.00422876
+v -0.03766300 -0.00965286 -0.00423801
+v -0.03619896 -0.00965342 -0.00423801
+v -0.03619060 -0.00965342 -0.00423801
+v -0.03619060 -0.00964668 -0.00130615
+v -0.03619896 -0.00964668 -0.00130615
+v -0.03766300 -0.00964949 -0.00276746
+v -0.03766300 -0.00950698 -0.00570239
+v -0.03619060 -0.00927189 -0.00716678
+v -0.03619060 -0.00964556 -0.00129690
+v -0.03766300 -0.00962705 -0.00130615
+v -0.03766300 -0.00931509 -0.00717295
+v -0.03619060 -0.00927077 -0.00717295
+v -0.03619060 -0.00914172 0.00163804
+v -0.03766300 -0.00937457 0.00016440
+v -0.03766300 -0.00900650 -0.00863733
+v -0.03766300 -0.00860365 -0.01011097
+v -0.03619060 -0.00846731 -0.01011097
+v -0.03766300 -0.00868950 0.00310242
+v -0.03766300 -0.00910862 0.00162879
+v -0.03619060 -0.00830629 0.00457297
+v -0.03766300 -0.00858346 -0.01017263
+v -0.03766300 -0.00814077 -0.01152295
+v -0.03766300 -0.00812787 -0.01155686
+v -0.03619060 -0.00761954 -0.01216419
+v -0.03766300 -0.00821820 0.00456373
+v -0.03619060 -0.00757970 0.00651213
+v -0.03766300 -0.00770089 -0.01258964
+v -0.03619060 -0.00691932 -0.01363783
+v -0.03766300 -0.00785294 0.00553793
+v -0.03766300 -0.00751181 0.00635798
+v -0.03619060 -0.00689071 0.00798577
+v -0.03766300 -0.00704893 -0.01389988
+v -0.03766300 -0.00643848 -0.01487099
+v -0.03619060 -0.00545605 -0.01575888
+v -0.03766300 -0.00716731 0.00709172
+v -0.03619060 -0.00568609 0.01044285
+v -0.03766300 -0.00572592 -0.01590377
+v -0.03619060 -0.00421665 -0.01723251
+v -0.03766300 -0.00619442 0.00905862
+v -0.03619060 -0.00469019 0.01234810
+v -0.03766300 -0.00392208 -0.01786143
+v -0.03691123 -0.00392208 -0.01772270
+v -0.03653405 -0.00392208 -0.01761171
+v -0.03619060 -0.00392208 -0.01750997
+v -0.03766300 -0.00490283 0.01149721
+v -0.03619060 -0.00392208 0.01363367
+v -0.03766300 -0.00432998 0.01245908
+v -0.03766300 -0.00454151 0.01210455
+v -0.03766300 -0.00392208 0.01310958
+v -0.03651416 -0.00392208 0.01352269
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 13
+f 1 13 18
+f 1 18 25
+f 1 25 29
+f 1 29 35
+f 1 35 39
+f 1 39 45
+f 1 45 47
+f 1 47 41
+f 1 41 37
+f 1 37 32
+f 1 32 27
+f 1 27 21
+f 1 21 14
+f 1 14 10
+f 1 10 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 11
+f 2 11 15
+f 2 15 20
+f 2 20 19
+f 2 19 26
+f 2 26 30
+f 2 30 31
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+f 2 36 40
+f 2 40 46
+f 2 46 49
+f 2 49 48
+f 2 48 50
+f 2 50 42
+f 2 42 38
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+f 2 34 33
+f 2 33 28
+f 2 28 24
+f 2 24 23
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+f 2 22 17
+f 2 17 16
+f 2 16 12
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+f 2 8 3
+f 3 8 4
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 7
+f 8 12 9
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+f 10 14 11
+f 11 14 15
+f 12 16 13
+f 13 16 17
+f 13 17 18
+f 14 19 20
+f 14 20 15
+f 14 21 19
+f 17 22 18
+f 18 22 23
+f 18 23 24
+f 18 24 25
+f 19 21 26
+f 21 27 26
+f 24 28 25
+f 25 28 29
+f 26 27 30
+f 27 31 30
+f 27 32 31
+f 28 33 29
+f 29 33 34
+f 29 34 35
+f 31 32 36
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+f 34 38 35
+f 35 38 39
+f 36 37 40
+f 37 41 40
+f 38 42 43
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+f 40 41 46
+f 41 47 48
+f 41 48 49
+f 41 49 46
+f 42 50 51
+f 42 51 47
+f 42 47 45
+f 42 45 44
+f 42 44 43
+f 47 51 48
+f 48 51 50
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_187.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_187.obj
new file mode 100644
index 0000000000000000000000000000000000000000..025c2a9dbece8bf656795892a0d4112251f9ea15
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_187.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.02287745 0.03179708 0.00600660
+v -0.02277034 0.03179309 0.00600660
+v -0.02287745 0.03180108 0.00592299
+v -0.02287745 -0.00895752 0.00600660
+v -0.02287745 0.03184101 0.00456646
+v -0.02153652 0.03172919 0.00600660
+v -0.02287745 -0.00895752 -0.00270933
+v -0.02153652 -0.00895752 0.00600660
+v -0.02153652 0.03176513 0.00458182
+v -0.02153652 0.03176513 0.00456646
+v -0.02153652 0.03155747 0.00163157
+v -0.02287745 0.03172919 0.00298725
+v -0.02153652 -0.00895752 -0.00270933
+v -0.02287745 0.03091051 -0.00270933
+v -0.02287745 0.03138175 0.00004384
+v -0.02287745 0.03158941 0.00163157
+v -0.02153652 0.03117408 -0.00128881
+v -0.02153652 0.03091051 -0.00270933
+v -0.02287745 0.03100635 -0.00222217
+v -0.02287745 0.03117808 -0.00130416
+f 1 2 3
+f 1 3 5
+f 1 5 12
+f 1 12 16
+f 1 16 15
+f 1 15 20
+f 1 20 19
+f 1 19 14
+f 1 14 7
+f 1 7 4
+f 1 4 8
+f 1 8 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 4 7 13
+f 4 13 8
+f 5 6 9
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 6 8 13
+f 6 13 18
+f 6 18 17
+f 6 17 11
+f 6 11 10
+f 6 10 9
+f 7 14 18
+f 7 18 13
+f 11 15 16
+f 11 16 12
+f 11 17 15
+f 14 19 18
+f 15 17 20
+f 17 18 20
+f 18 19 20
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_188.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_188.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28e626880ddff883b5dc9ca1b93190de8464e927
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_188.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.04500875 0.00346486 -0.02158193
+v -0.04660910 0.00346486 -0.02110346
+v -0.04500875 0.00584952 -0.02121041
+v -0.04500875 0.00346486 -0.00720677
+v -0.04660910 0.00584952 -0.02072631
+v -0.04660910 0.00346486 -0.00720677
+v -0.04660910 0.00693421 -0.02046738
+v -0.04649882 0.00735787 -0.02039842
+v -0.04500875 0.00799129 -0.02062640
+v -0.04500875 0.01729670 -0.00720677
+v -0.04660910 0.01756166 -0.00720677
+v -0.04660910 0.00746827 -0.02030695
+v -0.04500875 0.00945962 -0.02008038
+v -0.04500891 0.01756166 -0.00720677
+v -0.04500875 0.01756166 -0.00737001
+v -0.04660910 0.01756166 -0.01262331
+v -0.04660910 0.00889106 -0.01968635
+v -0.04660910 0.01042425 -0.01898976
+v -0.04500875 0.00949274 -0.02006349
+v -0.04500875 0.01756166 -0.01381104
+v -0.04611925 0.01756166 -0.01304830
+v -0.04660910 0.01731326 -0.01304549
+v -0.04660910 0.01159726 -0.01837900
+v -0.04500875 0.01196434 -0.01879133
+v -0.04500875 0.01664671 -0.01502973
+v -0.04564663 0.01756166 -0.01337338
+v -0.04660910 0.01670881 -0.01384904
+v -0.04660910 0.01307111 -0.01736156
+v -0.04500875 0.01253428 -0.01845781
+v -0.04500875 0.01662325 -0.01505224
+v -0.04660910 0.01470918 -0.01597540
+v -0.04660910 0.01613473 -0.01458925
+v -0.04658027 0.01617337 -0.01456814
+v -0.04660910 0.01618717 -0.01452874
+v -0.04500875 0.01444836 -0.01705618
+v -0.04500875 0.01484580 -0.01671422
+f 1 2 3
+f 1 3 9
+f 1 9 13
+f 1 13 19
+f 1 19 24
+f 1 24 29
+f 1 29 35
+f 1 35 36
+f 1 36 30
+f 1 30 25
+f 1 25 20
+f 1 20 15
+f 1 15 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 11
+f 2 11 16
+f 2 16 22
+f 2 22 27
+f 2 27 34
+f 2 34 32
+f 2 32 31
+f 2 31 28
+f 2 28 23
+f 2 23 18
+f 2 18 17
+f 2 17 12
+f 2 12 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 4 10 14
+f 4 14 11
+f 4 11 6
+f 7 12 8
+f 8 12 13
+f 8 13 9
+f 10 15 14
+f 11 14 15
+f 11 15 20
+f 11 20 26
+f 11 26 21
+f 11 21 16
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 16 21 22
+f 18 23 24
+f 18 24 19
+f 20 25 22
+f 20 22 26
+f 21 26 22
+f 22 25 27
+f 23 28 29
+f 23 29 24
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 27
+f 27 33 34
+f 28 35 29
+f 28 31 35
+f 30 36 31
+f 31 36 35
+f 32 34 33
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_189.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_189.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb5b98e9e371ce2e3e0549804600ec9e7aecd134
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_189.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.04967135 -0.00442304 -0.00130165
+v 0.04910801 -0.00442304 -0.00423105
+v 0.04920514 -0.00331398 -0.00130165
+v 0.04916879 -0.00331398 0.00163064
+v 0.04961809 -0.00442304 0.00163064
+v 0.04858415 -0.00331398 -0.00430059
+v 0.04761099 -0.00442304 -0.00870483
+v 0.04916252 -0.00331398 0.00191460
+v 0.04959239 -0.00442304 0.00280125
+v 0.04807282 -0.00331398 -0.00580731
+v 0.04752577 -0.00431793 -0.00881204
+v 0.04754895 -0.00442304 -0.00888448
+v 0.04916002 -0.00331398 0.00201022
+v 0.04958300 -0.00442304 0.00320980
+v 0.04723815 -0.00331398 -0.00798914
+v 0.04675877 -0.00442304 -0.01055925
+v 0.04619042 -0.00331398 -0.01019706
+v 0.04638718 -0.00331398 -0.00978561
+v 0.04908044 -0.00331398 0.00456584
+v 0.04954038 -0.00442304 0.00456584
+v 0.04621173 -0.00442304 -0.01141402
+v 0.04501048 -0.00331398 -0.01207466
+v 0.04824702 -0.00331398 0.00744598
+v 0.04872263 -0.00442304 0.00736195
+v 0.04513016 -0.00363310 -0.01221084
+v 0.04542092 -0.00442304 -0.01247451
+v 0.04459941 -0.00331398 -0.01255275
+v 0.04799386 -0.00331398 0.00792987
+v 0.04762352 -0.00406982 0.00919319
+v 0.04768180 -0.00442304 0.00928591
+v 0.04327033 -0.00400608 -0.01461578
+v 0.04327033 -0.00383930 -0.01448540
+v 0.04327033 -0.00331398 -0.01407105
+v 0.04327033 -0.00442304 -0.01492003
+v 0.04670614 -0.00331398 0.00999001
+v 0.04497100 -0.00347718 0.01251955
+v 0.04748880 -0.00442304 0.00956987
+v 0.04327033 -0.00331398 0.01436238
+v 0.04327033 -0.00442304 0.01468110
+v 0.04523544 -0.00331398 0.01204436
+v 0.04474980 -0.00331398 0.01271079
+v 0.04516337 -0.00442304 0.01272527
+v 0.04407116 -0.00442304 0.01402336
+v 0.04395774 -0.00331398 0.01365538
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 20
+f 1 20 24
+f 1 24 30
+f 1 30 37
+f 1 37 42
+f 1 42 43
+f 1 43 39
+f 1 39 34
+f 1 34 26
+f 1 26 21
+f 1 21 16
+f 1 16 12
+f 1 12 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 6 10
+f 3 10 15
+f 3 15 18
+f 3 18 17
+f 3 17 22
+f 3 22 27
+f 3 27 33
+f 3 33 38
+f 3 38 44
+f 3 44 41
+f 3 41 40
+f 3 40 35
+f 3 35 28
+f 3 28 23
+f 3 23 19
+f 3 19 13
+f 3 13 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 6 7 11
+f 6 11 10
+f 7 12 11
+f 8 13 14
+f 8 14 9
+f 10 11 15
+f 11 12 16
+f 11 16 17
+f 11 17 18
+f 11 18 15
+f 13 19 14
+f 14 19 20
+f 16 21 22
+f 16 22 17
+f 19 23 20
+f 20 23 24
+f 21 25 22
+f 21 26 25
+f 22 25 27
+f 23 28 24
+f 24 28 29
+f 24 29 30
+f 25 26 31
+f 25 31 32
+f 25 32 33
+f 25 33 27
+f 26 34 31
+f 28 35 29
+f 29 35 36
+f 29 36 37
+f 29 37 30
+f 31 34 39
+f 31 39 38
+f 31 38 33
+f 31 33 32
+f 35 40 36
+f 36 40 41
+f 36 41 42
+f 36 42 37
+f 38 39 43
+f 38 43 44
+f 41 44 42
+f 42 44 43
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_19.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f91ccaa6b3bef3b9683127128fa483e8b1a6ca20
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.02907111 0.01165565 -0.01430614
+v 0.02991168 0.01069293 -0.01430614
+v 0.02991168 0.00965121 -0.01577728
+v 0.02907111 0.01055469 -0.01584438
+v 0.02907111 -0.01355783 -0.01430614
+v 0.02991168 -0.01355783 -0.01430614
+v 0.02991168 0.00743448 -0.01755429
+v 0.02907111 0.00771589 -0.01771414
+v 0.02907111 -0.01355783 -0.02438508
+v 0.02991168 -0.01355783 -0.02437127
+v 0.02991168 0.00415875 -0.01932045
+v 0.02907111 0.00508938 -0.01913101
+v 0.02907111 -0.01244946 -0.02427852
+v 0.02991168 -0.01329123 -0.02434561
+v 0.02991168 0.00188771 -0.02038804
+v 0.02907111 0.00279366 -0.02020057
+v 0.02907111 -0.00951439 -0.02391345
+v 0.02991168 -0.01290120 -0.02429726
+v 0.02991168 0.00167048 -0.02047881
+v 0.02907111 -0.00000071 -0.02137669
+v 0.02907111 -0.00657685 -0.02347832
+v 0.02991168 -0.00680395 -0.02345464
+v 0.02991168 -0.01035616 -0.02397955
+v 0.02991168 0.00002891 -0.02116357
+v 0.02991168 -0.00154847 -0.02174374
+v 0.02907111 -0.00071164 -0.02163816
+v 0.02907111 -0.00563387 -0.02327802
+v 0.02991168 -0.00650032 -0.02339051
+v 0.02991168 -0.00288147 -0.02222425
+v 0.02907111 -0.00295553 -0.02244724
+v 0.02907111 -0.00365412 -0.02267122
+v 0.02991168 -0.00295553 -0.02225089
+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 26
+f 1 26 30
+f 1 30 31
+f 1 31 27
+f 1 27 21
+f 1 21 17
+f 1 17 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 18
+f 2 18 23
+f 2 23 22
+f 2 22 28
+f 2 28 32
+f 2 32 29
+f 2 29 25
+f 2 25 24
+f 2 24 19
+f 2 19 15
+f 2 15 11
+f 2 11 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 7 11 12
+f 7 12 8
+f 9 13 10
+f 10 13 14
+f 11 15 12
+f 12 15 16
+f 13 17 18
+f 13 18 14
+f 15 19 20
+f 15 20 16
+f 17 21 22
+f 17 22 23
+f 17 23 18
+f 19 24 20
+f 20 24 25
+f 20 25 26
+f 21 27 28
+f 21 28 22
+f 25 29 30
+f 25 30 26
+f 27 31 28
+f 28 31 30
+f 28 30 32
+f 29 32 30
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_190.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_190.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd56c50581df06cb20e90288aa51c85fd0099165
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_190.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.00327946 0.02976173 -0.01577817
+v 0.00437758 0.02950768 -0.01577817
+v 0.00437758 0.02932835 -0.01596792
+v 0.00437758 0.02880531 -0.01651881
+v 0.00327946 0.02801826 -0.01761426
+v 0.00327946 -0.02071904 -0.01577817
+v 0.00437758 -0.02112751 -0.01577817
+v 0.00437758 0.02786882 -0.01745625
+v 0.00375945 0.02796347 -0.01755218
+v 0.00327946 0.02627978 -0.01934947
+v 0.00327946 -0.02056462 -0.01606526
+v 0.00437758 -0.02102290 -0.01596721
+v 0.00437758 0.02692735 -0.01839017
+v 0.00373795 0.02502449 -0.02046890
+v 0.00327946 0.02547280 -0.02015430
+v 0.00327946 -0.02044009 -0.01626417
+v 0.00437758 -0.02079376 -0.01633048
+v 0.00327946 -0.01984731 -0.01720726
+v 0.00437758 0.02587629 -0.01943059
+v 0.00437758 0.02490493 -0.02037297
+v 0.00437758 0.02415275 -0.02077362
+v 0.00327946 0.02509422 -0.02052674
+v 0.00437758 -0.01962813 -0.01795989
+v 0.00327946 -0.01943386 -0.01778566
+v 0.00437758 0.02383893 -0.02092951
+v 0.00327946 0.02450144 -0.02082088
+v 0.00437758 -0.01787470 -0.01939673
+v 0.00327946 -0.01774020 -0.01915761
+v 0.00437758 0.02357492 -0.02105083
+v 0.00327946 0.02435699 -0.02088789
+v 0.00437758 -0.01731679 -0.01981925
+v 0.00327946 -0.01554344 -0.02083569
+v 0.00327946 0.02214528 -0.02180911
+v 0.00327946 0.02352013 -0.02126879
+v 0.00437758 0.02104440 -0.02204259
+v 0.00437758 -0.01613622 -0.02071225
+v 0.00327946 -0.01465178 -0.02151074
+v 0.00437758 0.02052635 -0.02220200
+v 0.00437758 0.01837441 -0.02286011
+v 0.00327946 0.02186134 -0.02189587
+v 0.00437758 -0.01452725 -0.02192761
+v 0.00437758 -0.01397930 -0.02232050
+v 0.00327946 -0.01323709 -0.02252365
+v 0.00437758 0.01791115 -0.02298285
+v 0.00327946 0.01935075 -0.02266261
+v 0.00437758 -0.01312252 -0.02292077
+v 0.00327946 -0.01276884 -0.02285094
+v 0.00327946 0.01813531 -0.02298285
+v 0.00327946 0.01912161 -0.02272327
+v 0.00437758 -0.01303285 -0.02298285
+v 0.00327946 -0.01261442 -0.02295816
+v 0.00327946 -0.01256959 -0.02298285
+v 0.00345200 -0.01264929 -0.02298285
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 22
+f 1 22 26
+f 1 26 30
+f 1 30 34
+f 1 34 33
+f 1 33 40
+f 1 40 45
+f 1 45 49
+f 1 49 48
+f 1 48 52
+f 1 52 51
+f 1 51 47
+f 1 47 43
+f 1 43 37
+f 1 37 32
+f 1 32 28
+f 1 28 24
+f 1 24 18
+f 1 18 16
+f 1 16 11
+f 1 11 6
+f 1 6 7
+f 1 7 2
+f 2 7 12
+f 2 12 17
+f 2 17 23
+f 2 23 27
+f 2 27 31
+f 2 31 36
+f 2 36 41
+f 2 41 42
+f 2 42 46
+f 2 46 50
+f 2 50 44
+f 2 44 39
+f 2 39 38
+f 2 38 35
+f 2 35 29
+f 2 29 25
+f 2 25 21
+f 2 21 20
+f 2 20 19
+f 2 19 13
+f 2 13 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 6 11 7
+f 7 11 12
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 9 15 10
+f 11 16 12
+f 12 16 18
+f 12 18 17
+f 13 19 14
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 15
+f 17 18 24
+f 17 24 23
+f 21 25 22
+f 22 25 26
+f 23 24 27
+f 24 28 27
+f 25 29 30
+f 25 30 26
+f 27 28 32
+f 27 32 31
+f 29 33 34
+f 29 34 30
+f 29 35 33
+f 31 32 37
+f 31 37 36
+f 33 35 38
+f 33 38 39
+f 33 39 40
+f 36 37 41
+f 37 42 41
+f 37 43 42
+f 39 44 45
+f 39 45 40
+f 42 43 46
+f 43 47 46
+f 44 48 49
+f 44 49 45
+f 44 50 53
+f 44 53 52
+f 44 52 48
+f 46 47 51
+f 46 51 50
+f 50 51 53
+f 51 52 53
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_191.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_191.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbe8ccebec4ae77e81f7e76172f1a171432cfe48
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_191.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.03330004 0.02140296 0.00458772
+v -0.03330004 0.02140296 -0.00765854
+v -0.03463212 0.02140296 0.00458772
+v -0.03330004 -0.00876175 0.00458772
+v -0.03463212 0.02140296 -0.00765854
+v -0.03330004 -0.00918321 -0.00765854
+v -0.03463212 -0.00855102 0.00458772
+v -0.03330004 -0.00876786 0.00456614
+v -0.03463212 -0.00916794 -0.00765854
+v -0.03330004 -0.00931759 -0.00721137
+v -0.03374494 -0.00918626 -0.00765854
+v -0.03463212 -0.00894499 0.00319345
+v -0.03330004 -0.00877702 0.00452897
+v -0.03463212 -0.00929621 -0.00719459
+v -0.03330004 -0.00932675 -0.00717541
+v -0.03463212 -0.00923818 0.00163015
+v -0.03330004 -0.00932064 0.00163015
+v -0.03463212 -0.00929926 -0.00717541
+v -0.03330004 -0.00977264 -0.00423942
+v -0.03463212 -0.00953748 -0.00561210
+v -0.03463212 -0.00947334 0.00025747
+v -0.03330004 -0.00932675 0.00159419
+v -0.03330004 -0.00979707 -0.00134180
+v -0.03463212 -0.00971767 -0.00423942
+v -0.03463212 -0.00972683 -0.00130463
+v -0.03330004 -0.00979402 -0.00130463
+v -0.03463212 -0.00972988 -0.00267612
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 17
+f 1 17 22
+f 1 22 26
+f 1 26 23
+f 1 23 19
+f 1 19 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 9
+f 2 9 5
+f 3 5 9
+f 3 9 14
+f 3 14 18
+f 3 18 20
+f 3 20 24
+f 3 24 27
+f 3 27 25
+f 3 25 21
+f 3 21 16
+f 3 16 12
+f 3 12 7
+f 4 7 8
+f 6 10 11
+f 7 12 8
+f 8 12 13
+f 9 11 14
+f 10 15 14
+f 10 14 11
+f 12 16 13
+f 13 16 17
+f 14 15 18
+f 15 19 20
+f 15 20 18
+f 16 21 17
+f 17 21 22
+f 19 23 24
+f 19 24 20
+f 21 25 22
+f 22 25 26
+f 23 26 25
+f 23 25 27
+f 23 27 24
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_192.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_192.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd7088343390ad015e853f80b2375261c8776fdc
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_192.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.05165085 0.01656340 -0.00783779
+v -0.05165085 0.01812910 -0.00783779
+v -0.05087484 0.01656340 -0.00783779
+v -0.05165085 0.01656340 0.01166498
+v -0.05100470 0.01841230 -0.00783779
+v -0.05165085 0.01884115 -0.00658334
+v -0.05087606 0.01783698 -0.00783779
+v -0.05087148 0.01859690 -0.00755358
+v -0.05087148 0.01783698 -0.00723016
+v -0.05087148 0.01656340 -0.00668526
+v -0.05087148 0.01656340 0.01218637
+v -0.05087148 0.01798791 0.01082411
+v -0.05087148 0.01814979 0.01066927
+v -0.05165085 0.01708841 0.01115732
+v -0.05087667 0.01846829 -0.00783779
+v -0.05165085 0.01913571 -0.00588751
+v -0.05087667 0.01921685 -0.00608156
+v -0.05087148 0.01921564 -0.00608548
+v -0.05087148 0.01934669 0.00932269
+v -0.05165085 0.01913043 0.00901888
+v -0.05165085 0.01832101 0.00990091
+v -0.05125274 0.01783698 0.01070063
+v -0.05165085 0.01949234 -0.00423712
+v -0.05087148 0.02036425 -0.00130681
+v -0.05087148 0.01970332 -0.00424300
+v -0.05087148 0.02002181 0.00767623
+v -0.05165085 0.01943716 0.00824269
+v -0.05165085 0.02009119 -0.00130289
+v -0.05087667 0.02036303 -0.00130289
+v -0.05087148 0.02070830 0.00163135
+v -0.05087148 0.02059105 0.00456362
+v -0.05165085 0.02009769 0.00546330
+v -0.05165085 0.01971833 0.00742142
+v -0.05165085 0.02039549 0.00163135
+v -0.05165085 0.02025511 0.00456362
+f 1 2 5
+f 1 5 15
+f 1 15 7
+f 1 7 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 14
+f 1 14 21
+f 1 21 20
+f 1 20 27
+f 1 27 33
+f 1 33 32
+f 1 32 35
+f 1 35 34
+f 1 34 28
+f 1 28 23
+f 1 23 16
+f 1 16 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 6 15
+f 6 16 8
+f 6 8 15
+f 7 15 8
+f 8 16 17
+f 8 17 18
+f 8 18 25
+f 8 25 24
+f 8 24 30
+f 8 30 31
+f 8 31 26
+f 8 26 19
+f 8 19 13
+f 8 13 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 14
+f 14 22 21
+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 17 25 18
+f 19 26 20
+f 20 26 27
+f 23 28 24
+f 24 28 29
+f 24 29 30
+f 26 31 32
+f 26 32 33
+f 26 33 27
+f 28 34 30
+f 28 30 29
+f 30 34 31
+f 31 34 35
+f 31 35 32
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_193.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_193.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfa7168e4b3593d316a7382f60ef47a7c01f27e1
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_193.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.02174876 0.02705818 -0.00927502
+v 0.02275976 0.02657704 -0.00927502
+v 0.02174876 0.02667779 -0.01024789
+v 0.02174876 0.00969403 -0.00927502
+v 0.02300088 0.02642940 -0.00927502
+v 0.02312171 0.02569642 -0.01070624
+v 0.02276486 0.02606291 -0.01035235
+v 0.02312171 0.02511976 -0.01183058
+v 0.02174876 0.02573463 -0.01203560
+v 0.02174876 0.01145528 -0.02223042
+v 0.02175306 0.00931364 -0.02261565
+v 0.02174957 0.00931364 -0.00927502
+v 0.02312171 0.02635472 -0.00927502
+v 0.02312171 0.02445798 -0.01267156
+v 0.02276486 0.02426518 -0.01320565
+v 0.02174876 0.02449098 -0.01373844
+v 0.02195467 0.02546541 -0.01233203
+v 0.02174876 0.02554183 -0.01239210
+v 0.02174876 0.01170540 -0.02218602
+v 0.02251245 0.01172103 -0.02195097
+v 0.02236783 0.00931364 -0.02242761
+v 0.02312171 0.00931364 -0.00927502
+v 0.02312171 0.02370415 -0.01357521
+v 0.02312171 0.02245877 -0.01495680
+v 0.02174876 0.02353393 -0.01479096
+v 0.02174876 0.01481972 -0.02139467
+v 0.02275666 0.01489615 -0.02107344
+v 0.02312171 0.01471898 -0.02098594
+v 0.02312171 0.01172103 -0.02166238
+v 0.02300168 0.00931364 -0.02200059
+v 0.02312171 0.00931364 -0.02191963
+v 0.02251245 0.02266546 -0.01515660
+v 0.02312171 0.01942260 -0.01779835
+v 0.02251245 0.01963972 -0.01800728
+v 0.02174876 0.02136624 -0.01686205
+v 0.02174876 0.01680157 -0.02072085
+v 0.02194096 0.01672514 -0.02069343
+v 0.02312171 0.01630828 -0.02048319
+v 0.02312171 0.01525917 -0.02083969
+v 0.02174876 0.02049082 -0.01768735
+v 0.02312171 0.01713853 -0.01986029
+v 0.02275666 0.01765961 -0.01963177
+v 0.02174876 0.01812164 -0.01984854
+v 0.02174876 0.01699089 -0.02061377
+f 1 2 3
+f 1 3 9
+f 1 9 18
+f 1 18 16
+f 1 16 25
+f 1 25 35
+f 1 35 40
+f 1 40 43
+f 1 43 44
+f 1 44 36
+f 1 36 26
+f 1 26 19
+f 1 19 10
+f 1 10 4
+f 1 4 12
+f 1 12 22
+f 1 22 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 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 5 13 6
+f 6 13 22
+f 6 22 31
+f 6 31 29
+f 6 29 28
+f 6 28 39
+f 6 39 38
+f 6 38 41
+f 6 41 33
+f 6 33 24
+f 6 24 23
+f 6 23 14
+f 6 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 11
+f 11 19 20
+f 11 20 21
+f 11 21 30
+f 11 30 31
+f 11 31 22
+f 11 22 12
+f 14 23 15
+f 15 23 16
+f 16 18 17
+f 16 23 24
+f 16 24 25
+f 19 26 27
+f 19 27 20
+f 20 28 29
+f 20 29 21
+f 20 27 28
+f 21 29 30
+f 24 32 25
+f 24 33 34
+f 24 34 32
+f 25 32 35
+f 26 36 37
+f 26 37 27
+f 27 37 38
+f 27 38 39
+f 27 39 28
+f 29 31 30
+f 32 40 35
+f 32 34 40
+f 33 41 34
+f 34 41 42
+f 34 42 43
+f 34 43 40
+f 36 44 37
+f 37 44 38
+f 38 44 43
+f 38 43 41
+f 41 43 42
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_194.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_194.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6804bb5db625304826995476efb81d9b607a8cdf
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_194.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v 0.01141571 0.01447248 -0.02371566
+v 0.01141571 0.01539225 -0.02351159
+v 0.01208078 0.01608392 -0.02330752
+v 0.01270582 0.01536593 -0.02340470
+v 0.01267867 0.01447248 -0.02359419
+v 0.01141571 0.01447248 0.02592099
+v 0.01141571 0.01589382 -0.02339012
+v 0.01270582 0.01593038 -0.02327351
+v 0.01141571 0.01615118 -0.02332696
+v 0.01141571 0.01686770 -0.02312775
+v 0.01270569 0.01752135 -0.02281679
+v 0.01270582 0.01447540 -0.02358933
+v 0.01270582 0.01447248 -0.02358933
+v 0.01270582 0.01447248 0.02592099
+v 0.01141571 0.01710752 0.02592099
+v 0.01270582 0.01710752 -0.02292854
+v 0.01141571 0.01742630 -0.02294798
+v 0.01270569 0.01859320 -0.02240866
+v 0.01141571 0.01991218 -0.02201510
+v 0.01270582 0.01710752 0.02592099
+v 0.01141571 0.02084220 0.02591613
+v 0.01270569 0.01991072 -0.02178189
+v 0.01270557 0.02799278 -0.01462986
+v 0.01270557 0.02919186 -0.01312851
+v 0.01270557 0.02941120 -0.01281756
+v 0.01270557 0.01991218 -0.02178674
+v 0.01141571 0.02056729 -0.02169443
+v 0.01270557 0.02064625 -0.02143692
+v 0.01270557 0.02941120 0.01454673
+v 0.01270557 0.02818142 0.01728705
+v 0.01270557 0.02757896 0.01825393
+v 0.01270569 0.01991072 0.02578494
+v 0.01270569 0.01978204 0.02591613
+v 0.01141571 0.02110103 0.02572178
+v 0.01270557 0.02128089 -0.02107737
+v 0.01270557 0.02208661 -0.02053805
+v 0.01270557 0.02213048 -0.02050404
+v 0.01270557 0.02217873 -0.02046517
+v 0.01141571 0.02941120 -0.01342975
+v 0.01218422 0.02941120 -0.01308964
+v 0.01141571 0.02821359 -0.01484850
+v 0.01141571 0.02205444 -0.02085873
+v 0.01141571 0.02941120 0.01597034
+v 0.01245058 0.02800887 0.01798184
+v 0.01257902 0.02521298 0.02096995
+v 0.01270557 0.02535774 0.02070758
+v 0.01270557 0.02495708 0.02111572
+v 0.01270557 0.02181755 0.02407953
+v 0.01270557 0.02059654 0.02521161
+v 0.01141571 0.02167570 0.02519704
+v 0.01141571 0.02233666 -0.02067410
+v 0.01266414 0.02213632 -0.02051376
+v 0.01141571 0.02330469 -0.01975094
+v 0.01141571 0.02934101 0.01611610
+v 0.01141571 0.02826038 0.01835597
+v 0.01141571 0.02756433 0.01925969
+v 0.01141571 0.02704084 0.01983301
+v 0.01141571 0.02560194 0.02137323
+v 0.01141571 0.02464415 0.02232068
+v 0.01250905 0.02221968 0.02385117
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 13
+f 1 13 14
+f 1 14 6
+f 1 6 15
+f 1 15 21
+f 1 21 34
+f 1 34 50
+f 1 50 59
+f 1 59 58
+f 1 58 57
+f 1 57 56
+f 1 56 55
+f 1 55 54
+f 1 54 43
+f 1 43 39
+f 1 39 41
+f 1 41 53
+f 1 53 51
+f 1 51 42
+f 1 42 27
+f 1 27 19
+f 1 19 17
+f 1 17 10
+f 1 10 9
+f 1 9 7
+f 1 7 2
+f 2 7 3
+f 3 8 4
+f 3 7 9
+f 3 9 10
+f 3 10 11
+f 3 11 8
+f 4 12 5
+f 4 8 16
+f 4 16 20
+f 4 20 14
+f 4 14 13
+f 4 13 12
+f 5 12 13
+f 6 14 20
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+f 8 11 16
+f 10 17 11
+f 11 18 16
+f 11 17 19
+f 11 19 18
+f 15 20 21
+f 16 18 22
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 29
+f 16 29 20
+f 18 19 26
+f 18 26 22
+f 19 27 28
+f 19 28 26
+f 20 29 30
+f 20 30 31
+f 20 31 32
+f 20 32 33
+f 20 33 21
+f 21 33 34
+f 22 26 28
+f 22 28 35
+f 22 35 36
+f 22 36 37
+f 22 37 38
+f 22 38 23
+f 23 39 40
+f 23 40 24
+f 23 38 41
+f 23 41 39
+f 24 40 25
+f 25 40 39
+f 25 39 43
+f 25 43 29
+f 27 42 28
+f 28 42 35
+f 29 43 44
+f 29 44 30
+f 30 44 31
+f 31 44 45
+f 31 45 46
+f 31 46 32
+f 32 46 33
+f 33 46 47
+f 33 47 48
+f 33 48 49
+f 33 49 34
+f 34 49 50
+f 35 42 51
+f 35 51 36
+f 36 51 52
+f 36 52 37
+f 37 52 38
+f 38 52 51
+f 38 51 53
+f 38 53 41
+f 43 54 44
+f 44 54 55
+f 44 55 56
+f 44 56 45
+f 45 47 46
+f 45 56 57
+f 45 57 58
+f 45 58 59
+f 45 59 50
+f 45 50 47
+f 47 50 60
+f 47 60 48
+f 48 60 50
+f 48 50 49
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_195.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_195.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cea4ff0bf7f9597259bb14af9e9a8c9b04896d11
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_195.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.01372992 0.02430092 0.01138519
+v -0.01372992 0.02430092 0.00390172
+v -0.01472193 0.02430092 0.01138519
+v -0.01372992 0.00074030 0.01138519
+v -0.01472193 0.02430092 0.00390172
+v -0.01372992 -0.00023729 0.00390172
+v -0.01472193 -0.00023729 0.01138519
+v -0.01373021 -0.00023729 0.01138519
+v -0.01372992 -0.00023729 0.01105189
+v -0.01472193 -0.00023729 0.00390172
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 7
+f 4 8 9
+f 6 9 8
+f 6 8 7
+f 6 7 10
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_196.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_196.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9807d32fcd97ba04884e720078c379b1423ee177
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_196.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v 0.01375447 0.01155658 -0.02416216
+v 0.01375447 0.01420045 -0.02355230
+v 0.01529470 0.01370499 -0.02343841
+v 0.01529470 0.01155658 -0.02388662
+v 0.01375447 0.01155658 0.01336961
+v 0.01375447 0.01562916 -0.02322166
+v 0.01529470 0.01392069 -0.02338698
+v 0.01529470 0.01155658 0.01336961
+v 0.01375447 0.02283040 0.01336961
+v 0.01375447 0.01754266 -0.02272202
+v 0.01529470 0.01595164 -0.02282489
+v 0.01529470 0.02283040 0.01336961
+v 0.01375809 0.02942939 0.01336594
+v 0.01375447 0.02941231 0.01336594
+v 0.01375447 0.01759178 -0.02270732
+v 0.01529470 0.01756829 -0.02235464
+v 0.01529470 0.02848759 0.01336594
+v 0.01382940 0.02938882 0.01336594
+v 0.01375447 0.03116990 0.01004848
+v 0.01529470 0.02937173 0.01185599
+v 0.01529470 0.03086024 0.00906389
+v 0.01529470 0.01897137 -0.02168967
+v 0.01529470 0.01759178 -0.02234729
+v 0.01375447 0.01972310 -0.02168967
+v 0.01529470 0.02022710 -0.02109084
+v 0.01375447 0.03200706 0.00749517
+v 0.01529470 0.03128096 0.00748415
+v 0.01506810 0.03138774 0.00748782
+v 0.01375447 0.02067771 -0.02123045
+v 0.01462138 0.02179890 -0.02019443
+v 0.01529470 0.02114541 -0.02044792
+v 0.01529470 0.03163333 0.00573541
+v 0.01375447 0.03258154 0.00455611
+v 0.01529470 0.03138774 0.00695512
+v 0.01375447 0.02195053 -0.02033771
+v 0.01529470 0.02163233 -0.02004013
+v 0.01400052 0.02283040 -0.01937517
+v 0.01460223 0.02474389 -0.01725537
+v 0.01529470 0.02459013 -0.01710842
+v 0.01529470 0.03186184 0.00455611
+v 0.01375447 0.03258794 0.00451937
+v 0.01375447 0.02283040 -0.01945599
+v 0.01375447 0.02614698 -0.01612383
+v 0.01375447 0.02781275 -0.01444490
+v 0.01460178 0.02766753 -0.01429427
+v 0.01529470 0.02703325 -0.01466165
+v 0.01529470 0.03229750 0.00174564
+v 0.01375447 0.03303855 0.00163910
+v 0.01375447 0.02867980 -0.01332071
+v 0.01529470 0.02753298 -0.01412160
+v 0.01529470 0.02856021 -0.01271453
+v 0.01529470 0.03251747 -0.00003984
+v 0.01375447 0.03306631 0.00140397
+v 0.01375447 0.02878444 -0.01317376
+v 0.01375447 0.03042245 -0.01030083
+v 0.01529470 0.02934611 -0.01132950
+v 0.01375447 0.03318591 0.00036795
+v 0.01529470 0.03265842 -0.00130731
+v 0.01406973 0.03322862 -0.00130731
+v 0.01375447 0.03289120 -0.00415452
+v 0.01529470 0.02987787 -0.01017592
+v 0.01375447 0.03337384 -0.00130731
+v 0.01529470 0.03243845 -0.00269234
+v 0.01375447 0.03336316 -0.00167837
+v 0.01529470 0.03217577 -0.00423902
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 14
+f 1 14 19
+f 1 19 26
+f 1 26 33
+f 1 33 41
+f 1 41 48
+f 1 48 53
+f 1 53 57
+f 1 57 62
+f 1 62 64
+f 1 64 60
+f 1 60 55
+f 1 55 54
+f 1 54 49
+f 1 49 44
+f 1 44 43
+f 1 43 42
+f 1 42 35
+f 1 35 29
+f 1 29 24
+f 1 24 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 11
+f 3 11 16
+f 3 16 23
+f 3 23 22
+f 3 22 25
+f 3 25 31
+f 3 31 36
+f 3 36 39
+f 3 39 46
+f 3 46 50
+f 3 50 51
+f 3 51 56
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+f 3 27 21
+f 3 21 20
+f 3 20 17
+f 3 17 12
+f 3 12 8
+f 3 8 4
+f 5 8 12
+f 5 12 9
+f 6 10 7
+f 7 10 11
+f 9 13 14
+f 9 12 13
+f 10 15 16
+f 10 16 11
+f 12 17 18
+f 12 18 13
+f 13 19 14
+f 13 18 20
+f 13 20 21
+f 13 21 19
+f 15 22 23
+f 15 23 16
+f 15 24 25
+f 15 25 22
+f 17 20 18
+f 19 21 26
+f 21 27 28
+f 21 28 26
+f 24 29 25
+f 25 29 30
+f 25 30 31
+f 26 28 32
+f 26 32 33
+f 27 34 28
+f 28 34 32
+f 29 35 30
+f 30 36 31
+f 30 35 37
+f 30 37 38
+f 30 38 39
+f 30 39 36
+f 32 40 33
+f 33 40 41
+f 35 42 37
+f 37 42 38
+f 38 42 43
+f 38 43 44
+f 38 44 45
+f 38 45 46
+f 38 46 39
+f 40 47 48
+f 40 48 41
+f 44 49 45
+f 45 50 46
+f 45 49 51
+f 45 51 50
+f 47 52 48
+f 48 52 53
+f 49 54 51
+f 51 54 55
+f 51 55 56
+f 52 57 53
+f 52 58 59
+f 52 59 57
+f 55 60 61
+f 55 61 56
+f 57 59 62
+f 58 63 64
+f 58 64 59
+f 59 64 62
+f 60 64 65
+f 60 65 61
+f 63 65 64
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_197.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_197.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44044136d57acf1cac56a47acd995a32d095ac37
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_197.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.02153652 -0.01625833 -0.00130416
+v -0.02249155 -0.01607323 -0.00130416
+v -0.02153652 -0.01618686 -0.00270933
+v -0.02153652 -0.01619972 0.00010356
+v -0.02209344 -0.01602821 0.00163157
+v -0.02287745 -0.01588099 -0.00188005
+v -0.02267623 -0.01584526 -0.00270933
+v -0.02228285 -0.01597032 -0.00270933
+v -0.02203451 -0.01604393 -0.00270933
+v -0.02158049 -0.01617829 -0.00270933
+v -0.02287745 -0.01583240 0.00065726
+v -0.02287745 -0.01594817 -0.00130416
+v -0.02153652 -0.00895752 -0.00270933
+v -0.02153652 -0.01611468 0.00163157
+v -0.02153652 -0.01592173 0.00369111
+v -0.02287745 -0.01553939 0.00307598
+v -0.02287745 -0.01575164 0.00163157
+v -0.02287745 -0.01578094 -0.00270933
+v -0.02287745 -0.00895752 -0.00270933
+v -0.02153652 -0.00895752 0.00600660
+v -0.02153652 -0.01583168 0.00430283
+v -0.02153652 -0.01580095 0.00450844
+v -0.02287745 -0.01532000 0.00453489
+v -0.02287745 -0.00895752 0.00600660
+v -0.02153652 -0.01549794 0.00600660
+v -0.02287745 -0.01502271 0.00600660
+f 1 2 3
+f 1 3 13
+f 1 13 20
+f 1 20 25
+f 1 25 22
+f 1 22 21
+f 1 21 15
+f 1 15 14
+f 1 14 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 2 5 11
+f 2 11 12
+f 2 12 6
+f 3 10 9
+f 3 9 8
+f 3 8 7
+f 3 7 18
+f 3 18 19
+f 3 19 13
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 11
+f 6 18 7
+f 6 12 11
+f 6 11 17
+f 6 17 16
+f 6 16 23
+f 6 23 26
+f 6 26 24
+f 6 24 19
+f 6 19 18
+f 13 19 24
+f 13 24 20
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 20 24 26
+f 20 26 25
+f 22 25 26
+f 22 26 23
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_198.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_198.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6b9d59c5142e1912ef935e62f127841e942992e
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_198.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.03766300 -0.00392159 -0.01785451
+v -0.03766300 -0.00360979 -0.01824029
+v -0.03691138 -0.00392159 -0.01772082
+v -0.03766300 -0.00392159 0.01310381
+v -0.03619060 -0.00275093 -0.01860698
+v -0.03619060 -0.00392159 -0.01750692
+v -0.03766300 -0.00292632 -0.01887818
+v -0.03651416 -0.00392159 0.01351633
+v -0.03619060 -0.00239458 0.01627030
+v -0.03766300 -0.00298339 0.01470042
+v -0.03619060 -0.00086758 -0.02007755
+v -0.03619060 -0.00392159 0.01362710
+v -0.03766300 -0.00113623 -0.02020742
+v -0.03619060 -0.00237092 0.01630468
+v -0.03766300 -0.00215655 0.01581576
+v -0.03619060 -0.00186702 0.01698840
+v -0.03766300 -0.00050705 -0.02051681
+v -0.03619060 0.00059958 -0.02072307
+v -0.03766300 -0.00126290 0.01675540
+v -0.03766300 -0.00102069 0.01698840
+v -0.03619060 0.00109652 0.01699222
+v -0.03766300 0.00109652 0.01699222
+v -0.03766300 0.00021957 -0.02083384
+v -0.03619924 0.00291445 -0.02154048
+v -0.03619060 0.00290888 -0.02153666
+v -0.03619060 0.00434263 0.01699222
+v -0.03766300 0.00434263 0.01699222
+v -0.03766300 0.00291445 -0.02167035
+v -0.03619924 0.00434263 -0.02178111
+v -0.03619060 0.00584040 -0.02202939
+v -0.03619060 0.01029754 0.01698840
+v -0.03766300 0.01029754 0.01698840
+v -0.03766300 0.00584876 -0.02199883
+v -0.03619910 0.00584876 -0.02202939
+v -0.03619060 0.00584876 -0.02202939
+v -0.03619060 0.01029754 -0.02173146
+v -0.03766300 0.01029754 -0.02144499
+v -0.03766300 0.00878445 -0.02183841
+v -0.03619910 0.00878445 -0.02195682
+v -0.03619060 0.00878445 -0.02195682
+v -0.03619910 0.01029754 -0.02173146
+v -0.03766300 0.00916725 -0.02173910
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 8
+f 1 8 4
+f 1 4 10
+f 1 10 15
+f 1 15 19
+f 1 19 20
+f 1 20 22
+f 1 22 27
+f 1 27 32
+f 1 32 37
+f 1 37 42
+f 1 42 38
+f 1 38 33
+f 1 33 28
+f 1 28 23
+f 1 23 17
+f 1 17 13
+f 1 13 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 5
+f 4 8 9
+f 4 9 10
+f 5 7 11
+f 5 11 18
+f 5 18 25
+f 5 25 30
+f 5 30 35
+f 5 35 40
+f 5 40 36
+f 5 36 31
+f 5 31 26
+f 5 26 21
+f 5 21 16
+f 5 16 14
+f 5 14 9
+f 5 9 12
+f 5 12 6
+f 7 13 11
+f 8 12 9
+f 9 14 10
+f 10 14 16
+f 10 16 15
+f 11 13 17
+f 11 17 18
+f 15 16 19
+f 16 20 19
+f 16 21 22
+f 16 22 20
+f 17 23 18
+f 18 23 24
+f 18 24 25
+f 21 26 27
+f 21 27 22
+f 23 28 24
+f 24 28 29
+f 24 29 25
+f 25 29 30
+f 26 31 32
+f 26 32 27
+f 28 33 30
+f 28 30 29
+f 30 33 34
+f 30 34 35
+f 31 36 41
+f 31 41 37
+f 31 37 32
+f 33 38 39
+f 33 39 34
+f 34 39 40
+f 34 40 35
+f 36 40 39
+f 36 39 41
+f 37 41 42
+f 38 42 41
+f 38 41 39
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_199.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_199.obj
new file mode 100644
index 0000000000000000000000000000000000000000..546b725589f8ff73fc8649217aaa5bf0ef43f2fa
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_199.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.02174846 -0.02773445 -0.01565600
+v 0.02174846 -0.02755020 -0.01595046
+v 0.02174846 -0.02773445 0.00451584
+v 0.02020679 -0.02773445 -0.01328284
+v 0.02174846 -0.02741686 -0.01614871
+v 0.02020679 -0.02614408 -0.01581052
+v 0.02174846 -0.02739747 0.00552166
+v 0.02020679 -0.02734656 0.00552166
+v 0.02036572 -0.02773445 0.00372867
+v 0.02020679 -0.02773445 0.00356541
+v 0.02020679 -0.02498767 -0.01735861
+v 0.02076525 -0.02524707 -0.01767347
+v 0.02174846 -0.02569073 -0.01819825
+v 0.02174846 -0.01372413 0.00552458
+v 0.02020679 -0.01372413 0.00552458
+v 0.02024256 -0.02773445 0.00360331
+v 0.02020679 -0.02428703 -0.01799709
+v 0.02174846 -0.02540708 -0.01844898
+v 0.02174846 -0.00297213 0.00552458
+v 0.02020679 -0.00297213 0.00552458
+v 0.02020679 -0.02386519 -0.01836443
+v 0.02174846 -0.02523980 -0.01859183
+v 0.02174846 -0.00297213 -0.02356264
+v 0.02020679 -0.00297213 -0.02412531
+v 0.02020679 -0.02176813 -0.01985130
+v 0.02174846 -0.02239603 -0.02045479
+v 0.02174846 -0.00488980 -0.02380462
+v 0.02020679 -0.00352004 -0.02419528
+v 0.02020679 -0.02014139 -0.02085421
+v 0.02174846 -0.02236452 -0.02047520
+v 0.02174846 -0.00806812 -0.02404660
+v 0.02020679 -0.00652381 -0.02425942
+v 0.02020679 -0.01999593 -0.02094167
+v 0.02174846 -0.02058747 -0.02143729
+v 0.02174846 -0.01100158 -0.02397079
+v 0.02020679 -0.00945970 -0.02409907
+v 0.02020679 -0.01877648 -0.02153641
+v 0.02174846 -0.02027230 -0.02159181
+v 0.02174846 -0.01357625 -0.02355389
+v 0.02020679 -0.01208285 -0.02355972
+v 0.02020679 -0.01783341 -0.02187752
+v 0.02174846 -0.01770734 -0.02252183
+v 0.02174846 -0.01662608 -0.02286293
+v 0.02020679 -0.01480782 -0.02283961
+f 1 2 5
+f 1 5 13
+f 1 13 18
+f 1 18 22
+f 1 22 26
+f 1 26 30
+f 1 30 34
+f 1 34 38
+f 1 38 42
+f 1 42 43
+f 1 43 39
+f 1 39 35
+f 1 35 31
+f 1 31 27
+f 1 27 23
+f 1 23 19
+f 1 19 14
+f 1 14 7
+f 1 7 3
+f 1 3 9
+f 1 9 16
+f 1 16 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 8
+f 4 8 15
+f 4 15 20
+f 4 20 24
+f 4 24 28
+f 4 28 32
+f 4 32 36
+f 4 36 40
+f 4 40 44
+f 4 44 41
+f 4 41 37
+f 4 37 33
+f 4 33 29
+f 4 29 25
+f 4 25 21
+f 4 21 17
+f 4 17 11
+f 4 11 6
+f 5 6 11
+f 5 11 12
+f 5 12 13
+f 7 14 15
+f 7 15 8
+f 8 10 16
+f 8 16 9
+f 11 17 12
+f 12 17 18
+f 12 18 13
+f 14 19 20
+f 14 20 15
+f 17 21 18
+f 18 21 22
+f 19 23 24
+f 19 24 20
+f 21 25 22
+f 22 25 26
+f 23 27 28
+f 23 28 24
+f 25 29 30
+f 25 30 26
+f 27 31 28
+f 28 31 32
+f 29 33 30
+f 30 33 34
+f 31 35 32
+f 32 35 36
+f 33 37 38
+f 33 38 34
+f 35 39 36
+f 36 39 40
+f 37 41 42
+f 37 42 38
+f 39 43 40
+f 40 43 44
+f 41 44 42
+f 42 44 43
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_2.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44e3f524296979b5b32ac0a225783319cc88d8b6
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,234 @@
+# https://github.com/mikedh/trimesh
+v -0.04660910 -0.01135953 -0.00588708
+v -0.04660910 -0.01135663 -0.00717230
+v -0.04500875 -0.01076023 -0.00717230
+v -0.04500875 -0.01076603 -0.00453402
+v -0.04500875 -0.01076603 -0.00434934
+v -0.04500875 -0.01075878 -0.00410436
+v -0.04660910 -0.01130729 -0.00417597
+v -0.04660910 -0.01128843 -0.00871380
+v -0.04660910 -0.01121877 -0.01010832
+v -0.04543312 -0.01077329 -0.01010832
+v -0.04500875 -0.01057304 -0.01010832
+v -0.04500875 -0.01045840 -0.00173745
+v -0.04660910 -0.01113316 -0.00293221
+v -0.04660910 -0.01084874 -0.01304434
+v -0.04590699 -0.01060351 -0.01304434
+v -0.04500875 -0.01010723 -0.01304434
+v -0.04500875 -0.01043663 -0.00158293
+v -0.04660910 -0.01089228 -0.00144347
+v -0.04660910 -0.01045550 -0.01532079
+v -0.04624645 -0.01041922 -0.01513235
+v -0.04500875 -0.00942957 -0.01590875
+v -0.04500875 -0.01016383 -0.00047485
+v -0.04660910 -0.01016528 0.00114203
+v -0.04500875 -0.00967045 0.00138325
+v -0.04660910 -0.01033215 -0.01592760
+v -0.04660910 -0.01000711 -0.01681330
+v -0.04516336 -0.00946730 -0.01605951
+v -0.04500875 -0.00938024 -0.01604443
+v -0.04500875 -0.00966610 0.00139832
+v -0.04660910 -0.00987361 0.00188829
+v -0.04520660 -0.00803217 -0.01872040
+v -0.04500875 -0.00797412 -0.01860356
+v -0.04500875 -0.00801911 -0.01852441
+v -0.04660910 -0.00746914 -0.02047296
+v -0.04631898 -0.00746914 -0.02047296
+v -0.04500875 -0.00957178 0.00163954
+v -0.04660910 -0.00925254 0.00340718
+v -0.04500875 -0.00768681 -0.01892015
+v -0.04660910 -0.00295769 -0.02125691
+v -0.04500875 -0.00295769 -0.02138128
+v -0.04520660 -0.00570461 -0.02070664
+v -0.04500875 -0.00558997 -0.02068403
+v -0.04500875 -0.00590341 -0.02043904
+v -0.04500875 -0.00300122 -0.02136998
+v -0.04517198 -0.00522865 -0.02082348
+v -0.04500875 -0.00831078 0.00463963
+v -0.04500875 -0.00822226 0.00482431
+v -0.04660910 -0.00863582 0.00468109
+v -0.04660910 -0.00009468 -0.02133983
+v -0.04500875 -0.00002357 -0.02174310
+v -0.04500875 -0.00746624 0.00619998
+v -0.04660910 -0.00816422 0.00550649
+v -0.04660910 0.00291199 -0.02118530
+v -0.04500875 0.00291199 -0.02166396
+v -0.04500875 -0.00680019 0.00728921
+v -0.04660910 -0.00733129 0.00694247
+v -0.04660910 -0.00762586 0.00644120
+v -0.04660910 0.00346486 -0.02110238
+v -0.04500875 0.00346486 -0.02158104
+v -0.04500875 -0.00508789 0.00994256
+v -0.04660910 -0.00601079 0.00895132
+v -0.04525171 -0.00522865 0.00979180
+v -0.04660910 0.00346486 0.01622919
+v -0.04500875 0.00346486 0.01676061
+v -0.04500875 -0.00402860 0.01141246
+v -0.04660910 -0.00472657 0.01062097
+v -0.04660910 0.00279591 0.01606713
+v -0.04621387 0.00346486 0.01636110
+v -0.04500875 0.00290909 0.01662116
+v -0.04660910 -0.00399087 0.01142376
+v -0.04500875 -0.00256299 0.01299919
+v -0.04660910 0.00158279 0.01555455
+v -0.04660910 0.00083403 0.01520403
+v -0.04500875 0.00048286 0.01547163
+v -0.04660910 -0.00332772 0.01213987
+v -0.04500875 -0.00098565 0.01446532
+v -0.04660910 -0.00252526 0.01288612
+v -0.04660910 0.00023763 0.01490252
+v -0.04660910 -0.00180842 0.01354946
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 13
+f 1 13 18
+f 1 18 23
+f 1 23 30
+f 1 30 37
+f 1 37 48
+f 1 48 52
+f 1 52 57
+f 1 57 56
+f 1 56 61
+f 1 61 66
+f 1 66 70
+f 1 70 75
+f 1 75 77
+f 1 77 79
+f 1 79 78
+f 1 78 73
+f 1 73 72
+f 1 72 67
+f 1 67 63
+f 1 63 58
+f 1 58 53
+f 1 53 49
+f 1 49 39
+f 1 39 34
+f 1 34 26
+f 1 26 25
+f 1 25 19
+f 1 19 14
+f 1 14 9
+f 1 9 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 10
+f 3 10 11
+f 3 11 16
+f 3 16 21
+f 3 21 28
+f 3 28 33
+f 3 33 32
+f 3 32 38
+f 3 38 43
+f 3 43 42
+f 3 42 44
+f 3 44 40
+f 3 40 50
+f 3 50 54
+f 3 54 59
+f 3 59 64
+f 3 64 69
+f 3 69 74
+f 3 74 76
+f 3 76 71
+f 3 71 65
+f 3 65 60
+f 3 60 55
+f 3 55 51
+f 3 51 47
+f 3 47 46
+f 3 46 36
+f 3 36 29
+f 3 29 24
+f 3 24 22
+f 3 22 17
+f 3 17 12
+f 3 12 6
+f 3 6 5
+f 3 5 4
+f 6 12 7
+f 7 12 13
+f 9 14 15
+f 9 15 10
+f 10 15 11
+f 11 15 16
+f 12 17 13
+f 13 17 18
+f 14 19 20
+f 14 20 15
+f 15 20 16
+f 16 20 21
+f 17 22 18
+f 18 22 24
+f 18 24 23
+f 19 25 20
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 21 27 28
+f 23 24 29
+f 23 29 30
+f 26 31 32
+f 26 32 33
+f 26 33 28
+f 26 28 27
+f 26 34 35
+f 26 35 31
+f 29 36 30
+f 30 36 37
+f 31 35 32
+f 32 35 38
+f 34 39 40
+f 34 40 35
+f 35 41 42
+f 35 42 43
+f 35 43 38
+f 35 40 44
+f 35 44 45
+f 35 45 41
+f 36 46 37
+f 37 46 47
+f 37 47 48
+f 39 49 50
+f 39 50 40
+f 41 45 44
+f 41 44 42
+f 47 51 48
+f 48 51 52
+f 49 53 54
+f 49 54 50
+f 51 55 56
+f 51 56 57
+f 51 57 52
+f 53 58 59
+f 53 59 54
+f 55 60 56
+f 56 60 62
+f 56 62 61
+f 58 63 68
+f 58 68 64
+f 58 64 59
+f 60 65 62
+f 61 62 65
+f 61 65 66
+f 63 67 68
+f 64 68 67
+f 64 67 69
+f 65 70 66
+f 65 71 70
+f 67 72 69
+f 69 72 73
+f 69 73 74
+f 70 71 75
+f 71 76 77
+f 71 77 75
+f 73 78 74
+f 74 78 79
+f 74 79 76
+f 76 79 77
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_20.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b099667b11e43b440917c0bb56845fa748b603b7
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,321 @@
+# https://github.com/mikedh/trimesh
+v -0.03913892 0.00692005 -0.02188150
+v -0.04073956 0.00692005 -0.02160413
+v -0.03913892 0.00808988 -0.02178215
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diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_200.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_200.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c446105e6a7993375d9e7193f3d583cc64ef2b2b
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_200.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_201.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_201.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b759ebbdfc86b61421609dfa5730ad44181fb1d8
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_201.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
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+f 48 50 54
+f 48 54 49
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_202.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_202.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fed04713781f809df446c271b7a16dcf9b5c83f3
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_202.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.02287745 0.03139242 0.00920418
+v -0.02287745 -0.01416550 0.00920418
+v -0.02153652 0.03135538 0.00920418
+v -0.02287745 0.03175810 0.00750273
+v -0.02287745 -0.01466079 0.00755594
+v -0.02153652 -0.01518849 0.00750335
+v -0.02153652 -0.01485984 0.00859321
+v -0.02153652 -0.01467468 0.00920418
+v -0.02153652 0.03168404 0.00752057
+v -0.02199067 0.03172570 0.00696813
+v -0.02280643 0.03179513 0.00600660
+v -0.02287745 0.03177199 0.00696813
+v -0.02287745 -0.01479966 0.00696813
+v -0.02153652 -0.01519312 0.00748708
+v -0.02153652 0.03169792 0.00696813
+v -0.02153652 0.03172107 0.00600660
+v -0.02287745 0.03179513 0.00600660
+v -0.02287745 -0.01498945 0.00614588
+v -0.02205577 -0.01511443 0.00696813
+v -0.02153652 -0.01530422 0.00696813
+v -0.02153652 -0.01549400 0.00600660
+v -0.02287745 -0.01501722 0.00600660
+f 1 2 8
+f 1 8 3
+f 1 3 4
+f 1 4 12
+f 1 12 17
+f 1 17 22
+f 1 22 18
+f 1 18 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 3 9 4
+f 3 8 7
+f 3 7 6
+f 3 6 14
+f 3 14 20
+f 3 20 21
+f 3 21 16
+f 3 16 15
+f 3 15 9
+f 4 10 11
+f 4 11 12
+f 4 9 10
+f 5 13 14
+f 5 14 6
+f 9 15 10
+f 10 16 11
+f 10 15 16
+f 11 17 12
+f 11 16 21
+f 11 21 22
+f 11 22 17
+f 13 18 19
+f 13 19 14
+f 14 19 20
+f 18 22 20
+f 18 20 19
+f 20 22 21
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_203.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_203.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efd5470f307db02bd139acfadbc73db6c1d9842f
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_203.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.01931578 0.02783149 -0.00779849
+v 0.01931578 0.02897457 -0.00779849
+v 0.02020655 0.02783149 -0.00779849
+v 0.01931578 0.02783149 0.00121126
+v 0.01967798 0.02880397 -0.00779849
+v 0.01931578 0.03031045 -0.00448477
+v 0.02020655 0.02996195 -0.00434983
+v 0.02020655 0.02850074 -0.00779849
+v 0.02020655 0.02783149 0.00121126
+v 0.01931578 0.02928743 0.00121214
+v 0.02020655 0.02876424 -0.00723048
+v 0.02020655 0.02869617 -0.00738748
+v 0.01972498 0.02877709 -0.00779849
+v 0.01931578 0.03048018 -0.00404024
+v 0.01931578 0.03076938 -0.00249584
+v 0.02020655 0.03042467 -0.00130600
+v 0.02019905 0.02850513 -0.00779849
+v 0.02020655 0.02928743 0.00121214
+v 0.01931578 0.03047316 0.00121214
+v 0.01931578 0.03081553 -0.00130600
+v 0.01942931 0.03042350 0.00121214
+v 0.01961015 0.03034405 0.00121214
+v 0.02020655 0.03008902 0.00108425
+v 0.02020655 0.03006945 0.00121214
+v 0.02008369 0.03012729 0.00121214
+f 1 2 5
+f 1 5 13
+f 1 13 17
+f 1 17 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 20
+f 1 20 15
+f 1 15 14
+f 1 14 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 12
+f 3 12 11
+f 3 11 7
+f 3 7 16
+f 3 16 23
+f 3 23 24
+f 3 24 18
+f 3 18 9
+f 4 9 18
+f 4 18 10
+f 5 11 12
+f 5 12 13
+f 5 7 11
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 8 17 12
+f 10 18 24
+f 10 24 25
+f 10 25 22
+f 10 22 21
+f 10 21 19
+f 12 17 13
+f 15 20 16
+f 16 20 21
+f 16 21 22
+f 16 22 23
+f 19 21 20
+f 22 25 23
+f 23 25 24
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_204.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_204.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dce56d04620ef0d966d7d41386cb9583634fc9d
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_204.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.01270628 0.01977822 0.02591836
+v 0.01270628 -0.00365912 0.02591836
+v 0.01286129 0.01967797 0.02591836
+v 0.01270628 0.02058651 0.02520622
+v 0.01270618 0.02773583 0.01800702
+v 0.01270618 -0.00365912 -0.00301215
+v 0.01375196 -0.00365912 0.02591836
+v 0.01375422 0.01860964 0.02591836
+v 0.01375422 0.01956831 0.02526530
+v 0.01375422 0.02017923 0.02478017
+v 0.01344235 0.02030142 0.02491079
+v 0.01270628 0.02180835 0.02407736
+v 0.01270628 0.02535168 0.02071255
+v 0.01270628 0.02757605 0.01825269
+v 0.01375422 0.02794573 0.01630596
+v 0.01270618 0.02818383 0.01729488
+v 0.01270628 0.02495380 0.02111683
+v 0.01270618 -0.00365912 -0.00440845
+v 0.01375422 -0.00365912 0.02521866
+v 0.01375422 -0.00052307 0.02591836
+v 0.01375422 0.02321190 0.02193781
+v 0.01375422 0.02355652 0.02161439
+v 0.01375422 0.02578715 0.01936911
+v 0.01375422 0.02614744 0.01899905
+v 0.01349324 0.02625082 0.01909545
+v 0.01324466 0.02667063 0.01883112
+v 0.01375422 0.02834674 0.01551918
+v 0.01319368 0.02834674 0.01630596
+v 0.01294439 0.02834674 0.01664804
+v 0.01270618 0.02834674 0.01688127
+v 0.01270638 -0.00365912 -0.00585140
+v 0.01270618 0.02834674 -0.00440845
+v 0.01375422 -0.00365912 -0.00585140
+v 0.01375422 0.02834674 -0.00585140
+v 0.01270638 0.02834674 -0.00585140
+f 1 2 7
+f 1 7 20
+f 1 20 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 6 18
+f 2 18 31
+f 2 31 33
+f 2 33 19
+f 2 19 7
+f 2 5 6
+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 13 14
+f 5 14 15
+f 5 15 16
+f 5 16 30
+f 5 30 32
+f 5 32 18
+f 5 18 6
+f 5 12 17
+f 5 17 13
+f 7 19 20
+f 8 20 19
+f 8 19 33
+f 8 33 34
+f 8 34 27
+f 8 27 15
+f 8 15 24
+f 8 24 23
+f 8 23 22
+f 8 22 21
+f 8 21 10
+f 8 10 9
+f 10 21 12
+f 10 12 11
+f 12 21 22
+f 12 22 17
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 13 17 23
+f 14 26 24
+f 14 24 15
+f 15 27 28
+f 15 28 16
+f 16 28 29
+f 16 29 30
+f 17 22 23
+f 18 32 35
+f 18 35 31
+f 24 26 25
+f 27 34 35
+f 27 35 32
+f 27 32 30
+f 27 30 29
+f 27 29 28
+f 31 35 34
+f 31 34 33
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_205.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_205.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a0689ce5e002c6682e4a80813a6f0752294c4df
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_205.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.03913877 0.00451334 -0.02189194
+v -0.04073956 0.00451334 -0.02175504
+v -0.03913877 0.00584910 -0.02197076
+v -0.03913877 0.00451334 0.01987635
+v -0.04073956 0.00584910 -0.02182971
+v -0.04073956 0.00451334 0.01895950
+v -0.03913877 0.00691668 -0.02187949
+v -0.03913877 0.00580135 0.02041152
+v -0.04073956 0.00691668 -0.02160569
+v -0.04073956 0.00579029 0.01939926
+v -0.03913877 0.00691668 0.02041152
+v -0.03916431 0.00584910 0.02041152
+v -0.04073956 0.00691668 0.01962743
+v -0.03941097 0.00655227 0.02041152
+v -0.03951675 0.00691668 0.02041152
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 13
+f 2 13 9
+f 2 9 5
+f 3 5 7
+f 4 8 6
+f 5 9 7
+f 6 8 10
+f 7 9 13
+f 7 13 15
+f 7 15 11
+f 8 11 15
+f 8 15 14
+f 8 14 12
+f 8 12 10
+f 10 12 14
+f 10 14 13
+f 13 14 15
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_206.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_206.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6ac28b4d56a2cd6eabd8a838d73b9f6e4b7d81e
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_206.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.03113604 -0.01210015 -0.00659035
+v 0.03113604 -0.01210015 -0.00050236
+v 0.03113604 -0.01138611 -0.00659035
+v 0.04958771 -0.01210015 -0.00659035
+v 0.03113604 -0.01138611 -0.00050236
+v 0.05026406 -0.01210015 -0.00050236
+v 0.04959525 -0.01138611 -0.00659035
+v 0.05022450 -0.01138611 -0.00376447
+v 0.05007190 -0.01210015 -0.00417506
+v 0.04923541 -0.01138611 -0.00050236
+v 0.05028855 -0.01210015 -0.00130448
+v 0.05038087 -0.01138611 -0.00130448
+v 0.05033566 -0.01138939 -0.00050236
+v 0.05033754 -0.01138611 -0.00054110
+f 1 2 5
+f 1 5 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 6 13
+f 2 13 10
+f 2 10 5
+f 3 5 10
+f 3 10 14
+f 3 14 12
+f 3 12 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 12
+f 6 12 13
+f 8 12 11
+f 8 11 9
+f 10 13 14
+f 12 14 13
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_207.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_207.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b3d48233e3d94e7296992e7bd1c007afbcebd5b
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_207.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.00056999 0.00467643 -0.02533804
+v -0.00092788 0.00467643 -0.02529866
+v -0.00092803 0.01171997 -0.02477542
+v 0.00056999 0.00724314 -0.02514112
+v 0.00057014 0.01017897 -0.02491045
+v 0.00057014 0.00840286 -0.02504548
+v 0.00056999 0.00467643 0.03175635
+v -0.00092803 0.00840286 -0.02501735
+v -0.00092803 0.00874151 -0.02499484
+v -0.00092788 0.00467643 0.03196452
+v -0.00092803 0.01461194 -0.02424094
+v 0.00057014 0.01169926 -0.02475292
+v 0.00057014 0.00840286 0.03197014
+v 0.00056999 0.00584954 0.03187450
+v 0.00033284 0.00467643 0.03179011
+v -0.00092803 0.00840286 0.03212768
+v -0.00084751 0.00593116 0.03207704
+v -0.00089019 0.00593116 0.03208267
+v -0.00092788 0.00584954 0.03207704
+v -0.00092803 0.01465458 -0.02422968
+v 0.00057014 0.01463387 -0.02415092
+v 0.00057014 0.01311236 -0.02448849
+v 0.00057014 0.00878537 0.03197577
+v -0.00051693 0.00840286 0.03208829
+v 0.00056999 0.00737105 0.03194764
+v 0.00056999 0.00593116 0.03188012
+v -0.00092788 0.00593116 0.03208267
+v -0.00092803 0.00883044 0.03213893
+v -0.00092803 0.01706902 -0.02357705
+v 0.00057014 0.01465458 -0.02414529
+v 0.00057014 0.01030688 0.03198702
+v 0.00057014 0.01032759 0.03198702
+v -0.00092803 0.01171997 0.03206016
+v -0.00092803 0.01712140 -0.02356017
+v 0.00057014 0.01712140 -0.02344765
+v 0.00057014 0.01581794 -0.02382460
+v 0.00057014 0.01171997 0.03194764
+v -0.00092803 0.01465458 0.03152005
+v 0.00057014 0.01324027 0.03172822
+v 0.00057014 0.01465458 0.03146941
+v -0.00092803 0.01712140 0.03074364
+v 0.00057014 0.01712140 0.03077739
+v -0.00092803 0.01469843 0.03150880
+v 0.00057014 0.01617609 0.03107558
+v 0.00057014 0.01619680 0.03106996
+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 15
+f 1 15 10
+f 1 10 2
+f 2 8 9
+f 2 9 3
+f 2 10 16
+f 2 16 8
+f 3 5 4
+f 3 9 8
+f 3 8 16
+f 3 16 28
+f 3 28 33
+f 3 33 38
+f 3 38 43
+f 3 43 41
+f 3 41 34
+f 3 34 29
+f 3 29 20
+f 3 20 11
+f 3 11 12
+f 3 12 5
+f 5 12 22
+f 5 22 21
+f 5 21 30
+f 5 30 36
+f 5 36 35
+f 5 35 42
+f 5 42 45
+f 5 45 44
+f 5 44 40
+f 5 40 39
+f 5 39 37
+f 5 37 32
+f 5 32 31
+f 5 31 23
+f 5 23 13
+f 5 13 6
+f 7 13 14
+f 7 14 15
+f 10 15 14
+f 10 14 17
+f 10 17 18
+f 10 18 19
+f 10 19 16
+f 11 20 21
+f 11 21 22
+f 11 22 12
+f 13 23 24
+f 13 24 18
+f 13 18 25
+f 13 25 26
+f 13 26 14
+f 14 26 17
+f 16 19 27
+f 16 27 28
+f 17 26 25
+f 17 25 18
+f 18 27 19
+f 18 24 28
+f 18 28 27
+f 20 29 21
+f 21 29 30
+f 23 31 28
+f 23 28 24
+f 28 31 32
+f 28 32 33
+f 29 34 35
+f 29 35 36
+f 29 36 30
+f 32 37 33
+f 33 37 39
+f 33 39 40
+f 33 40 38
+f 34 41 42
+f 34 42 35
+f 38 40 43
+f 40 44 43
+f 41 45 42
+f 41 43 45
+f 43 44 45
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_208.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_208.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c2052f1c99dc0e898ef747cda5653da97fa4b2d
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_208.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.03330004 0.02140296 -0.00765854
+v -0.03330004 0.02140296 -0.01725915
+v -0.03463212 0.02140296 -0.00765854
+v -0.03330004 -0.00918486 -0.00765854
+v -0.03330004 0.02081306 -0.01784767
+v -0.03380609 0.02140296 -0.01713597
+v -0.03463212 0.02140296 -0.01668010
+v -0.03463212 -0.00916989 -0.00765854
+v -0.03374494 -0.00918786 -0.00765854
+v -0.03330004 -0.00845423 -0.01011160
+v -0.03330004 0.02048667 -0.01812667
+v -0.03462078 0.02140296 -0.01668642
+v -0.03463212 0.02002553 -0.01797401
+v -0.03463212 -0.00892435 -0.00854922
+v -0.03463212 -0.00846022 -0.01011160
+v -0.03330004 -0.00844524 -0.01013792
+v -0.03330004 0.01998661 -0.01841304
+v -0.03463212 0.01926196 -0.01841304
+v -0.03463212 -0.00806496 -0.01107177
+v -0.03330004 -0.00759184 -0.01204772
+v -0.03330004 -0.00259119 -0.01841304
+v -0.03463212 -0.00276187 -0.01841304
+v -0.03463212 -0.00760382 -0.01210247
+v -0.03330004 -0.00758286 -0.01206667
+v -0.03330004 -0.00400455 -0.01708754
+v -0.03336681 -0.00260017 -0.01841304
+v -0.03463212 -0.00342663 -0.01779082
+v -0.03463212 -0.00727743 -0.01279101
+v -0.03330004 -0.00683126 -0.01351429
+v -0.03330004 -0.00402251 -0.01706964
+v -0.03463212 -0.00411234 -0.01714545
+v -0.03463212 -0.00687019 -0.01357114
+v -0.03463212 -0.00686121 -0.01358588
+v -0.03330004 -0.00681329 -0.01354167
+v -0.03330004 -0.00534903 -0.01562097
+v -0.03463212 -0.00482501 -0.01636321
+v -0.03463212 -0.00618747 -0.01456395
+v -0.03330004 -0.00536400 -0.01560202
+v -0.03463212 -0.00540593 -0.01567467
+f 1 2 6
+f 1 6 12
+f 1 12 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 24
+f 1 24 29
+f 1 29 34
+f 1 34 38
+f 1 38 35
+f 1 35 30
+f 1 30 25
+f 1 25 21
+f 1 21 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 3 7 13
+f 3 13 18
+f 3 18 22
+f 3 22 27
+f 3 27 31
+f 3 31 36
+f 3 36 39
+f 3 39 37
+f 3 37 33
+f 3 33 32
+f 3 32 28
+f 3 28 23
+f 3 23 19
+f 3 19 15
+f 3 15 14
+f 3 14 8
+f 4 9 10
+f 5 11 6
+f 6 11 13
+f 6 13 12
+f 7 12 13
+f 8 14 9
+f 9 14 15
+f 9 15 10
+f 10 15 16
+f 11 17 18
+f 11 18 13
+f 15 19 16
+f 16 19 20
+f 17 21 26
+f 17 26 22
+f 17 22 18
+f 19 23 20
+f 20 23 28
+f 20 28 24
+f 21 25 26
+f 22 26 27
+f 24 28 29
+f 25 27 26
+f 25 30 31
+f 25 31 27
+f 28 32 29
+f 29 32 33
+f 29 33 34
+f 30 35 31
+f 31 35 36
+f 33 37 34
+f 34 37 38
+f 35 38 39
+f 35 39 36
+f 37 39 38
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_209.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_209.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a45a1714954df832bafba208eb5dd03650ebfc7
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_209.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.01931578 0.02897157 -0.00779938
+v 0.01967798 0.02879978 -0.00779938
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_21.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..078b3d87ad2041b47877af399811ce8dfc16eb36
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.04500875 0.01756304 -0.01381016
+v -0.04564663 0.01756304 -0.01337156
+v -0.04500875 0.01812853 -0.01305415
+v -0.04500875 0.01756304 0.01566852
+v -0.04611909 0.01756304 -0.01304549
+v -0.04500875 0.01813201 -0.01304838
+v -0.04500875 0.01913694 0.01479997
+v -0.04660910 0.01756304 0.01429500
+v -0.04660910 0.01756304 -0.01262132
+v -0.04500875 0.01989603 -0.01010224
+v -0.04500875 0.02084455 0.01363421
+v -0.04660910 0.01899835 0.01344377
+v -0.04660910 0.01825528 -0.01144979
+v -0.04500875 0.01990091 -0.01009359
+v -0.04500875 0.02107785 0.01346108
+v -0.04500875 0.02271095 0.01220587
+v -0.04660910 0.02209880 0.01046300
+v -0.04660910 0.01864039 -0.01075726
+v -0.04660910 0.01944893 -0.00930295
+v -0.04500906 0.02040581 -0.00909808
+v -0.04500875 0.02132229 -0.00728884
+v -0.04500875 0.02389276 0.01090738
+v -0.04660910 0.02256748 0.00961465
+v -0.04660910 0.02048659 -0.00722247
+v -0.04501987 0.02132160 -0.00727730
+v -0.04500875 0.02133274 -0.00726576
+v -0.04500875 0.02405015 0.01043992
+v -0.04500875 0.02458570 0.00867685
+v -0.04660910 0.02271234 0.00912700
+v -0.04660910 0.02147899 -0.00455046
+v -0.04600787 0.02172203 -0.00485056
+v -0.04500875 0.02257166 -0.00404549
+v -0.04500875 0.02467763 0.00749955
+v -0.04566622 0.02415671 0.00749955
+v -0.04660910 0.02318312 0.00749955
+v -0.04660910 0.02197066 -0.00296919
+v -0.04500875 0.02348536 -0.00130135
+v -0.04500875 0.02328201 -0.00191308
+v -0.04501987 0.02257514 -0.00401952
+v -0.04500875 0.02258141 -0.00401952
+v -0.04500875 0.02467554 0.00576534
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+v -0.04660910 0.02332867 0.00456496
+v -0.04660910 0.02247138 -0.00130135
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+v -0.04500875 0.02462400 0.00456496
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_210.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_210.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4865eef1d3dfe88090e6fb06411e17dd7762a473
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_210.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.01372992 0.02314396 -0.02002835
+v -0.01472193 0.02314396 -0.01942273
+v -0.01372992 0.02374744 -0.01965411
+v -0.01372992 0.02314396 -0.00416405
+v -0.01472193 0.02519378 -0.01807016
+v -0.01372992 0.02602661 -0.01817265
+v -0.01372992 0.02395816 -0.01952211
+v -0.01472193 0.02314396 -0.00416405
+v -0.01372992 0.03031403 -0.00416405
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+v -0.01386169 0.02755251 -0.01666946
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+v -0.01472193 0.03035631 -0.00416405
+v -0.01372992 0.03045379 -0.00423393
+v -0.01373157 0.03046597 -0.00416405
+v -0.01472193 0.02687664 -0.01613992
+v -0.01372992 0.02769370 -0.01656076
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_211.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_211.obj
new file mode 100644
index 0000000000000000000000000000000000000000..811031fd51c8e51a1b3db91933b2b74c3c802294
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_211.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.00239919 0.03425926 0.01131396
+v -0.00239919 0.03426516 0.01130416
+v -0.00241322 0.03425926 0.01131396
+v -0.00239919 -0.02226493 0.01131396
+v -0.00239919 0.03461323 0.01043722
+v -0.00386178 0.03457783 0.01043722
+v -0.00386178 0.03422386 0.01131396
+v -0.00240606 -0.02226493 0.01131396
+v -0.00239919 -0.02227083 0.01129576
+v -0.00239919 0.03546868 0.00750170
+v -0.00386178 0.03548047 0.00750170
+v -0.00386178 0.03489641 0.00940223
+v -0.00386178 -0.02205844 0.01131396
+v -0.00323021 -0.02224723 0.01131396
+v -0.00239919 -0.02291389 0.00901008
+v -0.00239919 0.03547457 0.00747789
+v -0.00386178 0.03578135 0.00593729
+v -0.00386178 -0.02236522 0.01050305
+v -0.00378890 -0.02241242 0.01042462
+v -0.00383028 -0.02271330 0.00940223
+v -0.00386178 -0.02293749 0.00862633
+v -0.00386178 -0.02325606 0.00754791
+v -0.00386178 -0.02326786 0.00750170
+v -0.00239919 -0.02291979 0.00898627
+v -0.00239919 0.03601144 0.00456477
+v -0.00386178 0.03604094 0.00455216
+v -0.00386178 -0.02241242 0.01035739
+v -0.00386178 -0.02270740 0.00940223
+v -0.00386178 -0.02353335 0.00460958
+v -0.00253621 -0.02336226 0.00593729
+v -0.00239919 -0.02334456 0.00607455
+v -0.00239919 -0.02320887 0.00750170
+v -0.00239919 0.03663680 0.00093877
+v -0.00386178 0.03648931 0.00201018
+v -0.00386178 0.03629462 0.00313341
+v -0.00386178 -0.02353335 0.00456477
+v -0.00239919 -0.02343305 0.00456477
+v -0.00239919 0.03671940 0.00045839
+v -0.00386178 0.03673709 0.00054942
+v -0.00239919 -0.02330326 0.00163344
+v -0.00386178 -0.02327966 0.00163344
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+v -0.00280038 0.03644211 -0.00299394
+v -0.00386178 0.03645981 -0.00299394
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+f 42 45 46
+f 43 47 48
+f 43 48 44
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+f 45 50 46
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+f 47 51 52
+f 47 52 48
+f 49 53 50
+f 51 54 52
+f 52 54 55
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_212.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_212.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3613bd1c921ee468195bd300a9505f3747e949d0
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_212.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.00642753 0.03448852 -0.00961910
+v -0.00642753 0.03425908 -0.01031946
+v -0.00683200 0.03422707 -0.01035304
+v -0.00683458 0.03446718 -0.00961910
+v -0.00642753 -0.02000093 -0.00961910
+v -0.00642753 0.03404031 -0.01087689
+v -0.00744080 0.03389091 -0.01106746
+v -0.00743564 0.03428042 -0.00961910
+v -0.00744080 0.03418971 -0.01013435
+v -0.00643130 -0.02002227 -0.00961910
+v -0.00642753 -0.02001160 -0.00964114
+v -0.00642753 0.03352274 -0.01176299
+v -0.00744080 0.03348539 -0.01176299
+v -0.00744080 0.03427509 -0.00963988
+v -0.00744080 0.03394960 -0.00961910
+v -0.00696461 -0.01986219 -0.00961910
+v -0.00642753 -0.01986219 -0.01019102
+v -0.00642753 -0.01994223 -0.00989719
+v -0.00642753 -0.01934995 -0.01176299
+v -0.00744080 -0.01899779 -0.01176299
+v -0.00744080 -0.01967010 -0.00961910
+v -0.00736582 -0.01970212 -0.00961910
+v -0.00744080 -0.01939798 -0.01064099
+v -0.00642753 -0.01936596 -0.01171619
+v -0.00744080 -0.01912585 -0.01150883
+v -0.00655220 -0.01931260 -0.01176299
+v -0.00681524 -0.01923257 -0.01176299
+f 1 2 3
+f 1 3 4
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+f 1 8 15
+f 1 15 21
+f 1 21 22
+f 1 22 16
+f 1 16 10
+f 1 10 5
+f 1 5 11
+f 1 11 18
+f 1 18 17
+f 1 17 24
+f 1 24 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 4
+f 4 7 9
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+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 7 13 20
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+f 20 27 25
+f 21 23 22
+f 24 25 27
+f 24 27 26
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_213.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_213.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a37e1f5a7f152cc371b53f549dbd40fa7a04e44
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_213.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.01692583 0.02818709 0.01594319
+v -0.01692583 -0.01273324 0.01594319
+v -0.01564985 0.02799720 0.01594319
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+v -0.01564985 -0.01303795 0.01594319
+v -0.01564935 0.02780288 0.01594319
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+v -0.01564935 -0.01286130 0.01594319
+v -0.01564935 0.02930438 0.01336951
+v -0.01564985 0.02930438 0.01337167
+v -0.01692583 0.03085446 0.00963284
+v -0.01692583 -0.01376220 0.01420730
+v -0.01690784 -0.01376220 0.01421376
+v -0.01564935 -0.01376220 0.01421376
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+v -0.01692583 -0.01376220 -0.00605904
+v -0.01564935 -0.01376220 -0.00605904
+v -0.01564935 0.03103111 0.00743606
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+v -0.01564935 0.01142769 -0.00605904
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_214.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_214.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f8850db29a5f1199b2590f31ec83035af60f642
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_214.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.00744080 -0.00520143 -0.02383467
+v -0.00744080 -0.00520143 0.02815957
+v -0.00788420 -0.00520143 -0.02379796
+v -0.00824678 -0.00155341 -0.02457415
+v -0.00744080 -0.00155341 -0.02463708
+v -0.00744080 -0.00503965 0.02823824
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+v -0.00744080 0.01054133 0.02823824
+v -0.00807540 -0.00445861 0.02823824
+v -0.00857183 -0.00483913 0.02783441
+v -0.00857183 -0.00520143 -0.02372453
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+v -0.00744080 0.00057935 -0.02506189
+v -0.00857183 0.01054133 0.02823824
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+v -0.00857183 -0.00397099 0.02823824
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+v -0.00857183 0.01742267 0.02823299
+v -0.00744080 0.01807662 -0.02335742
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+v -0.00857183 0.01710594 -0.02364587
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_215.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_215.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f41dc52cb48239940818ad59c1e3f2e3d666dd0
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_215.obj
@@ -0,0 +1,201 @@
+# https://github.com/mikedh/trimesh
+v -0.01049982 0.02915907 -0.01666081
+v -0.01049982 0.02833705 -0.01795110
+v -0.01190444 0.02818563 -0.01778324
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+v -0.01049982 -0.01503953 -0.01666081
+v -0.01049982 0.02690934 -0.01894324
+v -0.01197750 0.02805151 -0.01783752
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+v -0.01197750 -0.01441220 -0.01666081
+v -0.01197750 -0.01364642 -0.01761036
+v -0.01049982 -0.01486214 -0.01687795
+v -0.01049982 0.02462932 -0.02034794
+v -0.01197750 0.02305018 -0.02085988
+v -0.01197750 0.02052356 -0.02210841
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+v -0.01049982 -0.01343010 -0.01825676
+v -0.01049982 0.01843822 -0.02310222
+v -0.01049982 0.01831709 -0.02314565
+v -0.01049982 0.01733067 -0.02349640
+v -0.01197750 0.01794934 -0.02320745
+v -0.01197750 -0.01182933 -0.01904930
+v -0.01049982 -0.01199806 -0.01935997
+v -0.01049982 0.01696725 -0.02360915
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_216.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_216.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a86c06e9715f725db2ee56328f711dc534220f5
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_216.obj
@@ -0,0 +1,279 @@
+# https://github.com/mikedh/trimesh
+v 0.00437769 0.02756059 0.02313243
+v 0.00489923 0.02746310 0.02313243
+v 0.00437769 0.02853550 0.02200925
+v 0.00437769 0.02167214 0.02313243
+v 0.00493805 0.02745335 0.02313243
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+v 0.00437769 -0.01369754 -0.02222130
+v 0.00440926 -0.01369754 0.02312800
+v 0.00602317 -0.01294199 0.02312800
+v 0.00602317 0.02986137 0.01949206
+v 0.00602317 0.03065105 0.01832448
+v 0.00602317 0.03087528 0.01793380
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+v 0.00437769 0.03106539 0.01828452
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+v 0.00437769 0.03488215 0.00749658
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+v 0.00437769 0.02692690 -0.01838115
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_217.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_217.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1510c558b1a0a8a0947a3a6dd366f85b68704cb0
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_217.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.02020655 0.02783149 0.00121126
+v 0.02020655 0.02783149 -0.00779849
+v 0.01931578 0.02783149 0.00121126
+v 0.02020655 -0.00128118 0.00121126
+v 0.01931578 0.02783149 -0.00779849
+v 0.02020655 -0.00128118 -0.00779849
+v 0.01931578 -0.00128118 0.00121126
+v 0.01931578 -0.00128118 -0.00779849
+f 1 2 5
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+f 1 7 4
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+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_218.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_218.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47d2966d5339157914fa2091dd93e55d27e4820a
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_218.obj
@@ -0,0 +1,207 @@
+# https://github.com/mikedh/trimesh
+v -0.03032877 0.02991102 0.01190235
+v -0.03032877 0.03043630 0.01051556
+v -0.03039003 0.03043216 0.01048996
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+v -0.03032877 -0.01100675 -0.00130479
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+v -0.03132697 -0.01014646 -0.00423894
+v -0.03032877 -0.01081236 -0.00423894
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+v -0.03097219 0.03105257 0.00621556
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_219.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_219.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d050823e865f47da2f9f9cde1bacda4fb844f13a
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_219.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.04660910 0.00346486 -0.00720536
+v -0.04660910 0.01756166 -0.00720536
+v -0.04500875 0.00346486 -0.00720536
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+v -0.04500891 0.01756166 -0.00720536
+v -0.04660910 0.01756166 0.01429862
+v -0.04500875 0.01729670 -0.00720536
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+v -0.04500875 0.00550452 0.01725417
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+v -0.04500875 0.01756166 -0.00531884
+v -0.04660910 0.01646593 0.01505807
+v -0.04500875 0.01756166 0.01566756
+v -0.04500875 0.00559698 0.01727594
+v -0.04660910 0.00578742 0.01672933
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+v -0.04660910 0.01551511 0.01542811
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_22.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d397c8077dc21b8d2d331275a9d6a441336b01d
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v 0.00761760 -0.00946349 0.02592099
+v 0.01009872 -0.00813359 0.02592099
+v 0.00761760 -0.00822095 0.02707415
+v 0.00761760 0.02359321 0.02592099
+v 0.01362276 -0.00575853 0.02592099
+v 0.00937902 -0.00447069 0.02955211
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+v 0.00761760 0.02296871 0.02659608
+v 0.00798226 0.02340230 0.02592099
+v 0.01375072 -0.00559674 0.02592099
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+v 0.01375432 0.00178083 0.02932137
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+v 0.00761760 -0.00002149 0.03106926
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+v 0.01375432 0.01861335 0.02592099
+v 0.01375432 0.00374495 0.02970092
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+v 0.01375432 0.00588704 0.02997832
+v 0.01076977 0.00291659 0.03065549
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+v 0.00783507 0.01171791 0.03061298
+v 0.00761760 0.01171791 0.03064927
+v 0.00761760 0.01472718 0.02991921
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_220.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_220.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2aaec414393f72c1fc2538b8d389449d2ec1c033
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_220.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.00981186 0.01582718 0.02039858
+v -0.00981186 0.01582718 0.01210857
+v -0.01049968 0.01582718 0.02039858
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+v -0.01049968 0.01582718 0.01210857
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+f 19 23 22
+f 19 22 21
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_221.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_221.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86b11b704bb727bf90a9a01a9c3fb2836998bdc9
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_221.obj
@@ -0,0 +1,195 @@
+# https://github.com/mikedh/trimesh
+v 0.01529485 0.02218962 -0.01943385
+v 0.01529485 0.02409462 -0.01760130
+v 0.01664135 0.02282633 -0.01826585
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+v 0.01529485 0.02218962 0.02171187
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+v 0.01529485 0.02703618 -0.01466117
+v 0.01664135 0.02580173 -0.01537002
+v 0.01678343 0.02576789 -0.01533780
+v 0.01678343 0.02218962 0.02055192
+v 0.01678343 0.02352148 0.01929935
+v 0.01529485 0.02410384 0.01989946
+v 0.01529485 0.02753345 -0.01412550
+v 0.01664135 0.02726892 -0.01378719
+v 0.01678343 0.02713666 -0.01385968
+v 0.01678343 0.02360043 0.01921477
+v 0.01577895 0.02534240 0.01825218
+v 0.01529485 0.02497534 0.01901339
+v 0.01529485 0.02856182 -0.01272391
+v 0.01664135 0.02836701 -0.01232115
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+v 0.01678343 0.02720638 -0.01377510
+v 0.01678343 0.02833728 -0.01227685
+v 0.01678343 0.02584684 0.01642769
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+v 0.01529485 0.02555463 0.01840120
+v 0.01529485 0.02553618 0.01842939
+v 0.01529485 0.02934822 -0.01133037
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_222.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_222.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21a0afc8d9f038b735aacb3db167e84452b8fb1f
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_222.obj
@@ -0,0 +1,276 @@
+# https://github.com/mikedh/trimesh
+v -0.02153652 0.00585212 0.02751943
+v -0.02153652 0.00878416 0.02742621
+v -0.02287745 0.00878416 0.02727920
+v -0.02287745 0.00585212 0.02736525
+v -0.02287745 0.00584761 0.02736525
+v -0.02287745 0.00295166 0.02693140
+v -0.02153652 0.00291558 0.02707841
+v -0.02153652 0.00913601 0.02736167
+v -0.02273201 0.01313260 0.02657284
+v -0.02287745 0.01295217 0.02658360
+v -0.02287745 0.00167059 0.02672523
+v -0.02153652 0.00290655 0.02707661
+v -0.02153652 0.01196881 0.02683638
+v -0.02166069 0.01198234 0.02683100
+v -0.02287745 0.01307847 0.02656029
+v -0.02153652 0.01321379 0.02659435
+v -0.02153652 0.01424226 0.02625193
+v -0.02166069 0.01440465 0.02619276
+v -0.02287745 0.01451291 0.02601169
+v -0.02153652 0.00105712 0.02669654
+v -0.02287745 0.00126010 0.02663917
+v -0.02153652 0.01442270 0.02619097
+v -0.02153652 0.01723294 0.02497725
+v -0.02153652 0.01758929 0.02482307
+v -0.02287745 0.01623154 0.02526410
+v -0.02153652 -0.00040890 0.02619635
+v -0.02287745 -0.00011570 0.02611388
+v -0.02287745 0.01768402 0.02462945
+v -0.02153652 0.01939814 0.02383524
+v -0.02287745 0.01931694 0.02379042
+v -0.02287745 -0.00145993 0.02541111
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+v -0.02153652 -0.00945762 0.01911840
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+v -0.02287745 0.03140145 0.00920424
+v -0.02287745 -0.01416241 0.00920424
+v -0.02282219 -0.01418497 0.00920424
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+f 88 93 92
+f 88 92 91
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_223.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_223.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4b0833b77641c580503a55d8e7d687a8466a7d8
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_223.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v -0.01271168 0.00273654 -0.01142747
+v -0.01271168 0.00273654 -0.02469986
+v -0.01372992 0.00273654 -0.01142747
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+v -0.01271168 -0.00002703 -0.02440492
+v -0.01372992 0.00273654 -0.02475385
+v -0.01372992 -0.01196151 -0.01142747
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+v -0.01271168 -0.01652391 -0.01142879
+v -0.01372992 -0.00002319 -0.02426667
+v -0.01372992 0.00099153 -0.02445364
+v -0.01271168 -0.00320764 -0.02373472
+v -0.01297381 -0.00323070 -0.02370180
+v -0.01372992 -0.00304620 -0.02365045
+v -0.01372992 -0.01652583 -0.01142879
+v -0.01351263 -0.01660463 -0.01142879
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_224.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_224.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f8165f7f8af201fbd610db9dcedde8bb34901ac
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_224.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.04798022 -0.00632573 0.00966993
+v 0.04798022 -0.00590200 0.00958265
+v 0.04781903 -0.00632977 0.00994266
+v 0.04794718 -0.00632977 0.00972447
+v 0.04798022 -0.00632977 0.00726625
+v 0.04788834 -0.00567426 0.00961538
+v 0.04792380 -0.00589302 0.00967356
+v 0.04798022 -0.00588384 0.00957174
+v 0.04772071 -0.00632977 0.01008811
+v 0.04798022 -0.00632977 -0.00999582
+v 0.04798022 -0.00567426 0.00943356
+v 0.04701310 -0.00567426 0.01090631
+v 0.04693009 -0.00589302 0.01113904
+v 0.04697280 -0.00632977 0.01118995
+v 0.04780453 -0.00632977 -0.01054855
+v 0.04798022 -0.00597400 -0.00967218
+v 0.04798022 -0.00567426 -0.00927581
+v 0.04686965 -0.00567426 0.01109904
+v 0.04541736 -0.00567426 0.01299361
+v 0.04546168 -0.00589302 0.01304452
+v 0.04550521 -0.00632977 0.01308088
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+v 0.04743219 -0.00632977 -0.01143584
+v 0.04782870 -0.00567426 -0.00971581
+v 0.04428825 -0.00567426 0.01433181
+v 0.04421974 -0.00589302 0.01451000
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+v 0.04725327 -0.00567426 -0.01109038
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_225.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_225.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac2b2ae1fc7b415417ac052fbd51cf3dc7bab91a
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_225.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.00554852 0.03494673 -0.00835659
+v -0.00554852 0.03490955 -0.00847170
+v -0.00587195 0.03493047 -0.00835659
+v -0.00554852 0.01120795 -0.00835659
+v -0.00554852 0.03432863 -0.01024707
+v -0.00642744 0.03425892 -0.01032003
+v -0.00634527 0.03490491 -0.00835659
+v -0.00642744 0.01120795 -0.00835659
+v -0.00554852 0.01120795 -0.02491855
+v -0.00554852 0.03378024 -0.01164304
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+v -0.00642744 0.03490026 -0.00835659
+v -0.00642744 0.03404049 -0.01087777
+v -0.00642744 0.01120795 -0.02491369
+v -0.00554852 0.01172149 -0.02488126
+v -0.00554852 0.03116145 -0.01496840
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+v -0.00642744 0.03320397 -0.01231103
+v -0.00642744 0.01172149 -0.02487153
+v -0.00554852 0.01336201 -0.02458780
+v -0.00642744 0.01424269 -0.02442080
+v -0.00554852 0.02997636 -0.01643571
+v -0.00642744 0.02997869 -0.01642436
+v -0.00554852 0.01465630 -0.02434946
+v -0.00642744 0.01465630 -0.02434460
+v -0.00554852 0.02850780 -0.01817703
+v -0.00642744 0.02851244 -0.01818027
+v -0.00554852 0.01609466 -0.02397818
+v -0.00642744 0.01686381 -0.02377389
+v -0.00554852 0.02781766 -0.01882394
+v -0.00642744 0.02828937 -0.01838780
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+v -0.00642744 0.01724721 -0.02367337
+v -0.00554852 0.02679756 -0.01964434
+v -0.00642744 0.02672321 -0.01964758
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+v -0.00554852 0.02614925 -0.02011939
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_226.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_226.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6018ced4f30540d589ef4b21f52a926e40b91bb6
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_226.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v 0.04626092 -0.01763563 0.01064751
+v 0.04613977 -0.01738809 0.01074215
+v 0.04465737 -0.01738809 0.01201584
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+v 0.04596814 -0.01864223 0.01085256
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+v 0.02907280 -0.01738797 0.01550567
+v 0.03987532 -0.01738809 0.01550567
+v 0.03449761 -0.01738797 -0.02436515
+v 0.04314804 -0.01864223 0.01291492
+v 0.03977436 -0.01763551 0.01550567
+v 0.04626092 -0.01864223 -0.01842652
+v 0.04626092 -0.01804979 -0.01814655
+v 0.04585877 -0.01738809 -0.01828062
+v 0.02907280 -0.01864223 0.01550567
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+v 0.03979287 -0.01738809 -0.02289823
+v 0.03869410 -0.01738809 -0.02333200
+v 0.03752299 -0.01738809 -0.02367112
+v 0.03728742 -0.01738809 -0.02373816
+v 0.03716796 -0.01738809 -0.02376970
+v 0.03425531 -0.01738797 -0.02442035
+v 0.04564171 -0.01738809 -0.01848961
+v 0.04252210 -0.01738809 -0.02124993
+v 0.04005872 -0.01738809 -0.02278782
+v 0.04004021 -0.01738809 -0.02279571
+v 0.03928976 -0.01864223 0.01537160
+v 0.03940081 -0.01821420 0.01550567
+v 0.04469270 -0.01864223 -0.01973570
+v 0.04626092 -0.01821494 -0.01824118
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+v 0.03107345 -0.01738797 -0.02469638
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+v 0.03905083 -0.01864223 -0.02344635
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+v 0.03425531 -0.01864223 -0.02457414
+v 0.03272748 -0.01864223 -0.02471216
+v 0.03916692 -0.01864223 -0.02339509
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_227.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_227.obj
new file mode 100644
index 0000000000000000000000000000000000000000..429c798cfcedbaddb258b4933b590339dd5dd822
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_227.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.03330004 0.02140296 0.00828317
+v -0.03330004 0.02140296 0.00458892
+v -0.03463212 0.02140296 0.00828317
+v -0.03330004 -0.00775006 0.00828317
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+v -0.03330004 -0.00876287 0.00458892
+v -0.03463212 -0.00712111 0.00828317
+v -0.03463212 -0.00782388 0.00703524
+v -0.03463212 -0.00816050 0.00613880
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+v -0.03463212 -0.00855027 0.00458892
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+f 3 9 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 6 10 9
+f 6 9 11
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_228.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_228.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43a4a267eb1b4aa8b3a7d7db1239fa8be626e5f3
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_228.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00239904 0.03663361 -0.00178401
+v -0.00211570 0.03662775 -0.00178401
+v -0.00239904 0.03662775 -0.00185629
+v -0.00239904 -0.02302379 -0.00178401
+v -0.00124276 0.03658673 -0.00178401
+v -0.00092832 0.03627027 -0.00352982
+v -0.00239904 0.03638162 -0.00326754
+v -0.00239904 -0.02262529 -0.00424700
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+v -0.00239904 0.03577801 -0.00559007
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_229.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_229.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f31e74a856fe0841e34a76cdf1c33e015c66639
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_229.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00981186 0.01582718 -0.02391103
+v -0.01024747 0.01582718 -0.02388592
+v -0.00981186 0.01694246 -0.02365484
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+v -0.00981186 0.01704127 -0.02362973
+v -0.00981186 0.01730515 0.02659806
+v -0.00981186 0.01730515 -0.02353429
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+f 8 13 9
+f 9 13 14
+f 9 14 11
+f 11 14 12
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_23.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..366dc131b979b2297c95a2ca185ba013a65f0d34
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,330 @@
+# https://github.com/mikedh/trimesh
+v -0.04073956 0.00506319 -0.02178211
+v -0.04206990 0.00506319 -0.02175750
+v -0.04073956 0.00585343 -0.02183133
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+v -0.04207419 0.01473510 -0.01844333
+v -0.04073956 0.01665917 -0.01780757
+v -0.04073956 0.01172229 0.02006330
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+v -0.04109941 0.01649382 -0.01775835
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_230.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_230.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3ba60a1551863279ece092d374adfda7b8974a1
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_230.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.05165120 0.01750956 -0.00921719
+v -0.05165120 0.01716932 -0.01011181
+v -0.05255607 0.01623723 -0.01175076
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+v -0.05369571 -0.01132524 -0.00921719
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+f 32 35 36
+f 33 37 34
+f 34 37 38
+f 35 39 36
+f 36 39 40
+f 37 41 38
+f 38 41 42
+f 38 42 43
+f 39 44 40
+f 40 44 45
+f 40 45 46
+f 41 47 42
+f 42 47 43
+f 43 47 49
+f 43 49 48
+f 45 50 46
+f 46 50 51
+f 48 52 53
+f 48 49 52
+f 50 54 55
+f 50 55 51
+f 52 55 54
+f 52 54 53
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_231.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_231.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3191ee9a3e3e3d061a3a43d03d4b27cfef985bb
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_231.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.05087148 0.01656328 -0.00132424
+v -0.05087148 0.01656328 -0.00668747
+v -0.05165092 0.01656328 -0.00132424
+v -0.05087148 -0.00332451 -0.00132424
+v -0.05087392 0.01656328 -0.00684473
+v -0.05087148 0.01137474 -0.00684473
+v -0.05165092 0.01656328 -0.00684473
+v -0.05165092 -0.00332451 -0.00132424
+v -0.05087148 -0.00332451 -0.00684473
+v -0.05165092 -0.00332451 -0.00684473
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 6 5
+f 3 7 10
+f 3 10 8
+f 4 8 10
+f 4 10 9
+f 5 6 9
+f 5 9 10
+f 5 10 7
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_232.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_232.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f57f8e938a01f2af3b502411d477b788a89119ea
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_232.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.01472193 0.03029550 -0.00463925
+v -0.01472193 0.03019632 -0.00545831
+v -0.01534705 0.03022466 -0.00463925
+v -0.01472193 -0.01794976 -0.00463925
+v -0.01472193 0.02963434 -0.00835622
+v -0.01564935 0.03014437 -0.00463925
+v -0.01564935 -0.01757668 -0.00463925
+v -0.01564935 -0.01708081 -0.00717612
+v -0.01472193 -0.01767585 -0.00603540
+v -0.01472193 0.02882680 -0.01118884
+v -0.01564935 0.02956823 -0.00717804
+v -0.01472193 -0.01743500 -0.00710507
+v -0.01564935 -0.01644327 -0.00988391
+v -0.01564935 0.02956350 -0.00719437
+v -0.01472193 0.02740059 -0.01444683
+v -0.01564527 0.02678194 -0.01444683
+v -0.01564935 0.02738643 -0.01304588
+v -0.01564935 0.02850094 -0.01022095
+v -0.01472193 -0.01691080 -0.00924538
+v -0.01564935 -0.01641022 -0.00998762
+v -0.01472193 -0.01670301 -0.01002026
+v -0.01472193 -0.01479039 -0.01444683
+v -0.01564935 0.02664971 -0.01444683
+v -0.01564935 -0.01602297 -0.01115043
+v -0.01472193 -0.01615520 -0.01152779
+v -0.01564935 -0.01443620 -0.01444683
+v -0.01472193 -0.01548932 -0.01309101
+v -0.01564935 -0.01527209 -0.01284232
+v -0.01564935 -0.01519653 -0.01298827
+v -0.01472193 -0.01562628 -0.01281447
+f 1 2 3
+f 1 3 6
+f 1 6 7
+f 1 7 4
+f 1 4 9
+f 1 9 12
+f 1 12 19
+f 1 19 21
+f 1 21 25
+f 1 25 30
+f 1 30 27
+f 1 27 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 4 8 9
+f 5 10 11
+f 5 11 6
+f 6 11 14
+f 6 14 18
+f 6 18 17
+f 6 17 23
+f 6 23 26
+f 6 26 29
+f 6 29 28
+f 6 28 24
+f 6 24 20
+f 6 20 13
+f 6 13 8
+f 6 8 7
+f 8 12 9
+f 8 13 12
+f 10 14 11
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 14
+f 12 13 19
+f 13 20 21
+f 13 21 19
+f 15 22 26
+f 15 26 23
+f 15 23 16
+f 16 23 17
+f 20 24 21
+f 21 24 25
+f 22 27 28
+f 22 28 29
+f 22 29 26
+f 24 28 30
+f 24 30 25
+f 27 30 28
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_233.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_233.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd09632e7c1e29b273e972f8112a348eda1a4817
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_233.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.01310179 0.03151884 0.00201806
+v -0.01271507 0.03150869 0.00201806
+v -0.01271437 0.03156454 0.00162980
+v -0.01271168 0.03185905 -0.00142887
+v -0.01372992 0.03141729 0.00201806
+v -0.01271168 0.03156454 0.00162585
+v -0.01271168 0.02924912 0.00201806
+v -0.01271168 0.03153915 -0.00424143
+v -0.01372992 0.03143252 -0.00091953
+v -0.01372992 0.03149346 -0.00027990
+v -0.01372992 -0.01933923 0.00201806
+v -0.01271168 -0.02001456 0.00201806
+v -0.01271168 0.03060994 -0.01011003
+v -0.01372992 0.02935067 -0.01142747
+v -0.01372992 -0.01933923 0.00162980
+v -0.01271168 -0.01999425 0.00162980
+v -0.01271168 0.03021895 -0.01142747
+v -0.01372992 -0.01652111 -0.01142747
+v -0.01372992 -0.01907519 -0.00130516
+v -0.01271168 -0.01971498 -0.00130516
+v -0.01271168 -0.01652111 -0.01142747
+v -0.01271307 -0.01688671 -0.01142747
+v -0.01372992 -0.01702380 -0.01006528
+v -0.01372992 -0.01830846 -0.00481395
+v -0.01271168 -0.01736401 -0.01011003
+v -0.01372992 -0.01794286 -0.00643673
+v -0.01372992 -0.01780577 -0.00702767
+v -0.01372992 -0.01750111 -0.00828062
+v -0.01372992 -0.01702888 -0.01004949
+v -0.01271168 -0.01734878 -0.01013899
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 12
+f 1 12 7
+f 1 7 2
+f 2 6 3
+f 2 7 6
+f 3 6 4
+f 4 6 7
+f 4 7 12
+f 4 12 16
+f 4 16 20
+f 4 20 25
+f 4 25 30
+f 4 30 21
+f 4 21 17
+f 4 17 13
+f 4 13 8
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 5 10 9
+f 5 9 14
+f 5 14 18
+f 5 18 23
+f 5 23 29
+f 5 29 28
+f 5 28 27
+f 5 27 26
+f 5 26 24
+f 5 24 19
+f 5 19 15
+f 5 15 11
+f 8 13 9
+f 9 13 14
+f 11 15 12
+f 12 15 16
+f 13 17 14
+f 14 17 21
+f 14 21 22
+f 14 22 18
+f 15 19 16
+f 16 19 20
+f 18 22 23
+f 19 24 20
+f 20 24 26
+f 20 26 27
+f 20 27 28
+f 20 28 29
+f 20 29 25
+f 21 30 22
+f 22 30 25
+f 22 25 23
+f 23 25 29
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_234.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_234.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e67aff1bd4e2033bf73dbc09392f0fb8eebfd8a
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_234.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.03330004 0.01998722 -0.01841444
+v -0.03330004 0.01849284 -0.01927313
+v -0.03619045 0.01758197 -0.01902596
+v -0.03619045 0.01758865 -0.01902206
+v -0.03619045 0.01832804 -0.01854584
+v -0.03463236 0.01926119 -0.01841444
+v -0.03330004 -0.00259095 -0.01841444
+v -0.03330004 0.01748175 -0.01983600
+v -0.03340812 0.01746170 -0.01983280
+v -0.03619045 0.01556423 -0.02014567
+v -0.03619045 -0.00204309 -0.01854584
+v -0.03463236 -0.00276467 -0.01841444
+v -0.03336682 -0.00259986 -0.01841444
+v -0.03330004 -0.00255532 -0.01844747
+v -0.03330004 0.01732808 -0.01991590
+v -0.03448297 0.01602746 -0.02034099
+v -0.03463236 0.01616331 -0.02022663
+v -0.03619045 0.01410104 -0.02078737
+v -0.03619045 -0.00086719 -0.02008601
+v -0.03618705 -0.00274908 -0.01854584
+v -0.03618677 -0.00274908 -0.01861615
+v -0.03615480 -0.00274908 -0.01861260
+v -0.03499818 -0.00267113 -0.01854584
+v -0.03463236 -0.00264663 -0.01852453
+v -0.03330004 -0.00253305 -0.01846593
+v -0.03330004 0.01507427 -0.02091557
+v -0.03340812 0.01489165 -0.02097168
+v -0.03463236 0.01454423 -0.02089072
+v -0.03619045 0.01171806 -0.02152923
+v -0.03619045 0.00060268 -0.02072878
+v -0.03463236 0.00077417 -0.02065314
+v -0.03330004 0.00092338 -0.02058851
+v -0.03330004 -0.00054649 -0.01991519
+v -0.03330004 0.01488274 -0.02098198
+v -0.03330004 0.01172028 -0.02180480
+v -0.03463236 0.01172028 -0.02167767
+v -0.03619045 0.00878276 -0.02196070
+v -0.03619045 0.00290994 -0.02153988
+v -0.03463236 0.00291217 -0.02141914
+v -0.03330004 0.00291440 -0.02131580
+v -0.03330004 0.00878276 -0.02204202
+v -0.03463236 0.00878276 -0.02200474
+v -0.03619045 0.00584969 -0.02203279
+v -0.03330004 0.00584969 -0.02198556
+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 25
+f 1 25 33
+f 1 33 32
+f 1 32 40
+f 1 40 44
+f 1 44 41
+f 1 41 35
+f 1 35 34
+f 1 34 26
+f 1 26 15
+f 1 15 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 18
+f 3 18 29
+f 3 29 37
+f 3 37 43
+f 3 43 38
+f 3 38 30
+f 3 30 19
+f 3 19 11
+f 3 11 5
+f 3 5 4
+f 5 11 12
+f 5 12 6
+f 7 13 14
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 10 17 16
+f 10 16 18
+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 12 24 13
+f 13 24 14
+f 14 24 25
+f 15 26 16
+f 16 26 27
+f 16 27 28
+f 16 28 18
+f 18 28 29
+f 19 30 31
+f 19 31 32
+f 19 32 33
+f 19 33 25
+f 19 25 24
+f 19 24 23
+f 19 23 21
+f 19 21 20
+f 21 23 22
+f 26 34 27
+f 27 34 35
+f 27 35 36
+f 27 36 29
+f 27 29 28
+f 29 36 37
+f 30 38 39
+f 30 39 40
+f 30 40 31
+f 31 40 32
+f 35 41 42
+f 35 42 37
+f 35 37 36
+f 37 42 43
+f 38 43 44
+f 38 44 39
+f 39 44 40
+f 41 44 43
+f 41 43 42
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_235.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_235.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fb914a61137f1634dfa244bbd3742d39d842cc6
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_235.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.02883613 -0.00958048 0.00204661
+v -0.02883613 -0.00408277 0.00204661
+v -0.02724139 -0.00958048 0.00204661
+v -0.02883613 -0.00958048 0.01461869
+v -0.02724139 -0.00408277 0.00204661
+v -0.02883613 -0.00408277 0.01491857
+v -0.02724139 -0.00958048 0.01491857
+v -0.02854391 -0.00958048 0.01491857
+v -0.02860088 -0.00957672 0.01491857
+v -0.02883613 -0.00921831 0.01491857
+v -0.02724139 -0.00408277 0.01491857
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 5 11
+f 3 11 7
+f 4 8 9
+f 4 9 10
+f 6 10 9
+f 6 9 8
+f 6 8 7
+f 6 7 11
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_236.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_236.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b31b92f562032ae4a0c4c4b57fea182036290a7
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_236.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.02449472 0.02182308 -0.01807227
+v -0.02579627 0.02182308 -0.01806954
+v -0.02579627 0.02243329 -0.01774502
+v -0.02449472 0.02245505 -0.01773411
+v -0.02449472 0.02182308 0.00978460
+v -0.02579627 0.02182308 0.00978460
+v -0.02579627 0.02390096 -0.01637058
+v -0.02449472 0.02392272 -0.01647694
+v -0.02449472 0.03134613 0.00978460
+v -0.02579627 0.03130460 0.00978460
+v -0.02579627 0.02520842 -0.01490343
+v -0.02449472 0.02527765 -0.01500978
+v -0.02449472 0.03184162 0.00750205
+v -0.02579627 0.03180700 0.00750205
+v -0.02517716 0.03132438 0.00978460
+v -0.02579627 0.02576918 -0.01411531
+v -0.02449472 0.02662268 -0.01302176
+v -0.02449472 0.03192470 0.00460319
+v -0.02579627 0.03189601 0.00456501
+v -0.02579627 0.02649214 -0.01304630
+v -0.02579627 0.02707366 -0.01218183
+v -0.02579627 0.02768190 -0.01125463
+v -0.02449472 0.02772541 -0.01133917
+v -0.02449472 0.03192569 0.00456501
+v -0.02579627 0.03188909 0.00449411
+v -0.02579627 0.02843057 -0.00982293
+v -0.02449472 0.02851464 -0.00986929
+v -0.02449472 0.03163096 0.00166888
+v -0.02579627 0.03173184 0.00294787
+v -0.02579627 0.02845035 -0.00978475
+v -0.02449472 0.02964407 -0.00717496
+v -0.02449472 0.03162701 0.00163070
+v -0.02579627 0.03159437 0.00163070
+v -0.02579627 0.02952836 -0.00717496
+v -0.02579627 0.02997736 -0.00584688
+v -0.02449472 0.02965693 -0.00713678
+v -0.02449472 0.03118295 -0.00130906
+v -0.02579627 0.03135009 0.00001083
+v -0.02579627 0.03158349 0.00155707
+v -0.02579627 0.02998428 -0.00582506
+v -0.02579627 0.03068647 -0.00354525
+v -0.02449472 0.03047087 -0.00443154
+v -0.02449472 0.03085856 -0.00299165
+v -0.02579627 0.03084768 -0.00294529
+v -0.02579627 0.03113152 -0.00142087
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 23
+f 1 23 27
+f 1 27 31
+f 1 31 36
+f 1 36 42
+f 1 42 43
+f 1 43 37
+f 1 37 32
+f 1 32 28
+f 1 28 24
+f 1 24 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 33
+f 2 33 39
+f 2 39 38
+f 2 38 45
+f 2 45 44
+f 2 44 41
+f 2 41 40
+f 2 40 35
+f 2 35 34
+f 2 34 30
+f 2 30 26
+f 2 26 22
+f 2 22 21
+f 2 21 20
+f 2 20 16
+f 2 16 11
+f 2 11 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 15
+f 5 15 10
+f 5 10 6
+f 7 11 12
+f 7 12 8
+f 9 13 14
+f 9 14 15
+f 10 15 14
+f 11 16 12
+f 12 16 17
+f 13 18 19
+f 13 19 14
+f 16 20 17
+f 17 20 21
+f 17 21 22
+f 17 22 23
+f 18 24 19
+f 19 24 25
+f 22 26 27
+f 22 27 23
+f 24 28 29
+f 24 29 25
+f 26 30 27
+f 27 30 31
+f 28 32 29
+f 29 32 33
+f 30 34 31
+f 31 34 35
+f 31 35 36
+f 32 37 38
+f 32 38 39
+f 32 39 33
+f 35 40 36
+f 36 40 41
+f 36 41 42
+f 37 43 44
+f 37 44 45
+f 37 45 38
+f 41 43 42
+f 41 44 43
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_237.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_237.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0790f7b43a87df70d299dd6b9b1da8155b57609
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_237.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.00744094 0.01807744 -0.02336116
+v -0.00881050 0.01807744 -0.02329998
+v -0.00881386 0.01807826 -0.02329998
+v -0.00744094 0.01865412 -0.02317252
+v -0.00744094 0.01807744 0.02871218
+v -0.00881386 0.01807744 -0.02311644
+v -0.00881386 0.01832318 -0.02321841
+v -0.00881386 0.01856074 -0.02313683
+v -0.00744094 0.02052750 -0.02243838
+v -0.00744094 0.02205685 0.02660151
+v -0.00845339 0.01807744 0.02792195
+v -0.00881386 0.01807744 0.02759057
+v -0.00881386 0.02052750 -0.02234151
+v -0.00744094 0.02349936 -0.02120460
+v -0.00744094 0.02315450 0.02573481
+v -0.00810583 0.02158748 0.02632621
+v -0.00875405 0.01807744 0.02767724
+v -0.00881386 0.01981403 0.02649955
+v -0.00881386 0.02477477 -0.02051634
+v -0.00862489 0.02502461 -0.02042967
+v -0.00744094 0.02398675 -0.02099558
+v -0.00744094 0.02409160 0.02487321
+v -0.00815179 0.02471088 0.02339982
+v -0.00881386 0.02272445 0.02434809
+v -0.00881386 0.02103455 0.02572972
+v -0.00881386 0.02522939 -0.02028182
+v -0.00744094 0.02515567 -0.02049085
+v -0.00881386 0.02627053 -0.01965984
+v -0.00744094 0.02644501 -0.01972102
+v -0.00744094 0.02505819 0.02384337
+v -0.00881386 0.02421693 0.02291039
+v -0.00744094 0.02587406 0.02274725
+v -0.00830138 0.02644501 0.02078443
+v -0.00881386 0.02644501 0.02007578
+v -0.00881386 0.02556360 0.02120249
+v -0.00881386 0.02632131 -0.01962925
+v -0.00815542 0.02644501 -0.01963435
+v -0.00744094 0.02644501 0.02194683
+v -0.00881386 0.02644501 -0.01954258
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 21
+f 1 21 27
+f 1 27 29
+f 1 29 38
+f 1 38 32
+f 1 32 30
+f 1 30 22
+f 1 22 15
+f 1 15 10
+f 1 10 5
+f 1 5 11
+f 1 11 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
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+f 3 12 18
+f 3 18 25
+f 3 25 24
+f 3 24 31
+f 3 31 35
+f 3 35 34
+f 3 34 39
+f 3 39 36
+f 3 36 28
+f 3 28 26
+f 3 26 19
+f 3 19 13
+f 3 13 8
+f 3 8 7
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+f 5 10 11
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+f 10 16 11
+f 11 16 17
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+f 13 20 21
+f 13 21 14
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+f 15 23 16
+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 17 25 18
+f 19 26 20
+f 20 27 21
+f 20 26 28
+f 20 28 29
+f 20 29 27
+f 22 30 23
+f 23 31 24
+f 23 30 32
+f 23 32 33
+f 23 33 34
+f 23 34 35
+f 23 35 31
+f 28 36 29
+f 29 36 37
+f 29 37 39
+f 29 39 34
+f 29 34 33
+f 29 33 38
+f 32 38 33
+f 36 39 37
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_238.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_238.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e69a554f25ab855495ea5429546556264d6be11
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_238.obj
@@ -0,0 +1,240 @@
+# https://github.com/mikedh/trimesh
+v -0.01564935 0.02811527 -0.01111530
+v -0.01564935 0.02738924 -0.01304834
+v -0.01692583 0.02792944 -0.01111530
+v -0.01564935 -0.01603438 -0.01111530
+v -0.01692583 0.02742381 -0.01244435
+v -0.01564935 0.02638663 -0.01551004
+v -0.01692583 -0.01562814 -0.01111530
+v -0.01573607 -0.01600845 -0.01111530
+v -0.01564935 -0.01602141 -0.01115162
+v -0.01692583 0.02650763 -0.01443927
+v -0.01564935 0.02626994 -0.01567819
+v -0.01692583 0.02585075 -0.01538897
+v -0.01692583 -0.01544664 -0.01153500
+v -0.01653574 -0.01575347 -0.01111530
+v -0.01599371 -0.01592634 -0.01111530
+v -0.01564935 -0.01527377 -0.01284387
+v -0.01692583 -0.01485457 -0.01288692
+v -0.01596222 -0.01515709 -0.01288692
+v -0.01564935 0.02330963 -0.01870622
+v -0.01692583 0.02351707 -0.01773902
+v -0.01564935 -0.01525216 -0.01288692
+v -0.01692583 -0.01479407 -0.01302009
+v -0.01692583 -0.01470332 -0.01320035
+v -0.01564935 0.02324481 -0.01876137
+v -0.01692583 0.02284290 -0.01832149
+v -0.01564935 -0.01385196 -0.01556385
+v -0.01564985 -0.01385196 -0.01556385
+v -0.01692583 -0.01364020 -0.01522755
+v -0.01564935 0.02039686 -0.02107510
+v -0.01692583 0.02039686 -0.02024108
+v -0.01564985 -0.01330744 -0.01641670
+v -0.01564935 -0.01290985 -0.01703280
+v -0.01564985 -0.01290985 -0.01703280
+v -0.01692583 -0.01275427 -0.01659561
+v -0.01564935 0.02034500 -0.02110739
+v -0.01692583 0.01961033 -0.02075629
+v -0.01564935 -0.01144482 -0.01832956
+v -0.01692583 -0.01204984 -0.01743905
+v -0.01564935 0.01748841 -0.02258844
+v -0.01692583 0.01747113 -0.02190777
+v -0.01692583 -0.01122009 -0.01817083
+v -0.01564985 -0.00950009 -0.01979851
+v -0.01564935 -0.00950009 -0.01979851
+v -0.01564935 0.01732851 -0.02267050
+v -0.01692583 0.01597585 -0.02267588
+v -0.01692583 -0.00917165 -0.01971377
+v -0.01564985 -0.00803074 -0.02089215
+v -0.01564935 -0.00803074 -0.02089215
+v -0.01564935 0.01469233 -0.02356505
+v -0.01649901 0.01556529 -0.02311576
+v -0.01692583 0.01535786 -0.02296913
+v -0.01692583 -0.00780602 -0.02071728
+v -0.01692583 -0.00725285 -0.02110469
+v -0.01564985 -0.00589154 -0.02227501
+v -0.01564935 -0.00589154 -0.02227366
+v -0.01564935 0.01457132 -0.02360003
+v -0.01692583 0.01384961 -0.02348030
+v -0.01692583 -0.00599094 -0.02191853
+v -0.01692583 -0.00479385 -0.02258306
+v -0.01692583 -0.00374802 -0.02312652
+v -0.01564985 -0.00403756 -0.02323548
+v -0.01564935 -0.00403756 -0.02323548
+v -0.01564935 0.01171473 -0.02418384
+v -0.01692583 0.01312790 -0.02362962
+v -0.01692583 -0.00310410 -0.02330812
+v -0.01692583 -0.00227867 -0.02347223
+v -0.01564985 -0.00257254 -0.02352604
+v -0.01564935 -0.00257254 -0.02352604
+v -0.01692583 0.00878035 -0.02447171
+v -0.01564935 0.00878035 -0.02468156
+v -0.01564985 0.00878035 -0.02468156
+v -0.01692583 -0.00001846 -0.02387714
+v -0.01564985 0.00291592 -0.02454704
+v -0.01564985 -0.00001846 -0.02400627
+v -0.01564935 -0.00001846 -0.02400627
+v -0.01692583 0.00585030 -0.02468963
+v -0.01564935 0.00585030 -0.02485643
+v -0.01564985 0.00585030 -0.02485778
+v -0.01692583 0.00291592 -0.02437889
+v -0.01692583 0.00419512 -0.02451476
+v -0.01564935 0.00291592 -0.02454704
+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 9
+f 1 9 16
+f 1 16 21
+f 1 21 26
+f 1 26 32
+f 1 32 37
+f 1 37 43
+f 1 43 48
+f 1 48 55
+f 1 55 62
+f 1 62 68
+f 1 68 75
+f 1 75 81
+f 1 81 77
+f 1 77 70
+f 1 70 63
+f 1 63 56
+f 1 56 49
+f 1 49 44
+f 1 44 39
+f 1 39 35
+f 1 35 29
+f 1 29 24
+f 1 24 19
+f 1 19 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 10
+f 3 10 12
+f 3 12 20
+f 3 20 25
+f 3 25 30
+f 3 30 36
+f 3 36 40
+f 3 40 45
+f 3 45 51
+f 3 51 57
+f 3 57 64
+f 3 64 69
+f 3 69 76
+f 3 76 80
+f 3 80 79
+f 3 79 72
+f 3 72 66
+f 3 66 65
+f 3 65 60
+f 3 60 59
+f 3 59 58
+f 3 58 53
+f 3 53 52
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+f 3 46 41
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+f 3 38 34
+f 3 34 28
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+f 3 13 7
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+f 9 13 17
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+f 9 18 16
+f 11 19 12
+f 12 19 20
+f 16 18 21
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+f 18 22 23
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+f 19 24 25
+f 19 25 20
+f 21 23 27
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+f 23 28 27
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+f 25 29 30
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+f 26 31 32
+f 27 28 31
+f 28 33 31
+f 28 34 33
+f 29 35 36
+f 29 36 30
+f 31 33 32
+f 32 33 37
+f 33 34 38
+f 33 38 37
+f 35 39 40
+f 35 40 36
+f 37 38 41
+f 37 41 42
+f 37 42 43
+f 39 44 45
+f 39 45 40
+f 41 46 42
+f 42 46 47
+f 42 47 48
+f 42 48 43
+f 44 49 50
+f 44 50 45
+f 45 50 51
+f 46 52 47
+f 47 52 53
+f 47 53 54
+f 47 54 48
+f 48 54 55
+f 49 56 50
+f 50 56 57
+f 50 57 51
+f 53 58 54
+f 54 58 59
+f 54 59 60
+f 54 60 61
+f 54 61 62
+f 54 62 55
+f 56 63 64
+f 56 64 57
+f 60 65 61
+f 61 65 66
+f 61 66 67
+f 61 67 68
+f 61 68 62
+f 63 69 64
+f 63 70 71
+f 63 71 69
+f 66 72 73
+f 66 73 74
+f 66 74 67
+f 67 74 75
+f 67 75 68
+f 69 71 76
+f 70 77 78
+f 70 78 71
+f 71 78 76
+f 72 79 73
+f 73 79 80
+f 73 80 78
+f 73 78 81
+f 73 81 75
+f 73 75 74
+f 76 78 80
+f 77 81 78
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_239.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_239.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ed2b82723120270b8568bb94e209eed55f6dbfb
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_239.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.01197764 0.03249348 -0.00321143
+v -0.01197764 0.03235063 -0.00491173
+v -0.01271151 0.03165167 -0.00321143
+v -0.01197764 -0.01962764 -0.00321143
+v -0.01197764 0.03196798 -0.00702115
+v -0.01199273 0.03195268 -0.00702115
+v -0.01271151 0.03104454 -0.00702115
+v -0.01271151 0.03153942 -0.00424004
+v -0.01271151 -0.01918378 -0.00321143
+v -0.01203275 -0.01960213 -0.00321143
+v -0.01197764 -0.01956642 -0.00344938
+v -0.01197764 -0.01848992 -0.00702115
+v -0.01271151 -0.01818380 -0.00702115
+v -0.01271151 -0.01892868 -0.00424004
+v -0.01271151 -0.01820421 -0.00694842
+v -0.01197764 -0.01935214 -0.00424004
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 11
+f 1 11 16
+f 1 16 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 7
+f 3 7 13
+f 3 13 15
+f 3 15 14
+f 3 14 9
+f 4 10 11
+f 5 12 13
+f 5 13 7
+f 5 7 6
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 10 16 11
+f 12 16 13
+f 13 16 15
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_24.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e591411489985951a6840a69c342b8433b02eb42
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.02907111 0.00630791 -0.00709894
+v 0.02907111 0.01555899 -0.00709894
+v 0.02991168 0.00630791 -0.00709894
+v 0.02907111 0.00630791 0.02140851
+v 0.02907111 0.01646727 -0.00573161
+v 0.02991168 0.01492011 -0.00709894
+v 0.02991168 0.00630791 0.02101505
+v 0.02991168 0.00655093 0.02088111
+v 0.02968516 0.00718980 0.02063276
+v 0.02907111 0.00656742 0.02126340
+v 0.02907111 0.01717322 -0.00405454
+v 0.02991168 0.01635731 -0.00405454
+v 0.02991168 0.00710293 0.02057416
+v 0.02991168 0.00744821 0.02028674
+v 0.02991168 0.00876336 0.01913985
+v 0.02907111 0.00878315 0.01956680
+v 0.02907111 0.00807939 0.02018070
+v 0.02907111 0.01747892 -0.00159055
+v 0.02907111 0.01751411 -0.00129756
+v 0.02991168 0.01664651 0.00163523
+v 0.02907111 0.00935605 0.01904498
+v 0.02991168 0.01021485 0.01781717
+v 0.02907111 0.01754160 0.00163523
+v 0.02991168 0.01657613 0.00456801
+v 0.02987243 0.01026653 0.01778927
+v 0.02907111 0.01044577 0.01800134
+v 0.02991168 0.01029072 0.01773625
+v 0.02907111 0.01743713 0.00456801
+v 0.02991168 0.01628034 0.00634554
+v 0.02975008 0.01313873 0.01477277
+v 0.02907111 0.01261421 0.01566293
+v 0.02991168 0.01308705 0.01470300
+v 0.02907111 0.01701048 0.00703479
+v 0.02991168 0.01578881 0.00801704
+v 0.02991168 0.01318601 0.01455232
+v 0.02991168 0.01398214 0.01315429
+v 0.02907111 0.01385898 0.01408352
+v 0.02907111 0.01672128 0.00772962
+v 0.02991168 0.01502677 0.01055637
+v 0.02907111 0.01421526 0.01345566
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 17
+f 1 17 16
+f 1 16 21
+f 1 21 26
+f 1 26 31
+f 1 31 37
+f 1 37 40
+f 1 40 38
+f 1 38 33
+f 1 33 28
+f 1 28 23
+f 1 23 19
+f 1 19 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
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+f 3 14 13
+f 3 13 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
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+f 5 12 6
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 15 21 16
+f 15 22 21
+f 19 23 20
+f 20 23 24
+f 21 22 25
+f 21 25 26
+f 22 27 25
+f 23 28 24
+f 24 28 29
+f 25 27 30
+f 25 30 26
+f 26 30 31
+f 27 32 30
+f 28 33 29
+f 29 33 34
+f 30 32 35
+f 30 35 36
+f 30 36 37
+f 30 37 31
+f 33 38 36
+f 33 36 39
+f 33 39 34
+f 36 38 40
+f 36 40 37
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_240.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_240.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a86b65d1ba38f81374e6baef540c0a26b1d71af7
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_240.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v -0.02724125 0.02186384 -0.01805453
+v -0.02724125 0.02240790 -0.01775448
+v -0.02579640 0.02238531 -0.01777070
+v -0.02579640 0.02186384 -0.01804642
+v -0.02724125 0.02186384 0.00955587
+v -0.02579640 0.02243245 -0.01774366
+v -0.02724125 0.02387608 -0.01625421
+v -0.02579640 0.02390063 -0.01637044
+v -0.02579640 0.02186384 0.00955587
+v -0.02724125 0.03131224 0.00955587
+v -0.02724125 0.02513115 -0.01478637
+v -0.02579640 0.02520775 -0.01490261
+v -0.02579640 0.02517436 -0.01494046
+v -0.02579640 0.03135349 0.00955587
+v -0.02686713 0.03132305 0.00955587
+v -0.02724125 0.03176792 0.00750145
+v -0.02579640 0.02576949 -0.01411598
+v -0.02724125 0.02629784 -0.01314824
+v -0.02579640 0.03180720 0.00750145
+v -0.02724125 0.03186219 0.00456578
+v -0.02579640 0.02645988 -0.01309418
+v -0.02724125 0.02757550 -0.01124789
+v -0.02579640 0.03189559 0.00456578
+v -0.02579640 0.03188871 0.00449279
+v -0.02724125 0.03184747 0.00441170
+v -0.02579640 0.02706483 -0.01219401
+v -0.02724125 0.02763443 -0.01115869
+v -0.02579640 0.03173355 0.00296819
+v -0.02579640 0.03173158 0.00294927
+v -0.02724125 0.03155775 0.00163011
+v -0.02579640 0.02765505 -0.01129655
+v -0.02579640 0.02768255 -0.01125330
+v -0.02724125 0.02837784 -0.00969086
+v -0.02579640 0.02844953 -0.00978547
+v -0.02579640 0.03159409 0.00163011
+v -0.02724125 0.03153517 0.00147603
+v -0.02724125 0.02940115 -0.00717418
+v -0.02579640 0.02952882 -0.00717418
+v -0.02579640 0.03158329 0.00155713
+v -0.02579640 0.03135349 0.00003253
+v -0.02724125 0.03107557 -0.00154344
+v -0.02724125 0.03034786 -0.00437368
+v -0.02579640 0.02997762 -0.00584692
+v -0.02579640 0.03113154 -0.00141909
+v -0.02672766 0.03084085 -0.00290855
+v -0.02724125 0.03097343 -0.00210300
+v -0.02724125 0.03059632 -0.00358435
+v -0.02579640 0.02998450 -0.00582529
+v -0.02579640 0.03084773 -0.00294369
+v -0.02579640 0.03068667 -0.00354650
+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 20
+f 1 20 25
+f 1 25 30
+f 1 30 36
+f 1 36 41
+f 1 41 46
+f 1 46 47
+f 1 47 42
+f 1 42 37
+f 1 37 33
+f 1 33 27
+f 1 27 22
+f 1 22 18
+f 1 18 11
+f 1 11 7
+f 1 7 2
+f 2 6 3
+f 2 7 8
+f 2 8 6
+f 3 6 8
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+f 3 12 17
+f 3 17 21
+f 3 21 26
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+f 3 31 32
+f 3 32 34
+f 3 34 38
+f 3 38 43
+f 3 43 48
+f 3 48 50
+f 3 50 49
+f 3 49 44
+f 3 44 40
+f 3 40 39
+f 3 39 35
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+f 3 29 28
+f 3 28 24
+f 3 24 23
+f 3 23 19
+f 3 19 14
+f 3 14 9
+f 3 9 4
+f 5 9 14
+f 5 14 15
+f 5 15 10
+f 7 11 12
+f 7 12 13
+f 7 13 8
+f 10 15 16
+f 11 17 12
+f 11 18 17
+f 14 19 16
+f 14 16 15
+f 16 19 20
+f 17 18 21
+f 18 22 21
+f 19 23 20
+f 20 24 25
+f 20 23 24
+f 21 22 26
+f 22 27 26
+f 24 28 25
+f 25 28 29
+f 25 29 30
+f 26 27 31
+f 27 32 31
+f 27 33 34
+f 27 34 32
+f 29 35 30
+f 30 35 36
+f 33 37 38
+f 33 38 34
+f 35 39 36
+f 36 39 40
+f 36 40 41
+f 37 42 43
+f 37 43 38
+f 40 44 41
+f 41 45 46
+f 41 44 45
+f 42 47 48
+f 42 48 43
+f 44 49 45
+f 45 49 50
+f 45 50 48
+f 45 48 47
+f 45 47 46
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_241.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_241.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97e4c168b8fd3db759a5b02fb958f4e25bf1ddf9
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_241.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.02579647 0.02182308 0.00978812
+v -0.02724125 0.02186413 0.00955978
+v -0.02449472 0.02182308 0.00978812
+v -0.02579647 0.02182308 0.02193090
+v -0.02724125 0.03131246 0.00955978
+v -0.02579647 0.02186413 0.00955978
+v -0.02724125 0.02186413 0.02169268
+v -0.02449472 0.03134511 0.00978812
+v -0.02449472 0.02182308 0.02216911
+v -0.02450924 0.02182308 0.02216788
+v -0.02579647 0.03135350 0.00955978
+v -0.02724125 0.03124062 0.00988440
+v -0.02609812 0.03082828 0.01200364
+v -0.02724125 0.02271959 0.02121131
+v -0.02579647 0.03088239 0.01178764
+v -0.02449472 0.03111561 0.01085577
+v -0.02449472 0.02214773 0.02197410
+v -0.02449472 0.02301159 0.02145323
+v -0.02579647 0.02287352 0.02133968
+v -0.02724125 0.03111002 0.01045586
+v -0.02720253 0.03110722 0.01049289
+v -0.02724125 0.03073593 0.01171359
+v -0.02724125 0.03022190 0.01306635
+v -0.02720253 0.03020045 0.01313917
+v -0.02449472 0.03036837 0.01313917
+v -0.02449472 0.03048032 0.01288368
+v -0.02579647 0.03082828 0.01200364
+v -0.02449472 0.03107830 0.01100635
+v -0.02724125 0.02418796 0.02008319
+v -0.02449472 0.02447809 0.02030536
+v -0.02579647 0.02434096 0.02020045
+v -0.02724125 0.03110442 0.01047685
+v -0.02724125 0.03108669 0.01053856
+v -0.02724125 0.03019019 0.01314164
+v -0.02724125 0.02988979 0.01366621
+v -0.02724125 0.02868543 0.01573732
+v -0.02579647 0.02875167 0.01583729
+v -0.02449472 0.02881137 0.01592246
+v -0.02517060 0.03082735 0.01200364
+v -0.02724125 0.02581399 0.01861564
+v -0.02449472 0.02600803 0.01883781
+v -0.02579647 0.02591661 0.01873290
+v -0.02724125 0.02728050 0.01720487
+v -0.02449472 0.02747454 0.01739001
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 7
+f 1 7 2
+f 2 5 11
+f 2 11 6
+f 2 7 14
+f 2 14 29
+f 2 29 40
+f 2 40 43
+f 2 43 36
+f 2 36 35
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+f 2 34 23
+f 2 23 22
+f 2 22 33
+f 2 33 32
+f 2 32 20
+f 2 20 12
+f 2 12 5
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+f 3 8 16
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+f 3 25 38
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+f 3 18 17
+f 3 17 9
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+f 5 13 8
+f 7 10 14
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+f 8 15 16
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 10 19 14
+f 12 20 21
+f 12 21 13
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 27
+f 13 27 28
+f 13 28 15
+f 13 21 22
+f 14 19 29
+f 15 28 16
+f 18 30 31
+f 18 31 29
+f 18 29 19
+f 20 32 21
+f 21 32 33
+f 21 33 22
+f 23 34 24
+f 24 34 35
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 25
+f 26 28 39
+f 26 39 27
+f 27 39 28
+f 29 31 40
+f 30 41 42
+f 30 42 40
+f 30 40 31
+f 36 43 44
+f 36 44 37
+f 37 44 38
+f 40 42 43
+f 41 44 43
+f 41 43 42
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_242.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_242.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0b1d65d721bb66ba9453b0803afa3468ac2eb4d
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_242.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.01564935 -0.01809885 0.00163198
+v -0.01692583 -0.01759879 0.00035464
+v -0.01564985 -0.01807168 -0.00130425
+v -0.01564935 -0.01807168 -0.00130425
+v -0.01564935 -0.01797617 0.00456614
+v -0.01692583 -0.01758351 -0.00130425
+v -0.01692583 -0.01744173 0.00329087
+v -0.01692583 -0.01752026 -0.00258160
+v -0.01564985 -0.01765525 -0.00423841
+v -0.01564935 -0.01765525 -0.00423841
+v -0.01692583 -0.01735895 0.00454126
+v -0.01564935 -0.01752663 0.00731160
+v -0.01692583 -0.01728466 -0.00423841
+v -0.01692583 -0.01727872 -0.00427574
+v -0.01692583 -0.01708388 -0.00544111
+v -0.01564985 -0.01729952 -0.00605697
+v -0.01564935 -0.01603283 -0.00605697
+v -0.01564935 -0.01749097 0.00752933
+v -0.01692583 -0.01702275 0.00633078
+v -0.01692583 -0.01696290 -0.00605697
+v -0.01647239 -0.01708261 -0.00605697
+v -0.01564935 -0.01376220 -0.00605697
+v -0.01564935 -0.01740183 0.00775120
+v -0.01692583 -0.01453054 0.01337069
+v -0.01692583 -0.01681772 0.00703374
+v -0.01692583 -0.01700789 0.00640958
+v -0.01692583 -0.01376220 -0.00605697
+v -0.01564935 -0.01376220 0.01512289
+v -0.01564935 -0.01625314 0.01043653
+v -0.01564935 -0.01501192 0.01319858
+v -0.01692583 -0.01377664 0.01453398
+v -0.01692583 -0.01376220 0.01455472
+v -0.01674466 -0.01376220 0.01463559
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 17
+f 1 17 22
+f 1 22 28
+f 1 28 30
+f 1 30 29
+f 1 29 23
+f 1 23 18
+f 1 18 12
+f 1 12 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 11
+f 2 11 19
+f 2 19 26
+f 2 26 25
+f 2 25 24
+f 2 24 31
+f 2 31 32
+f 2 32 27
+f 2 27 20
+f 2 20 15
+f 2 15 14
+f 2 14 13
+f 2 13 8
+f 2 8 6
+f 3 6 8
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 5 11 7
+f 5 12 11
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 11 12 18
+f 11 18 19
+f 15 20 21
+f 15 21 16
+f 16 21 20
+f 16 20 27
+f 16 27 22
+f 16 22 17
+f 18 23 24
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 22 27 32
+f 22 32 33
+f 22 33 28
+f 23 29 24
+f 24 29 30
+f 24 30 31
+f 28 33 31
+f 28 31 30
+f 31 33 32
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_243.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_243.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02d901fc6aeeca407ce95e3f3940d021fab00c11
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_243.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.00057028 0.03116327 0.01897261
+v 0.00057028 -0.01806751 0.01897261
+v 0.00195270 0.03112194 0.01897261
+v 0.00057028 0.03134631 0.01870552
+v 0.00057028 -0.01912439 0.01782242
+v 0.00057894 -0.01912439 0.01782242
+v 0.00172212 -0.01797304 0.01897261
+v 0.00195270 -0.01790809 0.01897261
+v 0.00195270 0.03129907 0.01867424
+v 0.00057028 0.03242091 0.01630648
+v 0.00057028 -0.01913030 0.01781520
+v 0.00195270 -0.02131492 0.01319520
+v 0.00195270 -0.01968531 0.01614767
+v 0.00195270 0.03233825 0.01630648
+v 0.00144701 0.03385568 0.01226879
+v 0.00057028 0.03369035 0.01285832
+v 0.00057028 -0.02142120 0.01339973
+v 0.00078219 -0.02208839 0.01208591
+v 0.00195270 -0.02196440 0.01176347
+v 0.00195270 0.03355455 0.01292329
+v 0.00057028 0.03388520 0.01232173
+v 0.00195270 0.03413318 0.01128463
+v 0.00057028 0.03447564 0.01057478
+v 0.00057028 -0.02209430 0.01209794
+v 0.00057028 -0.02215334 0.01188138
+v 0.00195270 -0.02236000 0.01051463
+v 0.00195270 0.03432212 0.01069750
+v 0.00057028 0.03494799 0.00889522
+v 0.00057028 -0.02244856 0.01048094
+v 0.00057028 -0.02306262 0.00750200
+v 0.00195270 -0.02297996 0.00750200
+v 0.00195270 0.03521959 0.00750200
+v 0.00057028 0.03533177 0.00750200
+v 0.00057028 -0.02335193 0.00456637
+v 0.00195270 -0.02337555 0.00456637
+v 0.00195270 0.03539672 0.00649137
+v 0.00057028 0.03585136 0.00456637
+v 0.00057028 -0.02347593 0.00163074
+v 0.00195270 -0.02380067 -0.00130249
+v 0.00195270 -0.02360582 0.00163074
+v 0.00195270 -0.02347002 0.00343302
+v 0.00195270 -0.02340507 0.00425355
+v 0.00195270 0.03572146 0.00457840
+v 0.00156853 0.03581593 0.00425355
+v 0.00057028 0.03590450 0.00425355
+v 0.00057028 -0.02355859 -0.00130249
+v 0.00195270 -0.02372391 -0.00423812
+v 0.00195270 0.03619972 0.00164277
+v 0.00057028 0.03634733 0.00155855
+v 0.00057028 -0.02334013 -0.00423812
+v 0.00195270 -0.02355268 -0.00560968
+v 0.00195270 0.03630600 0.00024714
+v 0.00070384 0.03642409 0.00024714
+v 0.00057028 0.03643589 0.00024714
+v 0.00057028 -0.02308033 -0.00560968
+v 0.00195270 0.03550300 -0.00560968
+v 0.00195270 0.03640637 -0.00129286
+v 0.00057028 0.03651855 -0.00137708
+v 0.00057028 0.03560928 -0.00560968
+v 0.00195270 0.03592221 -0.00423812
+v 0.00195270 0.03640637 -0.00130489
+v 0.00057028 0.03627647 -0.00283046
+v 0.00057028 0.03602849 -0.00423812
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 21
+f 1 21 23
+f 1 23 28
+f 1 28 33
+f 1 33 37
+f 1 37 45
+f 1 45 49
+f 1 49 54
+f 1 54 58
+f 1 58 62
+f 1 62 63
+f 1 63 59
+f 1 59 55
+f 1 55 50
+f 1 50 46
+f 1 46 38
+f 1 38 34
+f 1 34 30
+f 1 30 29
+f 1 29 25
+f 1 25 24
+f 1 24 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 13
+f 3 13 12
+f 3 12 19
+f 3 19 26
+f 3 26 31
+f 3 31 35
+f 3 35 42
+f 3 42 41
+f 3 41 40
+f 3 40 39
+f 3 39 47
+f 3 47 51
+f 3 51 56
+f 3 56 60
+f 3 60 61
+f 3 61 57
+f 3 57 52
+f 3 52 48
+f 3 48 43
+f 3 43 36
+f 3 36 32
+f 3 32 27
+f 3 27 22
+f 3 22 20
+f 3 20 14
+f 3 14 9
+f 3 9 4
+f 4 9 10
+f 5 11 6
+f 6 8 7
+f 6 11 12
+f 6 12 13
+f 6 13 8
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 14 20 15
+f 15 21 16
+f 15 20 22
+f 15 22 23
+f 15 23 21
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 19
+f 22 27 23
+f 23 27 28
+f 25 29 26
+f 26 29 30
+f 26 30 31
+f 27 32 28
+f 28 32 33
+f 30 34 35
+f 30 35 31
+f 32 36 37
+f 32 37 33
+f 34 38 39
+f 34 39 40
+f 34 40 41
+f 34 41 42
+f 34 42 35
+f 36 43 44
+f 36 44 37
+f 37 44 45
+f 38 46 39
+f 39 46 47
+f 43 48 44
+f 44 48 49
+f 44 49 45
+f 46 50 47
+f 47 50 51
+f 48 52 49
+f 49 52 53
+f 49 53 54
+f 50 55 51
+f 51 55 59
+f 51 59 56
+f 52 57 53
+f 53 57 54
+f 54 57 58
+f 56 59 63
+f 56 63 60
+f 57 61 58
+f 58 61 60
+f 58 60 62
+f 60 63 62
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_244.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_244.obj
new file mode 100644
index 0000000000000000000000000000000000000000..005c1b538b7ca553e528193e3b918030c683f894
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_244.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.02724139 0.02285390 0.01491848
+v -0.02883613 0.02285390 0.01491848
+v -0.02724139 -0.00408278 0.01491848
+v -0.02724139 0.02285390 0.00204661
+v -0.02883613 0.02285390 0.00204661
+v -0.02883613 -0.00408278 0.01491848
+v -0.02724139 -0.00408278 0.00204661
+v -0.02883613 -0.00408278 0.00204661
+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_croissant/new_croissant_1/collision/model_normalized_collision_245.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_245.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f07b7dcc3da8fe2256817634cabf4de2e7c6b1b
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_245.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.00908136 0.02695108 -0.01687080
+v 0.00908136 0.02797018 -0.01586154
+v 0.01052485 0.02836505 -0.01499983
+v 0.01052485 0.02695108 -0.01639863
+v 0.00908136 0.02695108 0.01327720
+v 0.00908136 0.02860151 -0.01523591
+v 0.01052485 0.02848801 -0.01487293
+v 0.00908136 0.02944564 -0.01436830
+v 0.01052485 0.02695108 0.01327720
+v 0.00908136 0.03162099 0.01327720
+v 0.01052485 0.02998081 -0.01311115
+v 0.00908136 0.03013686 -0.01355086
+v 0.01052485 0.03108740 0.01327720
+v 0.01043003 0.03112602 0.01327720
+v 0.00908136 0.03212936 0.01212333
+v 0.00908136 0.03099282 -0.01250028
+v 0.01052485 0.03013213 -0.01292524
+v 0.01052485 0.03112287 0.01319752
+v 0.01052485 0.03126552 0.01287585
+v 0.01052485 0.03223261 0.01068027
+v 0.00908136 0.03283162 0.01044713
+v 0.00908136 0.03124503 -0.01218747
+v 0.01003436 0.03107557 -0.01198090
+v 0.01052485 0.03044346 -0.01254160
+v 0.01052485 0.03233507 0.01043533
+v 0.00908136 0.03359457 0.00833418
+v 0.00908136 0.03169981 -0.01131691
+v 0.01052485 0.03098336 -0.01181859
+v 0.00908136 0.03178493 -0.01115165
+v 0.01052485 0.03328482 0.00751969
+v 0.00908136 0.03366471 0.00798890
+v 0.00908136 0.03228384 -0.01004500
+v 0.01052485 0.03170059 -0.01020731
+v 0.01052485 0.03331713 0.00736033
+v 0.00908136 0.03390747 0.00674651
+v 0.00955913 0.03381683 0.00645435
+v 0.00908136 0.03235635 -0.00986794
+v 0.01052485 0.03363161 -0.00546496
+v 0.01052485 0.03382235 0.00456568
+v 0.00908136 0.03427397 0.00456568
+v 0.01005118 0.03397368 0.00456568
+v 0.00908136 0.03328245 -0.00758382
+v 0.00952084 0.03381053 -0.00589877
+v 0.01052485 0.03408402 -0.00427569
+v 0.01052485 0.03407220 0.00296916
+v 0.00908136 0.03473426 0.00162938
+v 0.01052485 0.03428028 0.00162938
+v 0.00908136 0.03385151 -0.00615256
+v 0.01052485 0.03412973 -0.00414584
+v 0.00908136 0.03485643 0.00038403
+v 0.01052485 0.03454353 -0.00105904
+v 0.00908136 0.03453880 -0.00419601
+v 0.00908136 0.03480756 -0.00257883
+v 0.01052485 0.03414392 -0.00405731
+v 0.01052485 0.03456481 -0.00130397
+v 0.00908136 0.03500224 -0.00130397
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 10
+f 1 10 15
+f 1 15 21
+f 1 21 26
+f 1 26 31
+f 1 31 35
+f 1 35 40
+f 1 40 46
+f 1 46 50
+f 1 50 56
+f 1 56 53
+f 1 53 52
+f 1 52 48
+f 1 48 42
+f 1 42 37
+f 1 37 32
+f 1 32 29
+f 1 29 27
+f 1 27 22
+f 1 22 16
+f 1 16 12
+f 1 12 8
+f 1 8 6
+f 1 6 2
+f 2 6 3
+f 3 7 11
+f 3 11 17
+f 3 17 24
+f 3 24 28
+f 3 28 33
+f 3 33 38
+f 3 38 44
+f 3 44 49
+f 3 49 54
+f 3 54 55
+f 3 55 51
+f 3 51 47
+f 3 47 45
+f 3 45 39
+f 3 39 34
+f 3 34 30
+f 3 30 25
+f 3 25 20
+f 3 20 19
+f 3 19 18
+f 3 18 13
+f 3 13 9
+f 3 9 4
+f 3 6 8
+f 3 8 7
+f 5 9 13
+f 5 13 14
+f 5 14 10
+f 7 8 11
+f 8 12 11
+f 10 14 15
+f 11 12 16
+f 11 16 17
+f 13 18 14
+f 14 18 19
+f 14 19 20
+f 14 20 15
+f 15 20 21
+f 16 22 23
+f 16 23 17
+f 17 23 24
+f 20 25 21
+f 21 25 26
+f 22 27 23
+f 23 28 24
+f 23 27 29
+f 23 29 28
+f 25 30 26
+f 26 30 31
+f 28 29 32
+f 28 32 33
+f 30 34 31
+f 31 34 36
+f 31 36 35
+f 32 37 33
+f 33 37 38
+f 34 39 36
+f 35 36 40
+f 36 39 41
+f 36 41 40
+f 37 42 43
+f 37 43 38
+f 38 43 44
+f 39 45 41
+f 40 41 46
+f 41 45 47
+f 41 47 46
+f 42 48 43
+f 43 48 49
+f 43 49 44
+f 46 47 50
+f 47 51 50
+f 48 52 49
+f 49 53 54
+f 49 52 53
+f 50 51 55
+f 50 55 56
+f 53 56 55
+f 53 55 54
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_246.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_246.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d78ca6dcb410cc341bd25681d87396f58c8bb9c1
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_246.obj
@@ -0,0 +1,258 @@
+# https://github.com/mikedh/trimesh
+v -0.02579640 -0.00912722 -0.01591892
+v -0.02579640 -0.00912722 0.01777305
+v -0.02635075 -0.00912722 -0.01546310
+v -0.02579640 -0.00794566 -0.01745430
+v -0.02579640 -0.00821889 0.01910691
+v -0.02724097 -0.00801951 0.01871347
+v -0.02724097 -0.00912722 0.01705334
+v -0.02724097 -0.00912722 -0.01392293
+v -0.02724097 -0.00805643 -0.01512724
+v -0.02724097 -0.00662133 -0.01671540
+v -0.02607655 -0.00758873 -0.01760304
+v -0.02579640 -0.00769211 -0.01767501
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_247.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_247.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c292ee6ecf6720655eba79c5618019ba011a6b5f
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_247.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v 0.01678368 0.03036858 -0.00723814
+v 0.01820670 0.02969955 -0.00723814
+v 0.01820670 0.02901453 -0.00917185
+v 0.01820670 0.02811360 -0.01166921
+v 0.01678368 0.02926775 -0.01025404
+v 0.01678368 0.00313831 -0.00723814
+v 0.01931542 0.02912381 -0.00736647
+v 0.01931542 0.02912115 -0.00737514
+v 0.01931542 0.02857206 -0.00894119
+v 0.01894387 0.02833484 -0.01011183
+v 0.01820670 0.00313831 -0.00723814
+v 0.01834724 0.02799899 -0.01180622
+v 0.01820670 0.02803097 -0.01184957
+v 0.01678368 0.02833217 -0.01228141
+v 0.01678368 0.00313831 -0.02495550
+v 0.01931542 0.00313831 -0.00736647
+v 0.01931542 0.02823622 -0.00981353
+v 0.01931542 0.02811894 -0.01011183
+v 0.01931542 0.02775910 -0.01101192
+v 0.01678368 0.02722334 -0.01375554
+v 0.01931542 0.02665294 -0.01282771
+v 0.01874334 0.02530688 -0.01487068
+v 0.01931542 0.00313831 -0.02445950
+v 0.01678368 0.00570780 -0.02476646
+v 0.01820670 0.00428179 -0.02459303
+v 0.01678368 0.02713272 -0.01386480
+v 0.01931542 0.02513363 -0.01470073
+v 0.01678368 0.02278803 -0.01822824
+v 0.01820670 0.02543216 -0.01499902
+v 0.01931542 0.02421138 -0.01558694
+v 0.01931542 0.02105815 -0.01857510
+v 0.01866105 0.02230558 -0.01774438
+v 0.01678368 0.02126339 -0.01969371
+v 0.01931542 0.00585174 -0.02423924
+v 0.01678368 0.00585174 -0.02475432
+v 0.01678368 0.02576268 -0.01534067
+v 0.01931542 0.02060236 -0.01900346
+v 0.01820670 0.02088223 -0.01931563
+v 0.01678368 0.02115144 -0.01979429
+v 0.01820670 0.01968544 -0.02042730
+v 0.01820670 0.00706719 -0.02426526
+v 0.01931542 0.00611295 -0.02419589
+v 0.01678368 0.00862914 -0.02429647
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+v 0.01931542 0.01492228 -0.02208180
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+v 0.01678368 0.01462374 -0.02285356
+v 0.01931542 0.01465573 -0.02215811
+v 0.01678368 0.01419194 -0.02296282
+v 0.01847291 0.01064156 -0.02341720
+v 0.01678368 0.01442117 -0.02290559
+v 0.01820670 0.01291519 -0.02290732
+v 0.01931542 0.01185167 -0.02287957
+v 0.01820670 0.01455178 -0.02248762
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_248.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_248.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f8c2809657a9ba1198eb1f50b34e8f704dc5447
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_248.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.01373205 0.03084289 -0.00214417
+v -0.01373157 0.03046335 -0.00416405
+v -0.01379634 0.03045849 -0.00416405
+v -0.01472193 0.03056554 -0.00307759
+v -0.01472193 0.03064826 -0.00214417
+v -0.01372992 0.02625440 -0.00214417
+v -0.01372992 0.03031251 -0.00416405
+v -0.01472193 0.03035631 -0.00416405
+v -0.01472193 -0.01842371 -0.00214417
+v -0.01372992 -0.01885677 -0.00214417
+v -0.01372992 -0.01843830 -0.00416405
+v -0.01472193 -0.01803931 -0.00416405
+v -0.01472193 -0.01835558 -0.00264578
+v -0.01442994 -0.01857455 -0.00214417
+v -0.01417058 -0.01868160 -0.00214417
+v -0.01372992 -0.01884217 -0.00221871
+v -0.01470174 -0.01804904 -0.00416405
+f 1 2 3
+f 1 3 4
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+f 1 14 15
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+f 1 7 2
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+f 6 16 11
+f 6 11 7
+f 9 13 14
+f 10 15 16
+f 11 16 15
+f 11 15 17
+f 12 17 13
+f 13 17 15
+f 13 15 14
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_249.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_249.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eb096e47e6a2a51b27fc57ecc95e7190f654214
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_249.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.02724498 0.03032598 -0.00444008
+v -0.02724139 0.02940019 -0.00717606
+v -0.02755609 0.03029473 -0.00444008
+v -0.02724139 0.01907982 -0.00444008
+v -0.02724139 0.02837675 -0.00969264
+v -0.02739218 0.02836893 -0.00968289
+v -0.02739218 0.02938457 -0.00717606
+v -0.02788375 0.03022441 -0.00444008
+v -0.02724139 -0.00958048 -0.00444008
+v -0.02724139 0.02763065 -0.01116018
+v -0.02739218 0.02762674 -0.01115042
+v -0.02883613 0.02824003 -0.00943262
+v -0.02883613 0.02902909 -0.00729633
+v -0.02883613 0.03000957 -0.00444008
+v -0.02883613 -0.00958048 -0.00444008
+v -0.02724139 -0.00958048 -0.01274066
+v -0.02724139 0.02757596 -0.01124875
+v -0.02736658 0.02656033 -0.01274066
+v -0.02739218 0.02655643 -0.01274066
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+v -0.02883613 0.02794315 -0.01001768
+v -0.02883613 -0.00958048 -0.01078639
+v -0.02724139 0.02657205 -0.01274066
+v -0.02755484 -0.00958048 -0.01274066
+v -0.02883613 -0.00848282 -0.01274066
+v -0.02883613 -0.00945939 -0.01100497
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+f 17 24 18
+f 23 27 25
+f 25 27 26
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_25.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ba550e3edfa703cbf1fc0c8566f3749f29f1270
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,240 @@
+# https://github.com/mikedh/trimesh
+v -0.03214225 0.00878801 0.02516172
+v -0.03330004 0.01171948 0.02450827
+v -0.03326321 0.00878801 0.02480898
+v -0.03214225 0.00585283 0.02510679
+v -0.03214225 0.01171948 0.02478729
+v -0.03326321 0.01171948 0.02451984
+v -0.03330004 0.00878801 0.02479452
+v -0.03330004 0.01450291 0.02392277
+v -0.03326321 0.00585283 0.02469332
+v -0.03214225 0.00302499 0.02460947
+v -0.03214225 0.01464726 0.02411360
+v -0.03330004 0.00585283 0.02467597
+v -0.03299858 0.01464356 0.02394301
+v -0.03330004 0.01500629 0.02375941
+v -0.03330004 0.00581211 0.02466874
+v -0.03330004 0.00458326 0.02444033
+v -0.03330004 0.00309531 0.02416275
+v -0.03330004 0.00302499 0.02414540
+v -0.03214225 0.00109288 0.02413239
+v -0.03214225 0.01606118 0.02362640
+v -0.03330004 0.01574657 0.02350641
+v -0.03330004 0.01565403 0.02353822
+v -0.03330004 0.00299167 0.02413673
+v -0.03241822 0.00081527 0.02395313
+v -0.03214225 0.00069683 0.02399939
+v -0.03214225 0.01644242 0.02343268
+v -0.03299858 0.01730854 0.02279080
+v -0.03330004 0.01667191 0.02304090
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+v -0.03330004 -0.00081703 0.02220385
+v -0.03246094 -0.00295641 0.02130897
+v -0.03330004 -0.00290089 0.02007724
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+v -0.03214225 -0.00484041 0.01926332
+v -0.03326321 0.02156141 0.02044300
+v -0.03330004 0.02154660 0.02043722
+v -0.03214225 0.02502588 0.01792461
+v -0.03316484 0.02359345 0.01881371
+v -0.03330004 0.02355644 0.01879492
+v -0.03330004 -0.00593231 0.01317987
+v -0.03214656 -0.00484411 0.01924453
+v -0.03214225 -0.00595081 0.01630978
+v -0.03214225 0.02505179 0.01790148
+v -0.03330004 0.02481860 0.01767306
+v -0.03330004 0.02375261 0.01862143
+v -0.03330004 -0.00698720 0.01043884
+v -0.03214225 -0.00645420 0.01491036
+v -0.03214225 0.02508510 0.01786823
+v -0.03309752 0.02633986 0.01623750
+v -0.03330004 0.02599194 0.01650206
+v -0.03330004 -0.00685765 0.01039403
+v -0.03329993 -0.00700200 0.01039403
+v -0.03214225 -0.00677992 0.01394174
+v -0.03214225 0.02792775 0.01498987
+v -0.03330004 0.02776118 0.01468627
+v -0.03330004 0.02660636 0.01587897
+v -0.03330004 0.02959706 0.01039403
+v -0.03214225 -0.00786812 0.01039403
+v -0.03214225 -0.00779409 0.01066003
+v -0.03214225 0.02796476 0.01495083
+v -0.03214225 0.02798327 0.01492048
+v -0.03316269 0.02850516 0.01346756
+v -0.03330004 0.02837191 0.01362514
+v -0.03330004 0.02957855 0.01047210
+v -0.03326321 0.02960076 0.01043884
+v -0.03322615 0.02962297 0.01039403
+v -0.03214225 0.02994499 0.01039403
+v -0.03214225 0.02881237 0.01343431
+v -0.03330004 0.02848665 0.01341551
+v -0.03214225 0.02992648 0.01045908
+v -0.03214225 0.02921582 0.01237317
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 25
+f 1 25 30
+f 1 30 36
+f 1 36 44
+f 1 44 52
+f 1 52 57
+f 1 57 63
+f 1 63 69
+f 1 69 68
+f 1 68 77
+f 1 77 80
+f 1 80 81
+f 1 81 78
+f 1 78 71
+f 1 71 70
+f 1 70 64
+f 1 64 58
+f 1 58 53
+f 1 53 47
+f 1 47 39
+f 1 39 31
+f 1 31 26
+f 1 26 20
+f 1 20 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 7 3
+f 2 6 8
+f 2 8 14
+f 2 14 22
+f 2 22 21
+f 2 21 28
+f 2 28 33
+f 2 33 38
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+f 2 37 46
+f 2 46 49
+f 2 49 55
+f 2 55 54
+f 2 54 60
+f 2 60 66
+f 2 66 65
+f 2 65 73
+f 2 73 79
+f 2 79 74
+f 2 74 67
+f 2 67 61
+f 2 61 56
+f 2 56 50
+f 2 50 43
+f 2 43 42
+f 2 42 40
+f 2 40 35
+f 2 35 34
+f 2 34 29
+f 2 29 23
+f 2 23 18
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+f 2 17 16
+f 2 16 15
+f 2 15 12
+f 2 12 7
+f 3 7 9
+f 3 9 4
+f 4 9 10
+f 5 11 8
+f 5 8 6
+f 7 12 9
+f 8 11 13
+f 8 13 14
+f 9 12 15
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 19
+f 11 14 13
+f 11 20 21
+f 11 21 22
+f 11 22 14
+f 18 23 24
+f 18 24 19
+f 19 24 25
+f 20 26 27
+f 20 27 28
+f 20 28 21
+f 23 29 24
+f 24 29 30
+f 24 30 25
+f 26 31 27
+f 27 31 28
+f 28 31 32
+f 28 32 33
+f 29 34 30
+f 30 34 35
+f 30 35 36
+f 31 37 38
+f 31 38 33
+f 31 33 32
+f 31 39 37
+f 35 40 41
+f 35 41 36
+f 36 41 42
+f 36 42 43
+f 36 43 44
+f 37 39 45
+f 37 45 46
+f 39 47 48
+f 39 48 49
+f 39 49 45
+f 40 42 41
+f 43 50 51
+f 43 51 44
+f 44 51 52
+f 45 49 46
+f 47 53 54
+f 47 54 55
+f 47 55 48
+f 48 55 49
+f 50 56 51
+f 51 56 52
+f 52 56 57
+f 53 58 59
+f 53 59 54
+f 54 59 60
+f 56 61 62
+f 56 62 63
+f 56 63 57
+f 58 64 59
+f 59 64 65
+f 59 65 66
+f 59 66 60
+f 61 67 76
+f 61 76 77
+f 61 77 68
+f 61 68 62
+f 62 68 69
+f 62 69 63
+f 64 70 65
+f 65 70 71
+f 65 71 72
+f 65 72 73
+f 67 74 75
+f 67 75 76
+f 71 78 72
+f 72 79 73
+f 72 78 79
+f 74 80 75
+f 74 79 80
+f 75 80 77
+f 75 77 76
+f 78 81 79
+f 79 81 80
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_250.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_250.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7bf350392265e78d502f6235591d8010aa6354c
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_250.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.02449472 -0.00078501 -0.02128025
+v -0.02579615 0.00050791 -0.02106302
+v -0.02579615 0.00130828 -0.02131404
+v -0.02449472 -0.00030426 -0.02142990
+v -0.02449472 -0.00078501 0.02547815
+v -0.02579615 -0.00078501 -0.02007339
+v -0.02579615 0.00425237 -0.02192230
+v -0.02449472 0.00008611 -0.02152162
+v -0.02579615 0.00009004 0.02565193
+v -0.02579615 -0.00078501 0.02519333
+v -0.02449472 0.00018108 0.02598020
+v -0.02579615 0.00590617 -0.02201885
+v -0.02449472 0.00588653 -0.02213470
+v -0.02449472 0.00295160 -0.02196092
+v -0.02579615 0.00015488 0.02567607
+v -0.02449472 0.00054524 0.02610571
+v -0.02455142 0.00590617 -0.02212988
+v -0.02579615 0.00590617 0.02692637
+v -0.02449472 0.00590617 -0.02212988
+v -0.02522181 0.00208835 0.02647259
+v -0.02579615 0.00153032 0.02614916
+v -0.02449472 0.00250229 0.02663190
+v -0.02481935 0.00250229 0.02661259
+v -0.02579615 0.00584854 0.02693120
+v -0.02449472 0.00590617 0.02717740
+v -0.02579615 0.00234968 0.02640018
+v -0.02579615 0.00383909 0.02666086
+v -0.02449472 0.00283502 0.02671396
+v -0.02449472 0.00309963 0.02676224
+v -0.02449472 0.00584854 0.02718223
+v -0.02579615 0.00442987 0.02675258
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 13
+f 1 13 19
+f 1 19 25
+f 1 25 30
+f 1 30 29
+f 1 29 28
+f 1 28 22
+f 1 22 16
+f 1 16 11
+f 1 11 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 10
+f 2 10 9
+f 2 9 15
+f 2 15 21
+f 2 21 26
+f 2 26 27
+f 2 27 31
+f 2 31 24
+f 2 24 18
+f 2 18 12
+f 2 12 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 10
+f 5 11 9
+f 7 12 13
+f 7 13 14
+f 7 14 8
+f 9 11 15
+f 11 16 15
+f 12 17 13
+f 12 18 25
+f 12 25 19
+f 12 19 17
+f 13 17 19
+f 15 16 20
+f 15 20 21
+f 16 22 23
+f 16 23 20
+f 18 24 30
+f 18 30 25
+f 20 26 21
+f 20 23 27
+f 20 27 26
+f 22 28 23
+f 23 28 29
+f 23 29 27
+f 24 31 30
+f 27 29 31
+f 29 30 31
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_251.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_251.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1477bc0cd48096c774f39657049f4d9be8653e65
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_251.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.00642753 0.03352520 -0.01176299
+v -0.00642753 0.03320428 -0.01231176
+v -0.00744080 0.03348379 -0.01176299
+v -0.00642753 -0.01935464 -0.01176299
+v -0.00683200 0.03280572 -0.01278499
+v -0.00744080 0.03335957 -0.01197517
+v -0.00642753 0.03114416 -0.01495561
+v -0.00684321 0.03113899 -0.01495061
+v -0.00744080 -0.01899748 -0.01176299
+v -0.00681524 -0.01923559 -0.01176299
+v -0.00642753 -0.01930288 -0.01192129
+v -0.00744080 0.03110275 -0.01490395
+v -0.00684321 0.02997952 -0.01641806
+v -0.00642753 0.02997952 -0.01642361
+v -0.00744080 -0.01819518 -0.01335819
+v -0.00642753 -0.01905960 -0.01239785
+v -0.00744080 0.02998987 -0.01630975
+v -0.00684321 0.02913063 -0.01743727
+v -0.00744080 0.02905299 -0.01743727
+v -0.00642753 0.02912545 -0.01743727
+v -0.00744080 -0.01680796 -0.01585929
+v -0.00642753 -0.01871797 -0.01304493
+v -0.00744080 -0.01567955 -0.01743727
+v -0.00642753 -0.01617647 -0.01743727
+v -0.00744080 -0.01621788 -0.01679797
+v -0.00644965 -0.01617129 -0.01743727
+v -0.00642753 -0.01704606 -0.01605592
+v -0.00744080 -0.01596424 -0.01720066
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 11
+f 1 11 16
+f 1 16 22
+f 1 22 27
+f 1 27 24
+f 1 24 20
+f 1 20 14
+f 1 14 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 8
+f 2 8 5
+f 3 6 12
+f 3 12 17
+f 3 17 19
+f 3 19 23
+f 3 23 28
+f 3 28 25
+f 3 25 21
+f 3 21 15
+f 3 15 9
+f 4 10 11
+f 5 8 6
+f 6 8 12
+f 7 13 8
+f 7 14 13
+f 8 13 12
+f 9 15 10
+f 10 15 11
+f 11 15 16
+f 12 13 17
+f 13 14 18
+f 13 18 19
+f 13 19 17
+f 14 20 18
+f 15 21 22
+f 15 22 16
+f 18 20 24
+f 18 24 26
+f 18 26 23
+f 18 23 19
+f 21 25 26
+f 21 26 27
+f 21 27 22
+f 23 26 28
+f 24 27 26
+f 25 28 26
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_252.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_252.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d380ef359e77014104547f4c4c6d9274b8f4bc8
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_252.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.01270617 0.01593204 -0.02327454
+v 0.01272341 0.01592437 -0.02327454
+v 0.01270617 0.01592820 -0.02327550
+v 0.01270617 -0.00365912 -0.02327454
+v 0.01340279 0.01558493 -0.02327454
+v 0.01270617 0.01536440 -0.02340697
+v 0.01270617 -0.00365912 -0.02569602
+v 0.01375432 -0.00365912 -0.02327454
+v 0.01370579 0.01543344 -0.02327454
+v 0.01370579 0.01421378 -0.02355842
+v 0.01370579 0.01171886 -0.02413315
+v 0.01370579 0.00878479 -0.02480467
+v 0.01270617 0.00878479 -0.02490652
+v 0.01370579 -0.00365912 -0.02563848
+v 0.01270617 -0.00295725 -0.02573406
+v 0.01375432 -0.00365912 -0.02563342
+v 0.01375432 0.01540275 -0.02327454
+v 0.01375432 0.01419653 -0.02355480
+v 0.01375432 0.01167092 -0.02413580
+v 0.01375432 0.00878479 -0.02479648
+v 0.01375432 0.00873493 -0.02480443
+v 0.01375432 0.00585072 -0.02520580
+v 0.01370579 0.00585072 -0.02521279
+v 0.01270617 0.00585072 -0.02533678
+v 0.01370579 -0.00295725 -0.02567652
+v 0.01371738 -0.00365912 -0.02563727
+v 0.01270617 -0.00195621 -0.02571143
+v 0.01375432 -0.00300519 -0.02566881
+v 0.01375432 0.00580278 -0.02520917
+v 0.01375432 -0.00002126 -0.02551929
+v 0.01370579 -0.00002126 -0.02552531
+v 0.01270617 0.00391385 -0.02543791
+v 0.01375432 -0.00295725 -0.02567002
+v 0.01270617 0.00097978 -0.02559008
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 24
+f 1 24 32
+f 1 32 34
+f 1 34 27
+f 1 27 15
+f 1 15 7
+f 1 7 4
+f 1 4 8
+f 1 8 17
+f 1 17 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 4 7 14
+f 4 14 26
+f 4 26 16
+f 4 16 8
+f 5 9 6
+f 6 9 10
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 7 15 25
+f 7 25 14
+f 8 16 28
+f 8 28 33
+f 8 33 30
+f 8 30 29
+f 8 29 22
+f 8 22 21
+f 8 21 20
+f 8 20 19
+f 8 19 18
+f 8 18 17
+f 9 17 10
+f 10 17 18
+f 10 18 11
+f 11 19 20
+f 11 20 12
+f 11 18 19
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 14 25 26
+f 15 27 25
+f 16 26 25
+f 16 25 28
+f 22 29 23
+f 23 29 30
+f 23 30 24
+f 24 30 31
+f 24 31 32
+f 25 33 28
+f 25 27 34
+f 25 34 31
+f 25 31 30
+f 25 30 33
+f 31 34 32
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_253.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_253.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ebab629d79b01f242357774922f5bbf6a3579a6
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_253.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.04496930 -0.01626516 0.00102506
+v 0.02907112 -0.01626516 0.00102506
+v 0.04496930 -0.01738772 0.00102506
+v 0.04496930 -0.01626516 -0.01609027
+v 0.02907112 -0.01738772 0.00102506
+v 0.02907112 -0.01626516 -0.01609027
+v 0.04496930 -0.01738772 -0.01609027
+v 0.02907112 -0.01738772 -0.01609027
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_254.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_254.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d93c9e917d18f54e243143ffda4063d4824a718
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_254.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00386193 0.03349575 0.00624299
+v -0.00386193 0.03349575 0.00402254
+v -0.00554835 0.03349575 0.00624299
+v -0.00386193 -0.02338521 0.00624299
+v -0.00386193 0.03349017 0.00301209
+v -0.00554835 0.03349575 0.00402254
+v -0.00554835 -0.02299998 0.00624299
+v -0.00390782 -0.02338521 0.00624299
+v -0.00390782 -0.02354154 0.00456713
+v -0.00386193 -0.02353596 0.00456713
+v -0.00554835 0.03349017 0.00301209
+v -0.00386193 -0.02339638 0.00301209
+v -0.00554835 -0.02303906 0.00586127
+v -0.00516666 -0.02309489 0.00624299
+v -0.00461178 -0.02322330 0.00624299
+v -0.00390782 -0.02340196 0.00301209
+v -0.00388322 -0.02340196 0.00301209
+v -0.00386193 -0.02349129 0.00402254
+v -0.00554835 -0.02316189 0.00456713
+v -0.00554835 -0.02294973 0.00301209
+v -0.00554835 -0.02308931 0.00402254
+v -0.00478050 -0.02316189 0.00301209
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 14
+f 1 14 15
+f 1 15 8
+f 1 8 4
+f 1 4 10
+f 1 10 18
+f 1 18 12
+f 1 12 5
+f 1 5 2
+f 2 5 11
+f 2 11 6
+f 3 6 11
+f 3 11 20
+f 3 20 21
+f 3 21 19
+f 3 19 13
+f 3 13 7
+f 4 8 9
+f 4 9 10
+f 5 12 17
+f 5 17 16
+f 5 16 22
+f 5 22 20
+f 5 20 11
+f 7 13 14
+f 8 15 9
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 9 15 19
+f 9 19 16
+f 12 18 17
+f 13 19 14
+f 14 19 15
+f 16 19 21
+f 16 21 22
+f 20 22 21
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_255.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_255.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edc0aea0376122d66d586c450b4a1297a42fa2e9
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_255.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00437758 -0.02426922 0.00521037
+v 0.00406841 -0.02426922 0.00456555
+v 0.00437758 -0.02439924 0.00456555
+v 0.00437758 -0.02426922 -0.00788613
+v 0.00345780 -0.02426922 0.00163114
+v 0.00437758 -0.02470070 0.00163114
+v 0.00437758 -0.02440512 -0.00717464
+v 0.00406368 -0.02426922 -0.00717464
+v 0.00328601 -0.02426922 0.00046712
+v 0.00437758 -0.02473767 0.00112092
+v 0.00437758 -0.02482131 -0.00423895
+v 0.00374913 -0.02426922 -0.00611318
+v 0.00327946 -0.02426922 0.00041969
+v 0.00437758 -0.02490174 -0.00130455
+v 0.00327946 -0.02430489 -0.00423895
+v 0.00327946 -0.02426922 -0.00451970
+v 0.00344501 -0.02426922 -0.00508633
+v 0.00327946 -0.02437082 -0.00130455
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 14
+f 1 14 11
+f 1 11 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 16
+f 1 16 13
+f 1 13 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 4 7 8
+f 5 9 10
+f 5 10 6
+f 7 11 8
+f 8 11 12
+f 9 13 14
+f 9 14 10
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 11 14 15
+f 13 18 14
+f 13 16 15
+f 13 15 18
+f 14 18 15
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_256.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_256.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd99d5f20404ab4f4c225a6a5db6c9195d10965a
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_256.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.01820687 0.00441457 0.00360215
+v 0.01820687 0.02594526 0.00360215
+v 0.01931567 0.00441457 0.00360215
+v 0.01820687 0.00441457 0.02656842
+v 0.01931567 0.02594526 0.00360215
+v 0.01820687 0.02594526 0.01478931
+v 0.01931567 0.00441457 0.02579681
+v 0.01820687 0.00481926 0.02667437
+v 0.01931567 0.02594526 0.01363766
+v 0.01820687 0.02592419 0.01482616
+v 0.01931567 0.02591576 0.01369063
+v 0.01896757 0.02594526 0.01399928
+v 0.01931567 0.00584995 0.02596495
+v 0.01835341 0.00584995 0.02681487
+v 0.01820687 0.00585838 0.02693695
+v 0.01820687 0.02580826 0.01501043
+v 0.01820687 0.02497148 0.01633713
+v 0.01931567 0.02572817 0.01398776
+v 0.01931567 0.00878605 0.02617455
+v 0.01849799 0.00878605 0.02691392
+v 0.01820687 0.00839190 0.02712582
+v 0.01820687 0.02441504 0.01718935
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+v 0.01931567 0.01143550 0.02584057
+v 0.01833040 0.01080949 0.02673886
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+v 0.01820687 0.00876497 0.02713273
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+v 0.01820687 0.01653204 0.02445629
+v 0.01820687 0.01600300 0.02475572
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+f 44 48 49
+f 44 49 50
+f 44 50 46
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_257.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_257.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5cf990fc498353cd36ddef3d5e500a7cb2e8e10
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_257.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.01858266 -0.00875175 -0.01958917
+v -0.01880265 -0.00875175 -0.01953322
+v -0.01858266 -0.00750762 -0.02048425
+v -0.01858266 -0.00875175 0.02040488
+v -0.02003354 -0.00875175 -0.01917723
+v -0.01975816 -0.00719345 -0.02040797
+v -0.01858266 -0.00643168 -0.02124203
+v -0.01858266 -0.00804002 0.02132540
+v -0.01858564 -0.00875175 0.02054728
+v -0.02003354 -0.00719345 -0.02032151
+v -0.02003354 -0.00875175 0.02022689
+v -0.02003354 -0.00707112 -0.02040797
+v -0.02003354 -0.00581030 -0.02125728
+v -0.01875294 -0.00613837 -0.02140477
+v -0.01858266 -0.00624263 -0.02137425
+v -0.01858266 -0.00611196 0.02278500
+v -0.01858564 -0.00719345 0.02197128
+v -0.01858564 -0.00804002 0.02132540
+v -0.02003354 -0.00793438 0.02124911
+v -0.02003354 -0.00300648 -0.02277283
+v -0.01858564 -0.00336929 -0.02297625
+v -0.01858266 -0.00448693 -0.02236088
+v -0.01858266 -0.00612586 -0.02145054
+v -0.01858564 -0.00611335 0.02278500
+v -0.01858266 -0.00295643 0.02494134
+v -0.01858564 -0.00448693 0.02390386
+v -0.02003354 -0.00591317 0.02280534
+v -0.02003354 -0.00178458 -0.02326105
+v -0.01993526 -0.00178458 -0.02328648
+v -0.01858266 -0.00337068 -0.02297625
+v -0.02003354 -0.00448693 0.02383266
+v -0.02003354 -0.00459536 0.02375637
+v -0.01858564 -0.00295643 0.02494134
+v -0.01858266 -0.00048484 0.02626363
+v -0.01858564 -0.00178458 0.02557197
+v -0.02003354 -0.00166920 -0.02330683
+v -0.02003354 -0.00156494 -0.02333734
+v -0.01985602 -0.00178458 -0.02329665
+v -0.01908698 -0.00178458 -0.02337802
+v -0.01858266 -0.00190413 -0.02339328
+v -0.02003354 -0.00399067 0.02416831
+v -0.02003354 -0.00308432 0.02476843
+v -0.02003354 -0.00045008 0.02623311
+v -0.01858266 0.00098311 0.02670608
+v -0.01858564 -0.00048484 0.02626363
+v -0.02003354 -0.00002193 -0.02351025
+v -0.01858564 0.00291257 -0.02416123
+v -0.01858266 0.00290979 -0.02416123
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+v -0.02003354 0.00291257 -0.02381540
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+v -0.01858266 0.00544950 -0.02417140
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+v -0.01858266 0.00544950 0.02728586
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+v -0.02003354 0.00544950 -0.02395271
+v -0.02003354 0.00291257 0.02710277
+v -0.02003354 0.00439997 0.02733671
+v -0.02003354 0.00544950 0.02749437
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+f 1 22 30
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_258.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_258.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a989c176048684119511f2c975372e72f3aa23f
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_258.obj
@@ -0,0 +1,246 @@
+# https://github.com/mikedh/trimesh
+v 0.00327945 -0.02436801 -0.00130767
+v 0.00327945 -0.02430297 -0.00423886
+v 0.00327945 -0.02426442 0.00045356
+v 0.00195322 -0.02379947 -0.00130767
+v 0.00195322 -0.02372720 -0.00423886
+v 0.00195322 -0.02335380 -0.00717005
+v 0.00327945 -0.02416565 -0.00531657
+v 0.00327945 -0.02418974 0.00162352
+v 0.00195322 -0.02360916 0.00162352
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+v 0.00327945 -0.02392715 -0.00717005
+v 0.00327945 -0.02393679 0.00456309
+v 0.00195322 -0.02338271 0.00456309
+v 0.00327945 -0.02336344 -0.01007608
+v 0.00195322 -0.02275154 -0.01018511
+v 0.00327945 -0.02346462 0.00744816
+v 0.00195322 -0.02298281 0.00749848
+v 0.00195322 -0.02221191 -0.01183312
+v 0.00327945 -0.02324298 -0.01042414
+v 0.00327945 -0.02259736 0.01050934
+v 0.00195322 -0.02236127 0.01050934
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+v 0.00268353 -0.02237573 -0.01218537
+v 0.00327945 -0.02282140 -0.01163603
+v 0.00327945 -0.02130852 0.01329796
+v 0.00195322 -0.02131574 0.01318893
+v 0.00195322 -0.02197101 0.01175898
+v 0.00195322 -0.02007749 -0.01604749
+v 0.00327945 -0.02249859 -0.01243278
+v 0.00327945 -0.01970650 0.01593561
+v 0.00195322 -0.01966795 0.01619141
+v 0.00327945 -0.02059062 -0.01600975
+v 0.00327945 -0.02127238 -0.01475173
+v 0.00327945 -0.02214205 -0.01311630
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+v 0.00327945 -0.01943428 -0.01777937
+v 0.00195322 -0.01725650 -0.01911287
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+v 0.00195322 0.00023802 -0.02546588
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+v 0.00195491 -0.00834542 -0.02430011
+v 0.00327945 -0.00589301 -0.02502138
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+f 74 75 80
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+f 78 82 79
+f 79 82 81
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_259.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_259.obj
new file mode 100644
index 0000000000000000000000000000000000000000..217e2d01ead5ef72e832ddc279ad4b42b403ead8
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_259.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00981186 0.02100165 -0.02206419
+v -0.01049968 0.02100165 -0.02197333
+v -0.00981186 0.02355583 -0.02093300
+v -0.00981186 0.02100165 0.02434635
+v -0.01049968 0.02342804 -0.02089211
+v -0.01049968 0.02100165 0.02343776
+v -0.01049968 0.02463198 -0.02034696
+v -0.00981186 0.02380391 -0.02081943
+v -0.00981186 0.02190432 0.02365583
+v -0.01049968 0.02281335 0.02237472
+v -0.01048049 0.02100165 0.02346502
+v -0.01049968 0.02486039 -0.02022885
+v -0.00981186 0.02594348 -0.01972458
+v -0.00981186 0.02350552 0.02220663
+v -0.01049968 0.02329793 0.02199766
+v -0.01049968 0.02690859 -0.01894320
+v -0.00981186 0.02628696 -0.01950652
+v -0.00981186 0.02625805 0.01906293
+v -0.01049968 0.02606780 0.01889484
+v -0.00981186 0.02690859 -0.01907494
+v -0.01049968 0.02690859 0.01727301
+v -0.00981186 0.02690859 0.01810891
+v -0.01049968 0.02624533 0.01855412
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 17
+f 1 17 20
+f 1 20 22
+f 1 22 18
+f 1 18 14
+f 1 14 9
+f 1 9 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 15
+f 2 15 19
+f 2 19 23
+f 2 23 21
+f 2 21 16
+f 2 16 12
+f 2 12 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 6 11 10
+f 7 12 13
+f 7 13 8
+f 9 14 15
+f 9 15 10
+f 12 16 13
+f 13 16 17
+f 14 18 19
+f 14 19 15
+f 16 20 17
+f 16 21 22
+f 16 22 20
+f 18 22 19
+f 19 22 23
+f 21 23 22
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_26.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f064a5195c8186b3ede3631fd8a24cf91ce7546
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.02657159 0.01585622 -0.01754784
+v 0.02657159 0.01652981 -0.01715210
+v 0.02680163 0.01585622 -0.01734083
+v 0.02657159 0.01585622 0.01355126
+v 0.02657159 0.01952498 -0.01496639
+v 0.02708892 0.01930111 -0.01472895
+v 0.02731024 0.01759198 -0.01538953
+v 0.02774370 0.01651206 -0.01450673
+v 0.02774370 0.01585622 -0.01465284
+v 0.02774370 0.01585622 0.01121943
+v 0.02657159 0.02092641 0.00947209
+v 0.02657159 0.02031495 -0.01424188
+v 0.02709466 0.02217892 -0.01183091
+v 0.02751148 0.02037905 -0.01290246
+v 0.02774370 0.01917290 -0.01296334
+v 0.02774370 0.01759198 -0.01401053
+v 0.02774370 0.01712944 0.01012049
+v 0.02676847 0.02139783 0.00854666
+v 0.02657159 0.02203789 0.00822094
+v 0.02657159 0.02233671 -0.01213228
+v 0.02657159 0.02283673 -0.01134689
+v 0.02657159 0.02438609 -0.00795570
+v 0.02695170 0.02497290 -0.00580653
+v 0.02738298 0.02257834 -0.01011097
+v 0.02774370 0.02170849 -0.01011097
+v 0.02774370 0.02123707 -0.01085069
+v 0.02774370 0.02042639 -0.01200443
+v 0.02774370 0.01930900 0.00746903
+v 0.02707493 0.02234362 0.00658927
+v 0.02657159 0.02291267 0.00711287
+v 0.02657159 0.02518198 -0.00610181
+v 0.02657159 0.02544826 -0.00548081
+v 0.02712288 0.02522636 -0.00423879
+v 0.02747465 0.02352511 -0.00694200
+v 0.02774370 0.02346298 -0.00426923
+v 0.02774370 0.02346200 -0.00416573
+v 0.02762748 0.02346200 -0.00130727
+v 0.02712759 0.02524411 -0.00130727
+v 0.02695790 0.02499558 0.00034875
+v 0.02657159 0.02403993 0.00456491
+v 0.02657159 0.02576582 -0.00431489
+v 0.02657159 0.02591868 -0.00287196
+v 0.02657159 0.02593151 -0.00130727
+v 0.02774370 0.02347087 -0.00423879
+v 0.02657159 0.02561690 -0.00016571
+v 0.02657159 0.02537330 0.00071101
+v 0.02657159 0.02422829 0.00403218
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+f 1 10 4
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+f 1 45 43
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+f 1 32 31
+f 1 31 22
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+f 1 21 20
+f 1 20 12
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+f 13 23 24
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+f 13 26 14
+f 14 26 27
+f 14 27 15
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+f 17 29 18
+f 18 29 30
+f 18 30 19
+f 22 31 23
+f 23 31 32
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+f 23 33 24
+f 24 33 34
+f 24 34 25
+f 25 34 35
+f 28 36 37
+f 28 37 29
+f 29 37 38
+f 29 38 39
+f 29 39 40
+f 29 40 30
+f 32 41 33
+f 33 41 42
+f 33 42 43
+f 33 43 38
+f 33 38 44
+f 33 44 35
+f 33 35 34
+f 36 44 38
+f 36 38 37
+f 38 43 45
+f 38 45 39
+f 39 45 46
+f 39 46 47
+f 39 47 40
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_260.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_260.obj
new file mode 100644
index 0000000000000000000000000000000000000000..721da92d1449b344ca2124439795522c01d8c09c
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_260.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.00744103 0.00585045 0.03120917
+v -0.00919728 0.00585045 0.03033025
+v -0.00744103 0.00508787 0.03116322
+v -0.00744103 0.00878310 0.03100035
+v -0.00907009 0.00878310 0.03021741
+v -0.00981186 0.00741860 0.02961129
+v -0.00981186 0.00585045 0.02973665
+v -0.00981186 0.00457420 0.02973316
+v -0.00981186 0.00291553 0.02962264
+v -0.00914181 0.00291553 0.03017989
+v -0.00744103 0.00291553 0.03094538
+v -0.00744103 0.01172028 0.03076157
+v -0.00890809 0.01172028 0.03007606
+v -0.00981186 0.01005256 0.02933558
+v -0.00981186 0.00255121 0.02955633
+v -0.00981186 0.00100342 0.02927450
+v -0.00981186 -0.00002165 0.02902816
+v -0.00870269 -0.00002165 0.02976544
+v -0.00744103 0.00197192 0.03074848
+v -0.00744103 0.01465519 0.03029070
+v -0.00862447 0.01465519 0.02981459
+v -0.00981186 0.01172028 0.02903456
+v -0.00981186 0.01009103 0.02933151
+v -0.00981186 -0.00146535 0.02857939
+v -0.00834759 -0.00154002 0.02953539
+v -0.00744103 -0.00062357 0.03002981
+v -0.00744103 0.01665555 0.02973752
+v -0.00838519 0.01629123 0.02958919
+v -0.00981186 0.01266389 0.02884493
+v -0.00981186 -0.00254473 0.02823824
+v -0.00950689 -0.00269407 0.02840082
+v -0.00951548 -0.00304029 0.02823824
+v -0.00807558 -0.00445910 0.02823824
+v -0.00744103 -0.00504065 0.02823824
+v -0.00744103 -0.00397485 0.02874546
+v -0.00744103 -0.00333220 0.02903863
+v -0.00744103 -0.00184777 0.02963718
+v -0.00744103 0.01755617 0.02924862
+v -0.00805445 0.01807662 0.02823824
+v -0.00877162 0.01722579 0.02823824
+v -0.00948856 0.01534989 0.02823824
+v -0.00966704 0.01488148 0.02823824
+v -0.00981186 0.01429540 0.02823824
+v -0.00973040 -0.00272123 0.02823824
+v -0.00966402 -0.00285021 0.02823824
+v -0.00744103 0.01807662 0.02823824
+v -0.00744103 0.01807662 0.02871754
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+f 1 3 11
+f 1 11 19
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+f 1 36 35
+f 1 35 34
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+f 1 47 38
+f 1 38 27
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+f 1 12 4
+f 1 4 5
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+f 3 10 11
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+f 17 24 25
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+f 19 25 26
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+f 25 32 33
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 25 37 26
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+f 28 39 40
+f 28 40 41
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+f 28 42 29
+f 29 42 43
+f 30 44 31
+f 30 43 42
+f 30 42 41
+f 30 41 40
+f 30 40 39
+f 30 39 46
+f 30 46 34
+f 30 34 33
+f 30 33 32
+f 30 32 45
+f 30 45 44
+f 31 44 45
+f 31 45 32
+f 38 47 39
+f 39 47 46
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_261.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_261.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31469a316207c98f3827057844496345a69a217a
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_261.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v 0.02020679 0.02931660 0.00552457
+v 0.02150968 0.02868245 0.00552457
+v 0.02020679 0.02937217 0.00528600
+v 0.02020679 -0.00296971 0.00552457
+v 0.02174846 0.02856150 0.00552457
+v 0.02174846 0.02862361 0.00527727
+v 0.02174846 0.02873802 0.00478558
+v 0.02020679 0.02954215 0.00452373
+v 0.02174846 0.02882301 0.00441899
+v 0.02020679 -0.00296971 -0.02278122
+v 0.02174846 -0.00296971 0.00552457
+v 0.02020679 0.02964676 0.00393312
+v 0.02174846 0.02914989 0.00239112
+v 0.02174846 -0.00296971 -0.02278122
+v 0.02020679 -0.00296644 -0.02412537
+v 0.02174846 0.02960099 -0.00051830
+v 0.02020679 0.02997691 0.00180051
+v 0.02174846 -0.00296644 -0.02356094
+v 0.02020679 -0.00081228 -0.02417483
+v 0.02174846 0.02971867 -0.00130676
+v 0.02020679 0.03008151 0.00108188
+v 0.02174846 -0.00275724 -0.02356385
+v 0.02020679 0.00291747 -0.02419811
+v 0.02161201 0.00291747 -0.02368896
+v 0.02020679 0.03042474 -0.00130676
+v 0.02174846 0.02923815 -0.00443148
+v 0.02174846 0.00264615 -0.02361331
+v 0.02020679 0.00584961 -0.02398281
+v 0.02147436 0.00584961 -0.02357549
+v 0.02020679 0.02995402 -0.00435292
+v 0.02174846 0.02914662 -0.00464677
+v 0.02020679 0.02753508 -0.01027651
+v 0.02174846 0.00534948 -0.02341547
+v 0.02020679 0.00826529 -0.02354349
+v 0.02122984 0.00764748 -0.02340383
+v 0.02174846 0.00813780 -0.02300233
+v 0.02174846 0.00584961 -0.02337765
+v 0.02174846 0.02795023 -0.00739036
+v 0.02174846 0.02667538 -0.01024742
+v 0.02174846 0.02572742 -0.01203380
+v 0.02174846 0.02553455 -0.01238875
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+v 0.02020679 0.00949437 -0.02324382
+v 0.02043033 0.00960551 -0.02315362
+v 0.02174846 0.01481277 -0.02139051
+v 0.02174846 0.01170737 -0.02218479
+v 0.02174846 0.02448526 -0.01373873
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+v 0.02020679 0.01009910 -0.02308671
+v 0.02020679 0.01469836 -0.02188511
+v 0.02174846 0.01679695 -0.02071843
+v 0.02174846 0.02353076 -0.01478903
+v 0.02061839 0.02174597 -0.01721258
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+v 0.02020679 0.01740169 -0.02094246
+v 0.02174846 0.01698981 -0.02061370
+v 0.02174846 0.02136352 -0.01685763
+v 0.02174846 0.02048420 -0.01768390
+v 0.02052783 0.01867980 -0.02010746
+v 0.02020679 0.02125565 -0.01789920
+v 0.02020679 0.02186365 -0.01732314
+v 0.02020679 0.02252069 -0.01669761
+v 0.02020679 0.01878441 -0.02018892
+v 0.02174846 0.01811429 -0.01984561
+f 1 2 3
+f 1 3 8
+f 1 8 12
+f 1 12 17
+f 1 17 21
+f 1 21 25
+f 1 25 30
+f 1 30 32
+f 1 32 42
+f 1 42 49
+f 1 49 55
+f 1 55 63
+f 1 63 62
+f 1 62 61
+f 1 61 64
+f 1 64 56
+f 1 56 51
+f 1 51 50
+f 1 50 43
+f 1 43 34
+f 1 34 28
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+f 26 31 32
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+f 35 45 46
+f 35 46 36
+f 41 47 48
+f 41 48 49
+f 41 49 42
+f 43 50 44
+f 44 50 51
+f 44 51 45
+f 45 51 52
+f 47 53 48
+f 48 53 54
+f 48 54 55
+f 48 55 49
+f 51 56 52
+f 52 56 57
+f 53 58 54
+f 54 58 59
+f 54 59 60
+f 54 60 61
+f 54 61 62
+f 54 62 63
+f 54 63 55
+f 56 64 57
+f 57 64 60
+f 57 60 65
+f 59 65 60
+f 60 64 61
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_262.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_262.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d826637dfc4940c68234f26064dfa6a2755b50e7
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_262.obj
@@ -0,0 +1,261 @@
+# https://github.com/mikedh/trimesh
+v 0.01442818 -0.02802088 0.00456197
+v 0.01375432 -0.02789479 0.00150083
+v 0.01448131 -0.02798649 0.00213997
+v 0.01535528 -0.02802088 0.00456197
+v 0.01487230 -0.02797667 0.00648900
+v 0.01375432 -0.02789479 0.00456197
+v 0.01375432 -0.02774742 -0.00130561
+v 0.01535528 -0.02798649 0.00213997
+v 0.01535528 -0.02797667 0.00648900
+v 0.01535528 -0.02793082 0.00675811
+v 0.01535528 -0.02747559 0.00908881
+v 0.01535528 -0.02729055 0.00986731
+v 0.01375432 -0.02676490 0.01042956
+v 0.01381873 -0.02748214 0.00747895
+v 0.01375432 -0.02746412 0.00747895
+v 0.01375432 -0.02750179 0.00726270
+v 0.01535528 -0.02770811 -0.00139692
+v 0.01375432 -0.02736915 -0.00423220
+v 0.01535528 -0.02746740 -0.00423220
+v 0.01535528 -0.02715627 0.01042956
+v 0.01375432 -0.02575292 0.01336576
+v 0.01375432 -0.02679274 -0.00716839
+v 0.01535528 -0.02703837 -0.00717320
+v 0.01535528 -0.02611809 0.01336576
+v 0.01375432 -0.02503241 0.01492276
+v 0.01375432 -0.02608042 -0.01006134
+v 0.01535528 -0.02669613 -0.00855720
+v 0.01535528 -0.02517979 0.01513420
+v 0.01375432 -0.02501604 0.01494678
+v 0.01375432 -0.02606732 -0.01010459
+v 0.01535528 -0.02626383 -0.01010459
+v 0.01535528 -0.02460338 0.01596076
+v 0.01421537 -0.02246315 0.01824820
+v 0.01375432 -0.02304610 0.01731592
+v 0.01375432 -0.02533535 -0.01222384
+v 0.01535528 -0.02593141 -0.01107050
+v 0.01535528 -0.02262362 0.01836354
+v 0.01535528 -0.02173281 0.01905073
+v 0.01503826 -0.01919466 0.02075190
+v 0.01375432 -0.02050140 0.01944478
+v 0.01375432 -0.02095663 0.01913242
+v 0.01375432 -0.02531898 -0.01226228
+v 0.01535528 -0.02537138 -0.01253139
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+v 0.01375432 -0.01784044 0.02111712
+v 0.01375432 -0.02462303 -0.01371356
+v 0.01535528 -0.02503405 -0.01322820
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+v 0.01535528 -0.01382033 0.02391876
+v 0.01535528 -0.01288203 0.02419748
+v 0.01375432 -0.01221393 0.02411098
+v 0.01375432 -0.02348987 -0.01596737
+v 0.01535528 -0.02363889 -0.01585203
+v 0.01535528 -0.01181765 0.02446179
+v 0.01375432 -0.01188151 0.02419268
+v 0.01375432 -0.02240092 -0.01779828
+v 0.01535528 -0.02310997 -0.01674106
+v 0.01535528 -0.01129201 0.02457232
+v 0.01375432 -0.01129201 0.02433684
+v 0.01535528 -0.02235180 -0.01775984
+v 0.01375432 -0.02237963 -0.01782231
+v 0.01535528 -0.01129201 -0.02422332
+v 0.01375432 -0.01129201 -0.02452126
+v 0.01375432 -0.02091733 -0.01927359
+v 0.01535528 -0.02170170 -0.01839898
+v 0.01535528 -0.01430504 -0.02364665
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+v 0.01518055 -0.01617181 -0.02331987
+v 0.01375432 -0.01184057 -0.02441554
+v 0.01375432 -0.01942555 -0.02063356
+v 0.01535528 -0.01930765 -0.02054706
+v 0.01535528 -0.01557739 -0.02339676
+v 0.01512147 -0.01617181 -0.02331987
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+v 0.01375432 -0.01904401 -0.02094592
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+v 0.01396855 -0.01734427 -0.02231070
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+v 0.01375432 -0.01607028 -0.02327662
+v 0.01375432 -0.01520567 -0.02354573
+v 0.01375432 -0.01485852 -0.02365145
+v 0.01375432 -0.01469804 -0.02369470
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_263.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_263.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d0b27798bed0006ecdd3cdc58cf4ad5203cb55c
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_263.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.01858550 0.00766951 -0.02430232
+v -0.01858550 0.00878529 -0.02419576
+v -0.01858266 0.00878227 -0.02419576
+v -0.01858365 0.00766951 -0.02426842
+v -0.02003354 0.00766951 -0.02379858
+v -0.01858266 0.00883365 -0.02418608
+v -0.02003354 0.00878529 -0.02368718
+v -0.01858266 0.00766951 -0.02418123
+v -0.02003354 0.00766951 0.02518042
+v -0.02003354 0.01023835 -0.02334813
+v -0.01858266 0.01133297 -0.02357093
+v -0.01858266 0.00766951 0.02518042
+v -0.02003354 0.01384378 0.02518042
+v -0.02003354 0.01029577 -0.02333359
+v -0.02003354 0.01384378 -0.02211299
+v -0.01858266 0.01384378 -0.02266517
+v -0.01858266 0.01384378 0.02518042
+f 1 2 3
+f 1 3 4
+f 1 4 8
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+f 1 9 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 6
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+f 3 11 16
+f 3 16 17
+f 3 17 12
+f 3 12 8
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+f 5 9 13
+f 5 13 15
+f 5 15 14
+f 5 14 10
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+f 6 7 10
+f 6 10 11
+f 9 12 17
+f 9 17 13
+f 10 14 11
+f 11 14 15
+f 11 15 16
+f 13 17 16
+f 13 16 15
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_264.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_264.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f65c809e38db662c9d0cd1ab26bc53f46180632
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_264.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.03113603 -0.00566911 0.00586690
+v 0.03113603 -0.00442315 0.00586690
+v 0.03114873 -0.00567425 0.00586690
+v 0.03113603 -0.00567425 0.00660688
+v 0.03113603 -0.00442315 0.02352959
+v 0.04915287 -0.00442315 0.00586690
+v 0.04967178 -0.00567425 0.00586690
+v 0.03113603 -0.00567425 0.02333422
+v 0.03171845 -0.00442315 0.02323567
+v 0.04911658 -0.00442315 0.00599484
+v 0.04872105 -0.00442315 0.00736242
+v 0.04925810 -0.00567425 0.00726733
+v 0.03427310 -0.00567425 0.02173323
+v 0.03588790 -0.00567425 0.02082209
+v 0.03437652 -0.00442315 0.02168310
+v 0.04768140 -0.00442315 0.00928844
+v 0.04788643 -0.00567425 0.00961694
+v 0.03583166 -0.00442315 0.02079097
+v 0.03733397 -0.00567425 0.01975707
+v 0.04748726 -0.00442315 0.00957199
+v 0.04701189 -0.00567425 0.01091017
+v 0.03931346 -0.00567425 0.01827539
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+v 0.04251404 -0.00442315 0.01557135
+v 0.04065429 -0.00442315 0.01703748
+v 0.04541705 -0.00567425 0.01299871
+v 0.04406896 -0.00442315 0.01402569
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+f 26 31 27
+f 26 32 31
+f 28 32 29
+f 28 31 32
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_265.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_265.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0837b7535538f2291e51f6cfd7e49c8cb9b1d51
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_265.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.00761700 -0.02640285 -0.00130260
+v 0.00761700 -0.02602054 0.00427739
+v 0.00602317 -0.02552284 0.00216185
+v 0.00602317 -0.02555746 0.00163030
+v 0.00602317 -0.02574785 -0.00130260
+v 0.00761700 -0.02632207 -0.00423818
+v 0.00761700 -0.02599200 0.00456587
+v 0.00602317 -0.02528629 0.00454450
+v 0.00602317 -0.02566040 -0.00423818
+v 0.00761700 -0.02627075 -0.00458008
+v 0.00761700 -0.02554562 0.00728775
+v 0.00619338 -0.02507434 0.00633416
+v 0.00602317 -0.02516786 0.00528707
+v 0.00602317 -0.02528417 0.00456587
+v 0.00602317 -0.02564795 -0.00432098
+v 0.00602317 -0.02523346 -0.00706957
+v 0.00602317 -0.02521736 -0.00717375
+v 0.00761700 -0.02586810 -0.00717375
+v 0.00761700 -0.02547304 0.00751747
+v 0.00602317 -0.02492858 0.00649709
+v 0.00673849 -0.02474760 0.00828942
+v 0.00602317 -0.02521554 -0.00718443
+v 0.00761700 -0.02582650 -0.00740614
+v 0.00761700 -0.02453777 0.01043701
+v 0.00602317 -0.02447917 0.00789944
+v 0.00602317 -0.02515359 -0.00752901
+v 0.00627045 -0.02501877 -0.00883519
+v 0.00761700 -0.02535128 -0.00978878
+v 0.00761700 -0.02330067 0.01284103
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+v 0.00602317 -0.02335016 0.01095788
+v 0.00602317 -0.02359461 0.01047708
+v 0.00602317 -0.02422409 0.00865804
+v 0.00602317 -0.02494042 -0.00860280
+v 0.00602317 -0.02484507 -0.00907292
+v 0.00682773 -0.02476734 -0.01079046
+v 0.00761700 -0.02527232 -0.01010665
+v 0.00761700 -0.02330067 -0.01444723
+v 0.00602317 -0.02330067 0.01105404
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+v 0.00602317 -0.02396568 -0.01175741
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+v 0.00761700 -0.02411144 -0.01300749
+v 0.00602317 -0.02330067 -0.01318913
+v 0.00602317 -0.02336656 -0.01307160
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_266.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_266.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a62abf914be524020a37bc1a955f18feb697fe4a
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_266.obj
@@ -0,0 +1,234 @@
+# https://github.com/mikedh/trimesh
+v -0.00744103 0.02644501 -0.01972373
+v -0.00815599 0.02644501 -0.01963399
+v -0.00744103 0.02658019 -0.01964215
+v -0.00744103 0.02644501 0.02194755
+v -0.00968621 0.02644501 -0.01942188
+v -0.00744103 0.02704299 -0.01931991
+v -0.00744103 0.02696601 0.02128675
+v -0.00860150 0.02819578 0.01818669
+v -0.01049968 0.02690875 0.01727299
+v -0.00830180 0.02644501 0.02078503
+v -0.00980927 0.02644501 -0.01939741
+v -0.01049968 0.02690875 -0.01894056
+v -0.01049968 0.02834034 -0.01794936
+v -0.00981166 0.02841544 -0.01803094
+v -0.00977843 0.02841826 -0.01803502
+v -0.00744103 0.02849618 -0.01814923
+v -0.00744103 0.02884257 0.01873328
+v -0.00771528 0.03028825 0.01630219
+v -0.01049968 0.02932885 0.01378135
+v -0.00981166 0.02644501 0.01870065
+v -0.00957005 0.02644501 0.01903513
+v -0.00981166 0.02644501 -0.01938925
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+v -0.00780330 0.03369404 -0.01148819
+v -0.00744103 0.03336454 -0.01197359
+v -0.00744103 0.03110684 -0.01489825
+v -0.00744103 0.02999724 -0.01630959
+v -0.00744103 0.02999254 0.01707720
+v -0.00744103 0.03037274 0.01652245
+v -0.00826917 0.03076701 0.01477663
+v -0.00843324 0.03385738 0.00920877
+v -0.00865748 0.03409394 0.00749966
+v -0.01049968 0.03223803 0.00484421
+v -0.01049968 0.03138189 -0.01379283
+v -0.00744103 0.03389211 -0.01106397
+v -0.00981166 0.03335608 -0.01043172
+v -0.00910868 0.03409958 -0.00953026
+v -0.00744103 0.03419251 -0.01012987
+v -0.00744103 0.03100170 0.01540072
+v -0.00744103 0.03331196 0.01117893
+v -0.00744103 0.03399537 0.00979615
+v -0.00744103 0.03454173 0.00814414
+v -0.00744103 0.03510498 0.00552949
+v -0.00744103 0.03570390 0.00247022
+v -0.00895808 0.03444879 0.00456276
+v -0.00981166 0.03370530 0.00310247
+v -0.01049968 0.03310638 0.00192363
+v -0.01049968 0.03289985 -0.01028080
+v -0.00996376 0.03333074 -0.01035014
+v -0.00981166 0.03346780 -0.01020330
+v -0.00981166 0.03373440 -0.00919578
+v -0.00954460 0.03444222 -0.00716850
+v -0.00744103 0.03567761 -0.00423569
+v -0.00744103 0.03508245 -0.00716850
+v -0.00744103 0.03586724 0.00153613
+v -0.00981166 0.03374379 0.00293931
+v -0.00920478 0.03481490 0.00162994
+v -0.00981166 0.03404701 0.00162994
+v -0.01049968 0.03317584 0.00162587
+v -0.01049968 0.03339551 -0.00872669
+v -0.01049968 0.03380293 -0.00717258
+v -0.00981166 0.03414933 -0.00760904
+v -0.00981166 0.03426292 -0.00717258
+v -0.00981166 0.03450418 -0.00476188
+v -0.00954879 0.03473229 -0.00423569
+v -0.00744103 0.03603434 -0.00131103
+v -0.00941496 0.03493225 -0.00130287
+v -0.00981166 0.03449948 -0.00129879
+v -0.00981166 0.03431455 0.00025939
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+v -0.01049968 0.03390525 -0.00614059
+v -0.00981166 0.03457552 -0.00202894
+v -0.00981166 0.03457552 -0.00202486
+v -0.01049968 0.03374660 -0.00129879
+v -0.01049968 0.03395595 -0.00328936
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+f 1 38 41
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+f 75 79 76
+f 76 79 77
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_267.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_267.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5be24967119de995611cf5efb77ef627d19af1f4
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_267.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.00602317 0.01570368 -0.00947096
+v 0.00761700 0.01570368 -0.00947096
+v 0.00602317 0.01570368 0.01349691
+v 0.00602317 0.01570548 -0.02361202
+v 0.00761700 0.01570368 0.01349691
+v 0.00761700 0.01570548 -0.02359386
+v 0.00602317 0.03252538 0.01349691
+v 0.00602317 0.01642242 -0.02341224
+v 0.00761700 0.01639352 -0.02340498
+v 0.00761700 0.03205404 0.01349691
+v 0.00602317 0.03302560 0.01228368
+v 0.00699264 0.03392854 0.00949033
+v 0.00602317 0.01950684 -0.02244964
+v 0.00761700 0.01805492 -0.02287464
+v 0.00761700 0.03345540 0.01014054
+v 0.00602317 0.03377504 0.01044566
+v 0.00602317 0.03415247 0.00901812
+v 0.00602317 0.03402244 0.00976277
+v 0.00761700 0.03406037 0.00811727
+v 0.00761700 0.03415247 0.00761963
+v 0.00602317 0.02052897 -0.02210456
+v 0.00761700 0.02052897 -0.02204281
+v 0.00602317 0.03415247 -0.00769470
+v 0.00761700 0.03415247 -0.00572593
+v 0.00761700 0.02074748 -0.02195927
+v 0.00602317 0.02235470 -0.02139987
+v 0.00761544 0.03415247 -0.00652869
+v 0.00602317 0.03396646 -0.00829042
+v 0.00761700 0.03399535 -0.00696458
+v 0.00761700 0.02291994 -0.02095308
+v 0.00602317 0.02330098 -0.02096035
+v 0.00761700 0.03397007 -0.00704087
+v 0.00757098 0.03400258 -0.00699364
+v 0.00641711 0.03375156 -0.00868273
+v 0.00602317 0.03379310 -0.00882076
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+v 0.00720341 0.03317730 -0.00947460
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_268.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_268.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3320a27533e45fb0a634ef35dc8f233cb323247
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_268.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00903157 0.01807662 -0.02329023
+v -0.00981176 0.01807662 -0.02326034
+v -0.00881396 0.01807851 -0.02330019
+v -0.00881396 0.01807662 -0.02311588
+v -0.00981176 0.01851852 -0.02310093
+v -0.00977856 0.01849589 -0.02311090
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+f 15 17 16
+f 18 22 19
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_269.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_269.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb09eebcea9d6069045b051cfab6b139f3849ea5
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_269.obj
@@ -0,0 +1,210 @@
+# https://github.com/mikedh/trimesh
+v 0.00195582 0.01877090 -0.02288976
+v 0.00327945 0.01877090 -0.02281543
+v 0.00195309 0.01877090 -0.02272153
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+v 0.00196374 0.02052865 -0.02242418
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+v 0.00195309 0.01877090 0.01708041
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+v 0.00327945 0.01935452 -0.02265893
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+v 0.00327945 0.03175891 0.01708041
+v 0.00195309 0.03195748 0.01708041
+v 0.00195309 0.02529426 -0.02069093
+v 0.00327945 0.02214827 -0.02180600
+v 0.00196374 0.02529426 -0.02069093
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+v 0.00327945 0.02352442 -0.02126607
+v 0.00196374 0.03200582 0.01708041
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+v 0.00195647 0.03200582 0.01708041
+v 0.00195309 0.03234598 0.01630573
+v 0.00195309 0.02676365 -0.01925113
+v 0.00196374 0.02676365 -0.01925113
+v 0.00327945 0.02509569 -0.02052661
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+v 0.00195309 0.03356155 0.01292141
+v 0.00195309 0.02817262 -0.01778394
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_27.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f83132f30feb018af262535cdb2deb235ee0c9b
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,354 @@
+# https://github.com/mikedh/trimesh
+v -0.04500875 -0.01076421 -0.00434522
+v -0.04500875 -0.01076184 -0.00618921
+v -0.04369644 -0.01035725 -0.00318101
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+v -0.04369644 -0.00981543 -0.00005560
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diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_270.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_270.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c62d2b534cf82587f2f9df2bef0049c340a84644
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_270.obj
@@ -0,0 +1,294 @@
+# https://github.com/mikedh/trimesh
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diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_271.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_271.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acd8b16d797da3c2beb3414eff76fe8c0a0ed2b5
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_271.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.05016502 -0.00567425 -0.00130569
+v 0.05015757 -0.00567425 -0.00153888
+v 0.05010914 -0.00547035 -0.00130569
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+v 0.04953919 -0.00442315 0.00456331
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_272.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_272.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4629f6519c7aac956990ef52f3c0b9274c463ff9
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_272.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.00761700 -0.02330067 -0.01444515
+v 0.00761700 -0.02330067 0.01283762
+v 0.00602317 -0.02330067 -0.01318479
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+v 0.00761700 -0.02178428 -0.01704066
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+v 0.00602317 -0.02070805 -0.01743709
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+v 0.00761700 -0.02052600 -0.01834589
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+v 0.00602317 -0.00865990 -0.02464393
+v 0.00602317 -0.01818458 -0.01969601
+v 0.00761700 -0.01852796 -0.01996154
+v 0.00761700 -0.01154519 -0.02408668
+v 0.00602317 -0.00995506 -0.02434100
+v 0.00602317 -0.01536382 -0.02180533
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+v 0.00761700 -0.01176643 -0.02402310
+v 0.00602317 -0.01004724 -0.02431482
+v 0.00602317 -0.01346027 -0.02321154
+v 0.00616920 -0.01330817 -0.02336488
+v 0.00761700 -0.01689864 -0.02115084
+v 0.00761700 -0.01345335 -0.02352943
+v 0.00602317 -0.01245779 -0.02361171
+v 0.00602317 -0.01329204 -0.02333122
+v 0.00602317 -0.01310767 -0.02340976
+v 0.00761700 -0.01355706 -0.02349577
+v 0.00761700 -0.01483377 -0.02264307
+v 0.00602317 -0.01326899 -0.02334618
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+f 1 32 37
+f 1 37 43
+f 1 43 42
+f 1 42 38
+f 1 38 33
+f 1 33 29
+f 1 29 25
+f 1 25 21
+f 1 21 15
+f 1 15 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 6
+f 3 6 12
+f 3 12 16
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+f 5 12 6
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+f 15 22 16
+f 19 23 24
+f 19 24 20
+f 21 25 22
+f 22 25 26
+f 23 27 24
+f 24 27 28
+f 25 29 26
+f 26 29 30
+f 27 31 32
+f 27 32 28
+f 29 33 34
+f 29 34 30
+f 31 35 32
+f 32 35 36
+f 32 36 37
+f 33 38 39
+f 33 39 34
+f 35 40 36
+f 36 41 42
+f 36 42 43
+f 36 43 37
+f 36 40 44
+f 36 44 41
+f 38 42 41
+f 38 41 39
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_273.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_273.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20aa93c8c4a565f7469b5346fbbfa345de4ec485
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_273.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.00857183 0.00795532 -0.02510552
+v -0.00981162 0.00795532 -0.02504808
+v -0.00857183 0.00878555 -0.02505852
+v -0.00857183 0.00795532 0.02823302
+v -0.00981162 0.00868350 -0.02498541
+v -0.00981162 0.00795532 0.02823302
+v -0.00981162 0.00878555 -0.02497497
+v -0.00857183 0.01172207 -0.02471386
+v -0.00857183 0.01742274 0.02823302
+v -0.00981162 0.01429599 0.02823302
+v -0.00981162 0.01074621 -0.02472953
+v -0.00981162 0.01172207 -0.02460420
+v -0.00981162 0.01464374 -0.02417599
+v -0.00857183 0.01314080 -0.02450498
+v -0.00877197 0.01722558 0.02823302
+v -0.00857183 0.01807662 0.02782047
+v -0.00966695 0.01488251 0.02823302
+v -0.00981162 0.01472300 0.02808158
+v -0.00978953 0.01623584 -0.02381566
+v -0.00977836 0.01465563 -0.02417599
+v -0.00857183 0.01344892 -0.02445798
+v -0.00981162 0.01702447 -0.02362767
+v -0.00915064 0.01623584 0.02823302
+v -0.00875437 0.01807662 0.02766903
+v -0.00981162 0.01807662 0.02612329
+v -0.00981162 0.01751884 0.02648361
+v -0.00857183 0.01807662 -0.02330390
+v -0.00857183 0.01605058 -0.02392533
+v -0.00857183 0.01580190 -0.02398277
+v -0.00857183 0.01465563 -0.02423865
+v -0.00981162 0.01704032 -0.02362244
+v -0.00857183 0.01710769 -0.02364333
+v -0.00857183 0.01623584 -0.02387833
+v -0.00981162 0.01807662 -0.02325690
+v -0.00857183 0.01761494 -0.02346578
+f 1 2 3
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+f 1 8 14
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+f 1 21 30
+f 1 30 29
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+f 1 28 33
+f 1 33 32
+f 1 32 35
+f 1 35 27
+f 1 27 16
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+f 1 4 6
+f 1 6 2
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+f 4 10 6
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+f 13 21 14
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+f 16 25 24
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+f 19 22 28
+f 20 29 30
+f 20 30 21
+f 22 31 32
+f 22 32 33
+f 22 33 28
+f 27 35 31
+f 27 31 34
+f 31 35 32
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_274.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_274.obj
new file mode 100644
index 0000000000000000000000000000000000000000..541005e0cf4ee9299636acb464a1d1adb70a47b3
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_274.obj
@@ -0,0 +1,222 @@
+# https://github.com/mikedh/trimesh
+v 0.04290319 -0.00331387 0.01478965
+v 0.04290319 -0.00285042 0.01465945
+v 0.04233419 -0.00331387 0.01546309
+v 0.04290319 -0.00331387 -0.01450921
+v 0.04290319 -0.00170897 0.01403990
+v 0.04290204 -0.00063652 0.01346074
+v 0.04184581 -0.00097458 0.01509943
+v 0.04200476 -0.00170897 0.01522514
+v 0.04227660 -0.00295691 0.01542717
+v 0.04050507 -0.00295691 0.01689525
+v 0.04054193 -0.00331387 0.01692668
+v 0.04251618 -0.00331387 -0.01497163
+v 0.04164308 -0.00141030 -0.01457655
+v 0.04209461 -0.00170897 -0.01426228
+v 0.04290319 -0.00224489 -0.01369211
+v 0.04290319 -0.00170897 -0.01323418
+v 0.04290204 -0.00009525 0.01309260
+v 0.04263943 -0.00009525 0.01346523
+v 0.04019177 -0.00009525 0.01627570
+v 0.03998675 -0.00009525 0.01646426
+v 0.04252769 -0.00009525 0.01361339
+v 0.03745731 -0.00009525 0.01872699
+v 0.03878768 -0.00104231 0.01786949
+v 0.03563626 -0.00199095 0.02063506
+v 0.03907334 -0.00331387 0.01809397
+v 0.04225356 -0.00331387 -0.01527243
+v 0.04173638 -0.00170897 -0.01468879
+v 0.04062025 -0.00331387 -0.01691561
+v 0.03997062 -0.00009525 -0.01529488
+v 0.04119848 -0.00009525 -0.01401087
+v 0.04290204 -0.00070961 -0.01239463
+v 0.04290204 -0.00009525 -0.01175711
+v 0.03390850 -0.00009525 0.02161827
+v 0.03191583 -0.00009525 0.02309085
+v 0.03424023 -0.00170897 0.02162276
+v 0.03449594 -0.00296416 0.02162276
+v 0.03496474 -0.00331387 0.02132196
+v 0.03654506 -0.00331387 0.02009631
+v 0.03934748 -0.00331387 -0.01790332
+v 0.03865752 -0.00170866 -0.01750374
+v 0.03869784 -0.00170897 -0.01747232
+v 0.03888098 -0.00170897 -0.01732416
+v 0.03805627 -0.00009525 -0.01697847
+v 0.03808852 -0.00009525 -0.01695153
+v 0.04195754 -0.00009525 -0.01305010
+v 0.04217639 -0.00009525 -0.01276726
+v 0.03113718 -0.00009525 0.02355776
+v 0.03210473 -0.00295691 0.02327043
+v 0.03201028 -0.00331387 0.02326145
+v 0.03894664 -0.00331387 -0.01820412
+v 0.03658422 -0.00009525 -0.01813228
+v 0.03113603 -0.00170897 0.02366551
+v 0.03113603 -0.00295691 0.02378673
+v 0.03113718 -0.00009525 -0.02090683
+v 0.03113603 -0.00331387 0.02371938
+v 0.03583552 -0.00331387 -0.02045787
+v 0.03529301 -0.00194905 -0.02013912
+v 0.03517552 -0.00170866 -0.02008075
+v 0.03437384 -0.00009525 -0.01968567
+v 0.03113603 -0.00170897 -0.02150394
+v 0.03121781 -0.00009525 -0.02088887
+v 0.03113718 -0.00170866 -0.02150394
+v 0.03113603 -0.00331387 -0.02182719
+v 0.03497971 -0.00331387 -0.02083051
+v 0.03333719 -0.00084194 -0.02061950
+v 0.03411583 -0.00009525 -0.01982485
+v 0.03113603 -0.00301394 -0.02197984
+v 0.03287876 -0.00009525 -0.02047583
+v 0.03128116 -0.00170866 -0.02146803
+v 0.03132032 -0.00295691 -0.02191698
+v 0.03113718 -0.00331387 -0.02207861
+v 0.03428746 -0.00331387 -0.02110437
+v 0.03429207 -0.00293896 -0.02098315
+v 0.03170619 -0.00331387 -0.02191249
+v 0.03131802 -0.00331387 -0.02203371
+f 1 2 3
+f 1 3 11
+f 1 11 25
+f 1 25 38
+f 1 38 37
+f 1 37 49
+f 1 49 55
+f 1 55 63
+f 1 63 71
+f 1 71 75
+f 1 75 74
+f 1 74 72
+f 1 72 64
+f 1 64 56
+f 1 56 50
+f 1 50 39
+f 1 39 28
+f 1 28 26
+f 1 26 12
+f 1 12 4
+f 1 4 15
+f 1 15 16
+f 1 16 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 10 11
+f 3 9 10
+f 4 12 13
+f 4 13 14
+f 4 14 15
+f 5 16 32
+f 5 32 17
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 7 19 20
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+f 7 21 19
+f 8 20 9
+f 9 20 22
+f 9 22 23
+f 9 23 10
+f 10 23 24
+f 10 24 11
+f 11 24 25
+f 12 26 27
+f 12 27 13
+f 13 27 28
+f 13 28 29
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+f 17 45 30
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+f 24 34 35
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+f 24 36 37
+f 24 37 38
+f 24 38 25
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+f 28 40 41
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+f 28 44 29
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+f 31 45 46
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+f 34 47 48
+f 34 48 36
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+f 37 48 49
+f 39 50 40
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+f 47 53 48
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+f 49 53 55
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+f 50 57 51
+f 51 57 58
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+f 52 60 67
+f 52 67 63
+f 52 63 55
+f 52 55 53
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+f 54 62 60
+f 56 64 65
+f 56 65 57
+f 57 65 58
+f 58 66 59
+f 58 65 66
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+f 62 68 69
+f 62 69 70
+f 62 70 67
+f 63 67 71
+f 64 72 73
+f 64 73 65
+f 65 68 66
+f 65 73 72
+f 65 72 74
+f 65 74 75
+f 65 75 70
+f 65 70 68
+f 67 70 71
+f 68 70 69
+f 70 75 71
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_275.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_275.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bfca8ee0539a4121a5e166bc5b2b5efd27057d7
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_275.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01270617 0.02834685 -0.00585168
+v 0.01270617 0.02941120 -0.00585168
+v 0.01375432 0.02834685 -0.00585168
+v 0.01270617 0.02834685 0.01688622
+v 0.01375432 0.02941120 -0.00585168
+v 0.01270617 0.02941120 0.01455590
+v 0.01375432 0.02834685 0.01552408
+v 0.01294423 0.02834685 0.01665029
+v 0.01270617 0.02863349 0.01626747
+v 0.01375432 0.02941120 0.01337849
+v 0.01270617 0.02864870 0.01623409
+v 0.01374078 0.02941120 0.01342523
+v 0.01375432 0.02938724 0.01345639
+v 0.01375237 0.02941120 0.01341188
+v 0.01307095 0.02843312 0.01630753
+v 0.01319357 0.02834685 0.01630753
+v 0.01375432 0.02939589 0.01343859
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 14
+f 2 14 10
+f 2 10 5
+f 3 5 10
+f 3 10 17
+f 3 17 13
+f 3 13 7
+f 4 8 9
+f 6 11 8
+f 6 8 12
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 8 16 15
+f 8 15 14
+f 8 14 12
+f 8 11 9
+f 10 14 17
+f 13 17 14
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_276.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_276.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fde8f4693a60ddbbf5d9d712abdf2512ff31ead7
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_276.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.00908136 0.02268843 0.02592099
+v 0.00908136 -0.00865745 0.02592099
+v 0.00974114 0.02224156 0.02592099
+v 0.01052485 0.02566621 0.02192309
+v 0.00908136 0.02471153 0.02385955
+v 0.00908136 -0.00906369 0.02561412
+v 0.01052485 -0.00988024 0.02464156
+v 0.01009823 -0.00812933 0.02592099
+v 0.01052485 0.02161594 0.02592099
+v 0.01020097 0.02251781 0.02529488
+v 0.01052485 0.02736432 0.02015490
+v 0.00908136 0.02768931 0.02077482
+v 0.00922055 0.02487809 0.02359599
+v 0.01052485 0.02270875 0.02485686
+v 0.00908136 -0.00907182 0.02560670
+v 0.01052485 -0.00988024 0.01328015
+v 0.01052485 -0.00777996 0.02592099
+v 0.00908136 -0.00988024 0.02481231
+v 0.01052485 0.02832305 0.01891384
+v 0.00916233 0.02778275 0.02062262
+v 0.00908136 0.02787618 0.02054096
+v 0.01052485 0.03108552 0.01328015
+v 0.00908136 -0.00988024 0.01328015
+v 0.01052485 0.02849774 0.01865647
+v 0.00908136 0.02895273 0.01896209
+v 0.01043003 0.03112614 0.01328015
+v 0.00908136 0.03022834 0.01655915
+v 0.01052485 0.02987085 0.01594418
+v 0.00908136 0.03162176 0.01328015
+v 0.01052485 0.02967179 0.01634632
+v 0.00908136 0.03116271 0.01442223
+v 0.00908136 0.03109771 0.01458309
+v 0.01052485 0.02983022 0.01603203
+f 1 2 8
+f 1 8 17
+f 1 17 9
+f 1 9 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 21
+f 1 21 25
+f 1 25 27
+f 1 27 32
+f 1 32 31
+f 1 31 29
+f 1 29 23
+f 1 23 18
+f 1 18 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 3 9 10
+f 3 10 4
+f 4 11 12
+f 4 12 13
+f 4 13 5
+f 4 10 14
+f 4 14 9
+f 4 9 17
+f 4 17 7
+f 4 7 16
+f 4 16 22
+f 4 22 28
+f 4 28 33
+f 4 33 30
+f 4 30 24
+f 4 24 19
+f 4 19 11
+f 5 13 12
+f 6 15 7
+f 7 17 8
+f 7 15 18
+f 7 18 23
+f 7 23 16
+f 9 14 10
+f 11 19 20
+f 11 20 12
+f 12 20 21
+f 16 23 29
+f 16 29 26
+f 16 26 22
+f 19 21 20
+f 19 24 25
+f 19 25 21
+f 22 26 27
+f 22 27 28
+f 24 30 27
+f 24 27 25
+f 26 31 32
+f 26 32 27
+f 26 29 31
+f 27 30 33
+f 27 33 28
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_277.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_277.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cde3c0ce272df393eb8a77882f220bf58d58a49
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_277.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01141571 -0.00365877 -0.02576253
+v 0.01141571 -0.00360271 -0.02577266
+v 0.01147204 -0.00365877 -0.02576253
+v 0.01141571 -0.00365877 0.02592098
+v 0.01141571 -0.00295731 -0.02580810
+v 0.01270595 -0.00363425 -0.02569670
+v 0.01270595 -0.00365877 -0.02569164
+v 0.01270595 -0.00365877 0.02592098
+v 0.01141571 -0.00007963 0.02592098
+v 0.01141571 -0.00066757 -0.02575240
+v 0.01270595 -0.00295731 -0.02573215
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_278.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_278.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b67f495a62714dbc21ca0b4ec94d16f20ddd034
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_278.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.00195270 0.01678872 -0.00561222
+v 0.00195270 0.01678872 -0.02343213
+v 0.00057028 0.01678872 -0.00561222
+v 0.00195270 -0.02148564 -0.00561222
+v 0.00195270 0.01466070 -0.02406982
+v 0.00176636 0.01678872 -0.02344783
+v 0.00057028 0.01678872 -0.02354201
+v 0.00057028 -0.02148564 -0.00561222
+v 0.00195270 -0.02148564 -0.01328604
+v 0.00195270 0.01172718 -0.02472124
+v 0.00057028 0.01310964 -0.02449167
+v 0.00057028 0.01464946 -0.02414830
+v 0.00057028 0.01581462 -0.02383240
+v 0.00057028 -0.02148564 -0.01218137
+v 0.00172983 -0.02148564 -0.01311730
+v 0.00057028 -0.02109600 -0.01308787
+v 0.00057028 -0.02061645 -0.01411994
+v 0.00057028 -0.02038791 -0.01457319
+v 0.00195270 -0.02007695 -0.01605066
+v 0.00195270 0.01171594 -0.02472320
+v 0.00057028 0.01171594 -0.02475067
+v 0.00057028 -0.01974726 -0.01582698
+v 0.00071859 -0.01900919 -0.01731819
+v 0.00195270 -0.02000577 -0.01618212
+v 0.00195270 0.00879366 -0.02503714
+v 0.00057028 0.01017612 -0.02491549
+v 0.00057028 -0.01897922 -0.01727502
+v 0.00057028 -0.01884809 -0.01740648
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+v 0.00195270 0.00584516 -0.02527848
+v 0.00195270 0.00291164 -0.02551197
+v 0.00057028 0.00291164 -0.02548058
+v 0.00057028 -0.01747312 -0.01853273
+v 0.00195270 -0.01750684 -0.01892516
+v 0.00195270 -0.00001439 -0.02565521
+v 0.00057028 0.00136808 -0.02555514
+v 0.00057028 -0.01736448 -0.01861907
+v 0.00057028 -0.01648030 -0.01931169
+v 0.00057028 -0.01429608 -0.02099519
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+v 0.00057028 -0.00002562 -0.02554729
+v 0.00195270 -0.00294416 -0.02541387
+v 0.00057028 -0.01317962 -0.02181339
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+v 0.00057028 -0.00742873 -0.02430527
+v 0.00057028 -0.00890485 -0.02397956
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+f 39 44 40
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+f 54 56 57
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_279.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_279.obj
new file mode 100644
index 0000000000000000000000000000000000000000..506d693de144889a61b41c8942ca453d690c118b
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_279.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.03330004 0.02140383 -0.01725932
+v -0.03380609 0.02140383 -0.01713431
+v -0.03394313 0.02156307 -0.01694179
+v -0.03330004 0.02244891 -0.01621422
+v -0.03330004 0.02140383 0.00828067
+v -0.03462078 0.02140383 -0.01668676
+v -0.03463212 0.02142558 -0.01666426
+v -0.03463212 0.02192506 -0.01605420
+v -0.03463212 0.02249678 -0.01532913
+v -0.03330004 0.02271171 -0.01588168
+v -0.03330004 0.02998729 0.00828067
+v -0.03463212 0.02140383 0.00828067
+v -0.03463212 0.02140383 -0.01667926
+v -0.03463212 0.02140818 -0.01667676
+v -0.03330004 0.02434591 -0.01360646
+v -0.03463212 0.02489412 -0.01198380
+v -0.03400885 0.02973320 0.00828067
+v -0.03330004 0.03011173 0.00760810
+v -0.03463212 0.02949651 0.00828067
+v -0.03463212 0.02504989 -0.01175878
+v -0.03330004 0.02533443 -0.01217132
+v -0.03330004 0.03015002 0.00737058
+v -0.03463212 0.02963400 0.00743059
+v -0.03330004 0.02642477 -0.01010612
+v -0.03463212 0.02586524 -0.00998611
+v -0.03330004 0.03029273 0.00452030
+v -0.03463212 0.02978976 0.00454031
+v -0.03330004 0.02643956 -0.01007362
+v -0.03463212 0.02701475 -0.00732585
+v -0.03330004 0.02755079 -0.00753587
+v -0.03330004 0.02999686 0.00166753
+v -0.03463212 0.02962965 0.00299766
+v -0.03463212 0.02776311 -0.00539066
+v -0.03453212 0.02778748 -0.00545567
+v -0.03330004 0.02762562 -0.00731335
+v -0.03330004 0.02999164 0.00163002
+v -0.03463212 0.02946083 0.00163002
+v -0.03463212 0.02946344 0.00165002
+v -0.03463212 0.02782837 -0.00518314
+v -0.03463212 0.02823823 -0.00380301
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+v -0.03330004 0.02848014 -0.00474060
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+v -0.03463212 0.02888651 -0.00119525
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+v -0.03330004 0.02859326 -0.00437806
+v -0.03463212 0.02889435 -0.00116275
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_28.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..940facdce8641eaa5c22d038f56804afc47bc2e1
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.02312203 -0.00296321 0.02580182
+v 0.02511187 -0.00035990 0.02549129
+v 0.02312203 -0.00235251 0.02579300
+v 0.02312203 -0.00528733 0.02579123
+v 0.02511187 -0.00296321 0.02552129
+v 0.02511187 -0.00002489 0.02546836
+v 0.02312203 -0.00002489 0.02564303
+v 0.02312203 -0.00589803 0.02577183
+v 0.02511187 -0.00589803 0.02544013
+v 0.02511187 -0.00329822 0.02551952
+v 0.02511187 0.00310535 0.02454914
+v 0.02312203 0.00295530 0.02489318
+v 0.02312203 -0.00883285 0.02534132
+v 0.02511187 -0.00883285 0.02504668
+v 0.02511187 0.00400220 0.02411334
+v 0.02312203 0.00799091 0.02285713
+v 0.02312203 0.00538063 0.02401277
+v 0.02511187 -0.00916437 0.02495141
+v 0.02312203 -0.01115000 0.02467264
+v 0.02511187 0.00799091 0.02185145
+v 0.02511187 0.00799440 0.01107306
+v 0.02312203 0.00799440 0.01107306
+v 0.02312203 -0.01176767 0.02448385
+v 0.02511187 -0.01178861 0.02413981
+v 0.02511187 0.00799440 0.00777903
+v 0.02312203 0.00799440 0.00777903
+v 0.02312203 -0.01344970 0.02391044
+v 0.02511187 -0.01193867 0.02408864
+v 0.02511187 -0.02765620 0.00777903
+v 0.02312203 -0.02702806 0.00777903
+v 0.02312203 -0.01369747 0.02381870
+v 0.02511187 -0.01209570 0.02403042
+v 0.02511187 -0.02479466 0.01614732
+v 0.02448664 -0.02524134 0.01558273
+v 0.02312203 -0.02544723 0.01593030
+v 0.02312203 -0.02587646 0.01405657
+v 0.02312203 -0.02600907 0.01338082
+v 0.02414383 -0.02735260 0.00777903
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+v 0.02511187 -0.02458528 0.01658841
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+v 0.02511187 -0.02139571 0.02010828
+v 0.02511187 -0.02318243 0.01880972
+v 0.02312203 -0.02332899 0.01875502
+v 0.02312203 -0.02291023 0.01906025
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+f 48 53 54
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_280.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_280.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f93e9b68e33fd8965d154d3094b5e43e664a305a
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_280.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.03032877 0.00585096 0.02577822
+v -0.03132697 0.00585413 0.02540890
+v -0.03032877 0.00291594 0.02531124
+v -0.03032877 0.00878599 0.02573396
+v -0.03132697 0.00878916 0.02541959
+v -0.03132697 0.00297616 0.02492514
+v -0.03132697 0.00191118 0.02466265
+v -0.03132697 0.00033907 0.02413768
+v -0.03032877 -0.00009199 0.02430631
+v -0.03032877 0.01171785 0.02522272
+v -0.03132697 0.01171785 0.02498389
+v -0.03132697 -0.00111576 0.02341814
+v -0.03126747 -0.00114112 0.02344484
+v -0.03032877 -0.00013002 0.02428800
+v -0.03032877 0.01465287 0.02447342
+v -0.03132697 0.01464653 0.02427503
+v -0.03132697 -0.00123304 0.02333802
+v -0.03132697 -0.00391133 0.02134725
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+v -0.03132697 -0.00456109 0.02083907
+v -0.03032877 -0.00480198 0.02105577
+v -0.03032877 0.02056413 0.02174632
+v -0.03132697 0.01674796 0.02345782
+v -0.03132697 -0.00544540 0.01920922
+v -0.03032877 -0.00618391 0.01916496
+v -0.03032877 0.02078600 0.02163415
+v -0.03132697 0.02153085 0.02103669
+v -0.03132697 -0.00583843 0.01798301
+v -0.03070808 -0.00647234 0.01798301
+v -0.03067915 -0.00650087 0.01798301
+v -0.03032877 -0.00681149 0.01798301
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+v -0.03132697 0.02178442 0.02090316
+v -0.03132697 0.02523609 0.01798301
+v -0.03032877 0.02556889 0.01798301
+v -0.03032877 0.02342626 0.01988451
+v -0.03132697 0.02251342 0.02038353
+v -0.03132697 0.02518854 0.01803261
+v -0.03032877 0.02535653 0.01819132
+v -0.03061056 0.02335336 0.01986696
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+f 31 38 39
+f 31 39 34
+f 31 34 33
+f 31 33 32
+f 35 40 36
+f 36 40 41
+f 38 42 39
+f 39 42 43
+f 40 43 44
+f 40 44 41
+f 41 44 42
+f 42 44 43
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_281.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_281.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f758bc06781bddbb8f9c28ec4e2140035e9fb0ed
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_281.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.00761700 0.02359199 0.02592098
+v 0.00761700 0.02394124 0.02558838
+v 0.00761700 -0.00946091 0.02592098
+v 0.00798173 0.02339989 0.02592098
+v 0.00826649 0.02374042 0.02539301
+v 0.00908108 0.02768267 0.02077482
+v 0.00761700 0.02484495 0.02463877
+v 0.00908108 -0.00906799 0.02561434
+v 0.00908108 -0.00865762 0.02592098
+v 0.00761700 -0.01246016 0.02304002
+v 0.00762144 -0.01246016 0.02304620
+v 0.00908108 -0.01246016 0.02307464
+v 0.00871878 0.02293713 0.02592098
+v 0.00908108 0.02470961 0.02385980
+v 0.00908108 0.02787913 0.02054113
+v 0.00761700 0.02761282 0.02168486
+v 0.00761700 0.02588399 0.02354450
+v 0.00908108 0.02269265 0.02592098
+v 0.00761700 -0.01246016 0.01328927
+v 0.00908108 -0.01246016 0.01328927
+v 0.00908108 0.02895309 0.01896093
+v 0.00791022 0.02923250 0.01934670
+v 0.00761700 0.02903168 0.01983263
+v 0.00761700 0.03214007 0.01328927
+v 0.00908108 0.03161619 0.01328927
+v 0.00908108 0.03022352 0.01655971
+v 0.00839304 0.03041125 0.01681937
+v 0.00761700 0.02955557 0.01904624
+v 0.00779929 0.02935911 0.01923171
+v 0.00761700 0.03120145 0.01566822
+v 0.00783713 0.03207459 0.01328927
+v 0.00791222 0.03204839 0.01328927
+v 0.00908108 0.03161182 0.01330410
+v 0.00908108 0.03109230 0.01458261
+v 0.00908108 0.03116215 0.01442187
+v 0.00761700 0.03107047 0.01599465
+v 0.00761700 0.03106611 0.01600454
+f 1 2 7
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+f 1 36 30
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+f 1 24 19
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+f 15 22 23
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+f 19 32 25
+f 19 25 20
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+f 23 29 28
+f 24 30 31
+f 25 32 33
+f 26 34 27
+f 27 34 35
+f 27 35 36
+f 27 36 37
+f 27 37 28
+f 30 32 31
+f 30 36 32
+f 32 36 33
+f 33 36 35
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_282.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_282.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edcf5abf2978115458143d9b4084ea65b163f724
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_282.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.00821175 -0.01800780 -0.02053855
+v 0.00775282 -0.01800780 -0.02038692
+v 0.00761706 -0.01690001 -0.02115426
+v 0.00821175 -0.01751038 -0.02090154
+v 0.00821175 -0.01800780 0.01882100
+v 0.00761706 -0.01800780 -0.02034097
+v 0.00761706 -0.01483376 -0.02264300
+v 0.00821175 -0.01544956 -0.02237649
+v 0.00821175 -0.01591712 0.02048433
+v 0.00761706 -0.01438902 0.02158251
+v 0.00761706 -0.01592038 0.02033730
+v 0.00761706 -0.01769392 0.01889451
+v 0.00800537 -0.01800780 0.01872910
+v 0.00761706 -0.01800780 0.01852233
+v 0.00761706 -0.01355818 -0.02349305
+v 0.00821175 -0.01511940 -0.02260624
+v 0.00821175 -0.01543653 -0.02238568
+v 0.00821175 -0.01446016 0.02157332
+v 0.00761706 -0.01246125 0.02304826
+v 0.00761706 -0.01345446 -0.02352521
+v 0.00783473 -0.01359565 -0.02351602
+v 0.00821175 -0.01385739 -0.02344710
+v 0.00821175 -0.01246071 0.02301151
+v 0.00762142 -0.01246071 0.02304367
+v 0.00761706 -0.01246071 0.02303907
+v 0.00761706 -0.01246071 -0.02381928
+v 0.00783473 -0.01246071 -0.02384685
+v 0.00821175 -0.01246071 -0.02389280
+v 0.00821175 -0.01366896 -0.02353899
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 17
+f 1 17 16
+f 1 16 22
+f 1 22 29
+f 1 29 28
+f 1 28 23
+f 1 23 18
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+f 1 9 5
+f 1 5 13
+f 1 13 14
+f 1 14 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
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+f 3 12 11
+f 3 11 10
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+f 3 19 25
+f 3 25 26
+f 3 26 20
+f 3 20 15
+f 3 15 7
+f 4 7 8
+f 5 9 10
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 9 18 19
+f 9 19 10
+f 12 14 13
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 20 26 21
+f 21 26 27
+f 21 27 28
+f 21 28 29
+f 21 29 22
+f 23 28 27
+f 23 27 26
+f 23 26 25
+f 23 25 24
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_283.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_283.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa60211ae95d3402b14da3724a51f83deac8c310
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_283.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.03463228 0.02725875 0.01458971
+v -0.03463228 0.02731140 0.01452878
+v -0.03619045 0.02644116 0.01458971
+v -0.03463228 -0.00274734 0.01458971
+v -0.03619045 0.02727423 0.01357130
+v -0.03463228 0.02752818 0.01426039
+v -0.03619045 -0.00274734 0.01458971
+v -0.03463228 -0.00275044 0.01301133
+v -0.03619045 0.02751270 0.01320355
+v -0.03463228 0.02832100 0.01291485
+v -0.03560141 0.02820021 0.01255072
+v -0.03619045 -0.00275044 0.01301133
+v -0.03463228 -0.00275044 0.01128497
+v -0.03619045 0.02808563 0.01228379
+v -0.03463228 0.02877934 0.01167449
+v -0.03619045 -0.00275044 0.01128497
+v -0.03463228 -0.00274734 0.00718017
+v -0.03463228 0.02888773 0.01128497
+v -0.03619045 0.02838603 0.01109638
+v -0.03619045 -0.00274734 0.00718017
+v -0.03463228 0.02838603 0.00718017
+v -0.03619045 0.02838603 0.00718017
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+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 17
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+f 1 21 18
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+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 9
+f 3 9 14
+f 3 14 19
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+f 3 22 20
+f 3 20 16
+f 3 16 12
+f 3 12 7
+f 4 7 12
+f 4 12 8
+f 5 6 9
+f 6 10 11
+f 6 11 9
+f 8 12 16
+f 8 16 13
+f 9 11 14
+f 10 15 11
+f 11 15 14
+f 13 16 20
+f 13 20 17
+f 14 15 18
+f 14 18 19
+f 17 20 22
+f 17 22 21
+f 18 21 22
+f 18 22 19
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_284.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_284.obj
new file mode 100644
index 0000000000000000000000000000000000000000..456151608344270d680a0470ed7c917b734dbbb6
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_284.obj
@@ -0,0 +1,249 @@
+# https://github.com/mikedh/trimesh
+v -0.00092788 0.01712416 -0.02355934
+v -0.00092803 0.02701803 -0.01948507
+v -0.00092788 0.02049217 -0.02271364
+v -0.00085836 0.01712416 -0.02355934
+v -0.00092788 0.01712416 0.03073593
+v -0.00092803 0.02838778 -0.01802769
+v 0.00057014 0.02827698 -0.01790004
+v 0.00056984 0.02687858 -0.01936805
+v 0.00056984 0.02610487 -0.02012334
+v 0.00056984 0.02540949 -0.02076692
+v -0.00092788 0.02553558 -0.02084671
+v -0.00092788 0.02550883 -0.02086266
+v -0.00092788 0.02346472 -0.02182538
+v -0.00092788 0.02342078 -0.02184134
+v -0.00092788 0.02233378 -0.02217111
+v -0.00092803 0.02701803 0.02435858
+v 0.00056999 0.02051127 -0.02255939
+v 0.00056999 0.01927143 -0.02288916
+v 0.00056999 0.01712416 -0.02344765
+v -0.00042321 0.01712416 0.03075189
+v 0.00056999 0.01916254 0.03021468
+v -0.00092788 0.01763806 0.03057637
+v -0.00092803 0.02985686 -0.01637883
+v 0.00057014 0.03106996 -0.01484167
+v 0.00057014 0.02973460 -0.01630969
+v 0.00057014 0.02701803 -0.01921912
+v 0.00056999 0.02233187 -0.02201154
+v 0.00056984 0.02346472 -0.02167113
+v 0.00015831 0.02233378 -0.02205941
+v -0.00092788 0.01994962 0.02981045
+v -0.00092788 0.02141488 0.02929983
+v -0.00092788 0.02345899 0.02798075
+v -0.00092788 0.02504652 0.02671485
+v 0.00056984 0.02505798 0.02673612
+v -0.00092803 0.02775735 0.02347033
+v 0.00056999 0.02192113 -0.02213920
+v 0.00056999 0.01712416 0.03077849
+v 0.00056999 0.02131172 0.02953387
+v 0.00057014 0.02701803 0.02433730
+v -0.00092803 0.03114255 -0.01491082
+v 0.00057014 0.03177680 -0.01399597
+v 0.00056999 0.02169189 0.02940089
+v 0.00056984 0.02333482 0.02820946
+v 0.00057014 0.02837823 0.02270440
+v 0.00057014 0.02896281 0.02199699
+v -0.00092803 0.02895325 0.02202359
+v 0.00056999 0.02232996 0.02885836
+v -0.00092803 0.03258680 -0.01317686
+v 0.00057014 0.03376168 -0.01161310
+v 0.00057014 0.03042043 0.02016729
+v -0.00092803 0.03042043 0.02020452
+v -0.00092803 0.03381327 -0.01168757
+v 0.00057014 0.03380944 -0.01148545
+v 0.00057014 0.03135842 0.01868864
+v -0.00092803 0.03139663 0.01873651
+v -0.00092803 0.03437874 -0.01010786
+v 0.00057014 0.03514862 -0.00719842
+v -0.00092803 0.03252185 0.01630577
+v 0.00057014 0.03242824 0.01630577
+v -0.00092803 0.03529572 -0.00717183
+v 0.00057014 0.03602931 -0.00423580
+v -0.00092803 0.03392789 0.01242830
+v 0.00057014 0.03369100 0.01286977
+v 0.00057014 0.03388777 0.01232724
+v -0.00092803 0.03614584 -0.00423580
+v -0.00092803 0.03627002 -0.00352839
+v -0.00079970 0.03662535 -0.00144338
+v 0.00057014 0.03627575 -0.00282629
+v -0.00092803 0.03464810 0.01043903
+v 0.00057014 0.03448190 0.01057201
+v -0.00092803 0.03662535 -0.00148061
+v -0.00092803 0.03663872 -0.00131573
+v 0.00057014 0.03651646 -0.00137423
+v -0.00092803 0.03466147 0.01039116
+v 0.00057014 0.03495185 0.00889123
+v -0.00092803 0.03652219 0.00133308
+v 0.00057014 0.03644959 0.00009910
+v -0.00092803 0.03546002 0.00749768
+v 0.00057014 0.03533584 0.00749768
+v -0.00092803 0.03611527 0.00377978
+v -0.00079970 0.03648971 0.00149265
+v 0.00057014 0.03635216 0.00156180
+v -0.00092803 0.03599110 0.00451910
+v 0.00057014 0.03585737 0.00454038
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+f 1 3 4
+f 1 4 19
+f 1 19 37
+f 1 37 20
+f 1 20 5
+f 1 5 16
+f 1 16 2
+f 2 6 7
+f 2 7 8
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+f 2 9 10
+f 2 10 11
+f 2 11 12
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+f 2 15 3
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+f 2 60 56
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+f 2 52 48
+f 2 48 40
+f 2 40 23
+f 2 23 6
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+f 3 19 4
+f 3 15 17
+f 5 20 21
+f 5 21 22
+f 5 22 16
+f 6 23 24
+f 6 24 25
+f 6 25 7
+f 7 25 24
+f 7 24 41
+f 7 41 49
+f 7 49 53
+f 7 53 57
+f 7 57 61
+f 7 61 68
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+f 7 75 70
+f 7 70 64
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+f 27 36 28
+f 28 36 29
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+f 32 43 33
+f 33 43 34
+f 34 39 44
+f 34 44 45
+f 34 45 46
+f 34 46 35
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+f 34 47 39
+f 38 39 42
+f 39 47 42
+f 40 48 49
+f 40 49 41
+f 42 47 43
+f 45 50 51
+f 45 51 46
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+f 49 52 53
+f 50 54 55
+f 50 55 51
+f 52 56 53
+f 53 56 57
+f 54 58 55
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+f 58 64 62
+f 60 65 61
+f 61 65 66
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+f 69 70 75
+f 69 75 74
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+f 73 76 77
+f 74 75 78
+f 75 79 78
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+f 76 81 82
+f 76 82 77
+f 78 79 83
+f 79 84 83
+f 80 83 81
+f 81 83 84
+f 81 84 82
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_285.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_285.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a60d79ed44115a600029ca39c63ab7bdfe4a0cf3
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_285.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.01472193 0.02708395 0.01686244
+v -0.01446927 0.02701925 0.01686244
+v -0.01372992 0.02714403 0.01651234
+v -0.01472193 0.02717638 0.01675843
+v -0.01472193 -0.01258160 0.01686244
+v -0.01372992 0.02682977 0.01686244
+v -0.01372992 0.02810528 0.01521701
+v -0.01472193 0.02821620 0.01537410
+v -0.01472193 -0.01406045 0.01563735
+v -0.01372992 -0.01446714 0.01604536
+v -0.01372992 -0.01321473 0.01686244
+v -0.01372992 0.02885857 0.01354049
+v -0.01472193 0.02908964 0.01345417
+v -0.01472193 -0.01534520 0.01353620
+v -0.01372992 -0.01717528 0.01176156
+v -0.01372992 -0.01580272 0.01394099
+v -0.01372992 0.02958876 0.01147151
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+v -0.01472193 -0.01640351 0.01138519
+v -0.01405153 -0.01707823 0.01138519
+v -0.01372992 -0.01739711 0.01138519
+v -0.01372992 0.02961648 0.01138519
+v -0.01379284 0.02963035 0.01138519
+v -0.01472193 0.02981520 0.01138519
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 18
+f 1 18 24
+f 1 24 19
+f 1 19 14
+f 1 14 9
+f 1 9 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 11
+f 3 11 10
+f 3 10 16
+f 3 16 15
+f 3 15 21
+f 3 21 22
+f 3 22 17
+f 3 17 12
+f 3 12 7
+f 5 9 10
+f 5 10 11
+f 7 12 13
+f 7 13 8
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 12 17 13
+f 13 17 18
+f 14 19 20
+f 14 20 21
+f 14 21 15
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 19 24 23
+f 19 23 22
+f 19 22 21
+f 19 21 20
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_286.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_286.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bebb2826ec542a145456a2b45c393b3d48fd34e
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_286.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.03113618 -0.00990814 -0.02379710
+v 0.03113603 -0.00765349 -0.02338758
+v 0.03113618 -0.00854421 -0.02357623
+v 0.03123311 -0.00990814 -0.02378789
+v 0.03113618 -0.00990814 0.02246945
+v 0.03113603 -0.00733825 -0.02332316
+v 0.03113603 -0.00765349 0.02293879
+v 0.03130125 -0.00886996 -0.02360384
+v 0.03130776 -0.00990814 -0.02377869
+v 0.03249334 -0.00954807 -0.02349341
+v 0.03120258 -0.00990814 0.02244644
+v 0.03113618 -0.00765349 0.02293879
+v 0.03113603 -0.00632984 -0.02303787
+v 0.03125351 -0.00632984 -0.02300567
+v 0.03213875 -0.00765349 -0.02312530
+v 0.03226737 -0.00791969 -0.02316211
+v 0.03249334 -0.00844403 -0.02323573
+v 0.03113603 -0.00633649 0.02321027
+v 0.03249334 -0.00990814 -0.02355323
+v 0.03261400 -0.00765349 -0.02295965
+v 0.03131947 -0.00990814 0.02240043
+v 0.03114066 -0.00632984 0.02321027
+v 0.03113603 -0.00632984 0.02275473
+v 0.03150003 -0.00632984 -0.02293204
+v 0.03261400 -0.00632984 -0.02257314
+v 0.03249334 -0.00803352 -0.02312070
+v 0.03249334 -0.00990814 0.02188968
+v 0.03261400 -0.00765349 0.02220717
+v 0.03124931 -0.00632984 0.02316425
+v 0.03261400 -0.00632984 0.02247405
+v 0.03249334 -0.00883598 0.02210134
+v 0.03126884 -0.00632984 0.02315505
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+f 1 3 4
+f 1 4 9
+f 1 9 19
+f 1 19 27
+f 1 27 21
+f 1 21 11
+f 1 11 5
+f 1 5 7
+f 1 7 2
+f 2 6 3
+f 2 7 18
+f 2 18 23
+f 2 23 13
+f 2 13 6
+f 3 8 9
+f 3 9 4
+f 3 6 10
+f 3 10 8
+f 5 11 12
+f 5 12 7
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 10
+f 7 12 18
+f 8 10 9
+f 9 10 19
+f 10 17 20
+f 10 20 19
+f 11 21 12
+f 12 22 18
+f 12 21 22
+f 13 23 22
+f 13 22 29
+f 13 29 32
+f 13 32 30
+f 13 30 25
+f 13 25 24
+f 13 24 14
+f 14 24 15
+f 15 24 25
+f 15 25 16
+f 16 25 26
+f 16 26 17
+f 17 26 20
+f 18 22 23
+f 19 20 28
+f 19 28 27
+f 20 25 30
+f 20 30 28
+f 20 26 25
+f 21 27 29
+f 21 29 22
+f 27 28 30
+f 27 30 31
+f 27 31 29
+f 29 31 32
+f 30 32 31
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_287.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_287.obj
new file mode 100644
index 0000000000000000000000000000000000000000..290307833124de264080fef5d28a9bdc52258483
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_287.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.01375432 0.02941120 -0.00585339
+v 0.01375432 0.02941120 -0.01207648
+v 0.01270617 0.02941120 -0.00585339
+v 0.01375432 -0.00365912 -0.00585339
+v 0.01312307 0.02941120 -0.01261199
+v 0.01375432 0.02878321 -0.01318330
+v 0.01270617 0.02941120 -0.01282687
+v 0.01270617 -0.00365912 -0.00585339
+v 0.01375432 -0.00365912 -0.02327430
+v 0.01365633 0.02879939 -0.01321230
+v 0.01270617 0.02919432 -0.01313726
+v 0.01375432 0.02868285 -0.01332656
+v 0.01270617 -0.00365912 -0.02327430
+v 0.01375432 0.01540099 -0.02327430
+v 0.01375432 0.02781531 -0.01445384
+v 0.01270617 0.02904541 -0.01332485
+v 0.01270617 0.01593187 -0.02327430
+v 0.01370579 0.01543336 -0.02327430
+v 0.01375432 0.01562759 -0.02322143
+v 0.01270617 0.02799335 -0.01463973
+v 0.01375432 0.02614819 -0.01613028
+v 0.01270617 0.01751806 -0.02282407
+v 0.01370579 0.01758927 -0.02271833
+v 0.01370579 0.01567938 -0.02321632
+v 0.01340279 0.01558550 -0.02327430
+v 0.01375432 0.01754072 -0.02272174
+v 0.01375432 0.02360059 -0.01868671
+v 0.01270617 0.02219245 -0.02045182
+v 0.01270617 0.01858954 -0.02241818
+v 0.01270617 0.02035053 -0.02158081
+v 0.01366813 0.02070014 -0.02124314
+v 0.01375432 0.01758927 -0.02270810
+v 0.01375432 0.02323803 -0.01904997
+v 0.01270617 0.02212770 -0.02051663
+v 0.01270617 0.02064187 -0.02144097
+v 0.01270617 0.02127634 -0.02108113
+v 0.01270617 0.02208562 -0.02054733
+v 0.01375432 0.02080049 -0.02114934
+v 0.01375432 0.02067424 -0.02123632
+v 0.01375432 0.02194642 -0.02034268
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 14
+f 1 14 19
+f 1 19 26
+f 1 26 32
+f 1 32 39
+f 1 39 38
+f 1 38 40
+f 1 40 33
+f 1 33 27
+f 1 27 21
+f 1 21 15
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+f 1 12 6
+f 1 6 2
+f 2 6 5
+f 3 7 11
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+f 3 16 20
+f 3 20 28
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+f 3 37 36
+f 3 36 35
+f 3 35 30
+f 3 30 29
+f 3 29 22
+f 3 22 17
+f 3 17 13
+f 3 13 8
+f 4 8 13
+f 4 13 9
+f 5 6 10
+f 5 10 11
+f 5 11 7
+f 6 12 10
+f 9 13 17
+f 9 17 25
+f 9 25 18
+f 9 18 14
+f 10 12 11
+f 11 12 15
+f 11 15 16
+f 14 18 19
+f 15 20 16
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+f 17 22 23
+f 17 23 24
+f 17 24 25
+f 18 25 24
+f 18 24 19
+f 19 24 23
+f 19 23 26
+f 20 21 27
+f 20 27 33
+f 20 33 28
+f 22 29 23
+f 23 29 30
+f 23 30 31
+f 23 31 32
+f 23 32 26
+f 28 33 34
+f 30 35 31
+f 31 35 36
+f 31 36 37
+f 31 37 38
+f 31 38 39
+f 31 39 32
+f 33 40 34
+f 34 40 37
+f 37 40 38
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_288.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_288.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8624c6e287c8f6c427f5a1f5a3df921771664cc8
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_288.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.00761700 0.03213529 0.01328927
+v 0.00782781 0.03207561 0.01328927
+v 0.00761700 0.03345610 0.01014288
+v 0.00761700 -0.00521326 0.01328927
+v 0.00791222 0.03204776 0.01328927
+v 0.00791681 0.03322933 0.01045632
+v 0.00908108 0.03282752 0.01044833
+v 0.00894937 0.03361921 0.00841196
+v 0.00761700 0.03406080 0.00811849
+v 0.00761700 -0.00521326 -0.00710637
+v 0.00908108 -0.00521326 0.01328927
+v 0.00908108 0.03212734 0.01212534
+v 0.00908108 0.03161413 0.01328927
+v 0.00908108 0.03359136 0.00833610
+v 0.00908108 0.03366297 0.00798872
+v 0.00791681 0.03412446 0.00745966
+v 0.00761700 0.03419209 0.00746365
+v 0.00908108 -0.00521326 -0.00710637
+v 0.00761700 0.03316568 -0.00710637
+v 0.00908108 0.03390565 0.00674494
+v 0.00783483 0.03465755 0.00456083
+v 0.00761700 0.03470927 0.00456083
+v 0.00908108 0.03316568 -0.00710637
+v 0.00761700 0.03394543 -0.00710437
+v 0.00908108 0.03427165 0.00456083
+v 0.00783483 0.03512302 0.00163405
+v 0.00761700 0.03517473 0.00163405
+v 0.00908108 0.03344814 -0.00710437
+v 0.00761700 0.03399715 -0.00697061
+v 0.00908108 0.03384995 -0.00614608
+v 0.00908108 0.03472916 0.00163405
+v 0.00908108 0.03499969 -0.00130271
+v 0.00783483 0.03537763 -0.00130271
+v 0.00908108 0.03485249 0.00038627
+v 0.00761700 0.03542935 -0.00130271
+v 0.00761700 0.03415628 -0.00651542
+v 0.00908108 0.03453422 -0.00419556
+v 0.00908108 0.03480475 -0.00257844
+v 0.00783483 0.03488829 -0.00423349
+v 0.00761700 0.03493603 -0.00423349
+f 1 2 3
+f 1 3 9
+f 1 9 17
+f 1 17 22
+f 1 22 27
+f 1 27 35
+f 1 35 40
+f 1 40 36
+f 1 36 29
+f 1 29 24
+f 1 24 19
+f 1 19 10
+f 1 10 4
+f 1 4 11
+f 1 11 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 18
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+f 5 12 6
+f 5 13 12
+f 6 12 7
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+f 7 13 11
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+f 7 37 38
+f 7 38 32
+f 7 32 34
+f 7 34 31
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+f 7 15 14
+f 7 14 8
+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 10 19 23
+f 10 23 18
+f 15 20 16
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 19 24 23
+f 20 25 21
+f 21 26 27
+f 21 27 22
+f 21 25 26
+f 23 24 28
+f 24 29 30
+f 24 30 28
+f 25 31 26
+f 26 32 33
+f 26 33 35
+f 26 35 27
+f 26 31 34
+f 26 34 32
+f 29 36 37
+f 29 37 30
+f 32 38 33
+f 33 38 39
+f 33 39 35
+f 35 39 40
+f 36 40 39
+f 36 39 37
+f 37 39 38
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_289.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_289.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d00d2a611e846697335e2ec19a38e65b6bb72138
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_289.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.01197750 -0.01549242 -0.01519317
+v -0.01197750 -0.01546084 -0.01524992
+v -0.01192223 -0.01551948 -0.01519317
+v -0.01197750 0.02933188 -0.01519317
+v -0.01134543 -0.01575405 -0.01519317
+v -0.01177857 -0.01557812 -0.01519317
+v -0.01197750 -0.01510448 -0.01575997
+v -0.01049982 -0.01525785 -0.01638984
+v -0.01070439 0.02998144 -0.01519317
+v -0.01197750 0.02908378 -0.01581758
+v -0.01049982 -0.01602921 -0.01528440
+v -0.01049982 -0.01609236 -0.01519317
+v -0.01197750 -0.01484737 -0.01612318
+v -0.01197750 -0.01441432 -0.01666081
+v -0.01049982 -0.01503682 -0.01666081
+v -0.01049982 0.02998144 -0.01519317
+v -0.01049982 0.02998144 -0.01542017
+v -0.01049982 0.02982356 -0.01583468
+v -0.01197750 0.02852443 -0.01666081
+v -0.01049982 0.02915596 -0.01666081
+f 1 2 3
+f 1 3 6
+f 1 6 5
+f 1 5 12
+f 1 12 16
+f 1 16 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 14
+f 1 14 13
+f 1 13 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 8
+f 2 8 5
+f 4 9 10
+f 5 11 12
+f 5 8 11
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 20
+f 8 20 18
+f 8 18 17
+f 8 17 16
+f 8 16 12
+f 8 12 11
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 19
+f 14 19 20
+f 14 20 15
+f 18 20 19
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_29.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2c9a3cac6ab5f816d5588d21e663060039a69fb
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.02774370 0.01121573 -0.01638098
+v 0.02907111 0.00919171 -0.01638098
+v 0.02907111 0.00854884 -0.01703071
+v 0.02907111 0.00771513 -0.01771439
+v 0.02774370 0.00822741 -0.01814189
+v 0.02774370 -0.03877205 -0.01638098
+v 0.02907111 -0.04009294 -0.01638098
+v 0.02907111 0.00508842 -0.01913104
+v 0.02774370 0.00672572 -0.01895002
+v 0.02774370 -0.03766712 -0.01959652
+v 0.02781399 -0.03884236 -0.01638098
+v 0.02907111 -0.03935465 -0.01845060
+v 0.02907111 0.00279319 -0.02020100
+v 0.02907111 0.00000075 -0.02137683
+v 0.02774370 0.00422457 -0.01999655
+v 0.02774370 -0.03693888 -0.02086690
+v 0.02907111 -0.03738085 -0.02183908
+v 0.02907111 -0.00071243 -0.02163786
+v 0.02774370 0.00067375 -0.02146977
+v 0.02774370 -0.03692883 -0.02088387
+v 0.02907111 -0.03631610 -0.02279510
+v 0.02774370 -0.03692381 -0.02088872
+v 0.02907111 -0.00295744 -0.02244760
+v 0.02838376 -0.00295744 -0.02260923
+v 0.02774370 -0.00231959 -0.02251953
+v 0.02774370 -0.03551252 -0.02177282
+v 0.02774370 -0.03550248 -0.02177847
+v 0.02907111 -0.03529656 -0.02333412
+v 0.02907111 -0.00365555 -0.02267145
+v 0.02907111 -0.00563939 -0.02327755
+v 0.02838376 -0.00492621 -0.02318542
+v 0.02774370 -0.00449931 -0.02314017
+v 0.02907111 -0.03475916 -0.02350383
+v 0.02774370 -0.03281048 -0.02262781
+v 0.02907111 -0.00658360 -0.02347797
+v 0.02838376 -0.00639777 -0.02349736
+v 0.02774370 -0.00601607 -0.02345130
+v 0.02907111 -0.03314196 -0.02393537
+v 0.02774370 -0.03272008 -0.02265610
+v 0.02838376 -0.00882860 -0.02385940
+v 0.02907111 -0.00951667 -0.02391355
+v 0.02774370 -0.00824098 -0.02378182
+v 0.02907111 -0.03230824 -0.02407194
+v 0.02894573 -0.03230824 -0.02402507
+v 0.02774370 -0.03244887 -0.02272802
+v 0.02774370 -0.00882860 -0.02386910
+v 0.02907111 -0.01245476 -0.02427802
+v 0.02838376 -0.01176669 -0.02422306
+v 0.02907111 -0.02125398 -0.02453177
+v 0.02774370 -0.01699500 -0.02448005
+v 0.02774370 -0.03230824 -0.02276439
+v 0.02774370 -0.03014359 -0.02314179
+v 0.02774370 -0.02758218 -0.02349817
+v 0.02774370 -0.01995820 -0.02427640
+v 0.02774370 -0.01112885 -0.02415356
+v 0.02907111 -0.01469474 -0.02449621
+v 0.02838376 -0.01469474 -0.02450752
+v 0.02774370 -0.01406192 -0.02444368
+v 0.02774370 -0.01176669 -0.02422064
+v 0.02838376 -0.01763284 -0.02455682
+v 0.02907111 -0.01832090 -0.02463682
+v 0.02907111 -0.01538281 -0.02455682
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 15
+f 1 15 19
+f 1 19 25
+f 1 25 32
+f 1 32 37
+f 1 37 42
+f 1 42 46
+f 1 46 55
+f 1 55 59
+f 1 59 58
+f 1 58 50
+f 1 50 54
+f 1 54 53
+f 1 53 52
+f 1 52 51
+f 1 51 45
+f 1 45 39
+f 1 39 34
+f 1 34 27
+f 1 27 26
+f 1 26 22
+f 1 22 20
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+f 2 14 13
+f 2 13 8
+f 2 8 4
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+f 4 8 5
+f 5 8 9
+f 6 10 11
+f 7 11 10
+f 7 10 12
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 10 16 12
+f 12 16 17
+f 14 18 19
+f 14 19 15
+f 16 20 17
+f 17 20 22
+f 17 22 21
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 21 26 27
+f 21 27 28
+f 21 22 26
+f 23 29 24
+f 24 29 30
+f 24 30 31
+f 24 31 25
+f 25 31 32
+f 27 33 28
+f 27 34 33
+f 30 35 31
+f 31 35 36
+f 31 36 32
+f 32 36 37
+f 33 34 39
+f 33 39 38
+f 35 40 36
+f 35 41 40
+f 36 40 37
+f 37 40 42
+f 38 39 44
+f 38 44 43
+f 39 45 44
+f 40 46 42
+f 40 41 47
+f 40 47 48
+f 40 48 46
+f 43 44 50
+f 43 50 49
+f 44 45 51
+f 44 51 52
+f 44 52 53
+f 44 53 54
+f 44 54 50
+f 46 48 55
+f 47 56 48
+f 48 56 57
+f 48 57 58
+f 48 58 59
+f 48 59 55
+f 49 50 60
+f 49 60 61
+f 50 58 60
+f 56 62 57
+f 57 62 61
+f 57 61 58
+f 58 61 60
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_290.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_290.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33ae5f1316f0b1893a0cfe6c8ab67aa3f23c04ca
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_290.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00602317 0.03415443 -0.00769862
+v 0.00602317 0.03529662 -0.00423990
+v 0.00761700 0.03494152 -0.00423990
+v 0.00761544 0.03415443 -0.00653316
+v 0.00602317 0.03415443 0.00902373
+v 0.00602317 0.03578396 -0.00130334
+v 0.00761700 0.03542934 -0.00130334
+v 0.00761700 0.03415954 -0.00651679
+v 0.00761700 0.03415443 -0.00572945
+v 0.00761700 0.03415443 0.00762256
+v 0.00602317 0.03455611 0.00748670
+v 0.00602317 0.03564199 0.00050869
+v 0.00761700 0.03541227 -0.00108563
+v 0.00761700 0.03419575 0.00746378
+v 0.00602317 0.03475296 0.00637689
+v 0.00761700 0.03467176 0.00478421
+v 0.00761700 0.03517682 0.00162995
+v 0.00602317 0.03554468 0.00162995
+v 0.00602317 0.03507233 0.00456651
+v 0.00761700 0.03471021 0.00456651
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 11
+f 1 11 15
+f 1 15 19
+f 1 19 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 4
+f 3 7 13
+f 3 13 17
+f 3 17 20
+f 3 20 16
+f 3 16 14
+f 3 14 10
+f 3 10 9
+f 3 9 8
+f 4 8 9
+f 5 10 11
+f 6 12 7
+f 7 12 13
+f 10 14 11
+f 11 14 16
+f 11 16 15
+f 12 17 13
+f 12 18 17
+f 15 16 20
+f 15 20 19
+f 17 18 20
+f 18 19 20
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_291.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_291.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2cd02f48961e31d4b74fe6d5b6ebb4ea3d83799
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_291.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.03132698 0.02640323 0.01680614
+v -0.03132698 0.02807622 0.01511265
+v -0.03211728 0.02796976 0.01495554
+v -0.03181043 0.02623593 0.01680614
+v -0.03132698 -0.00652053 0.01680614
+v -0.03132698 0.02809523 0.01509246
+v -0.03214218 0.02796595 0.01494986
+v -0.03214218 0.02792793 0.01498835
+v -0.03213651 0.02612186 0.01680614
+v -0.03214218 0.02798497 0.01492021
+v -0.03181705 -0.00599962 0.01680614
+v -0.03132698 -0.00682091 0.01630895
+v -0.03132698 0.02858572 0.01425644
+v -0.03214218 0.02650589 0.01640738
+v -0.03214218 0.02609144 0.01680614
+v -0.03214218 0.02881386 0.01343367
+v -0.03214218 -0.00565361 0.01680614
+v -0.03132698 -0.00689315 0.01610704
+v -0.03214218 -0.00595019 0.01630895
+v -0.03214218 -0.00645589 0.01490948
+v -0.03132698 0.02905720 0.01340654
+v -0.03132698 0.02928154 0.01282227
+v -0.03214218 0.02921690 0.01237240
+v -0.03164523 -0.00718972 0.01424887
+v -0.03132698 -0.00758516 0.01403182
+v -0.03214218 -0.00677908 0.01394096
+v -0.03132698 0.02978343 0.01149726
+v -0.03214218 0.02992792 0.01045870
+v -0.03132698 -0.00825816 0.01187709
+v -0.03214218 -0.00779048 0.01065997
+v -0.03132698 0.03016366 0.01047384
+v -0.03132698 0.03019408 0.01036090
+v -0.03214218 0.02995073 0.01036090
+v -0.03214218 -0.00788174 0.01036090
+v -0.03204992 -0.00796919 0.01036090
+v -0.03132698 -0.00864979 0.01036090
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 17
+f 1 17 11
+f 1 11 5
+f 1 5 12
+f 1 12 18
+f 1 18 25
+f 1 25 29
+f 1 29 36
+f 1 36 32
+f 1 32 31
+f 1 31 27
+f 1 27 22
+f 1 22 21
+f 1 21 13
+f 1 13 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 7
+f 5 11 12
+f 6 13 10
+f 7 10 16
+f 7 16 23
+f 7 23 28
+f 7 28 33
+f 7 33 34
+f 7 34 30
+f 7 30 26
+f 7 26 20
+f 7 20 19
+f 7 19 17
+f 7 17 15
+f 7 15 14
+f 7 14 8
+f 8 14 9
+f 9 14 15
+f 10 13 16
+f 11 17 12
+f 12 17 19
+f 12 19 20
+f 12 20 18
+f 13 21 16
+f 16 21 22
+f 16 22 23
+f 18 20 24
+f 18 24 25
+f 20 26 24
+f 22 27 23
+f 23 27 28
+f 24 26 25
+f 25 26 29
+f 26 30 29
+f 27 31 28
+f 28 31 32
+f 28 32 33
+f 29 30 34
+f 29 34 35
+f 29 35 36
+f 32 36 35
+f 32 35 34
+f 32 34 33
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_292.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_292.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96c76a57e8260bcc528add25d78272f0bb721fa8
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_292.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.01372992 0.00899295 -0.02471888
+v -0.01472193 0.00899295 -0.02468065
+v -0.01372992 0.01172037 -0.02433257
+v -0.01372992 0.00899295 -0.00416606
+v -0.01472193 0.01172037 -0.02425410
+v -0.01472193 0.00899295 -0.00416606
+v -0.01372992 0.01464310 -0.02383359
+v -0.01372992 0.01279527 -0.00416405
+v -0.01472193 0.01612525 -0.02344124
+v -0.01454190 0.01644384 -0.02340905
+v -0.01372992 0.01565152 -0.02365251
+v -0.01472193 0.01279527 -0.00416405
+v -0.01372992 0.02314396 -0.00416405
+v -0.01472193 0.01662807 -0.02327224
+v -0.01372992 0.02156624 -0.02124613
+v -0.01372992 0.01798832 -0.02290806
+v -0.01372992 0.01660036 -0.02345935
+v -0.01472193 0.02314396 -0.00416405
+v -0.01372992 0.02314396 -0.02002684
+v -0.01472193 0.01772098 -0.02275917
+v -0.01452403 0.02237796 -0.02061838
+v -0.01372992 0.02259266 -0.02071495
+v -0.01472193 0.02314396 -0.01942122
+v -0.01472193 0.02256080 -0.02025822
+v -0.01472193 0.02200119 -0.02071696
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 17
+f 1 17 16
+f 1 16 15
+f 1 15 22
+f 1 22 19
+f 1 19 13
+f 1 13 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 18
+f 2 18 23
+f 2 23 24
+f 2 24 25
+f 2 25 20
+f 2 20 14
+f 2 14 9
+f 2 9 5
+f 3 5 7
+f 4 8 12
+f 4 12 6
+f 5 9 10
+f 5 10 11
+f 5 11 7
+f 8 13 18
+f 8 18 12
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 13 19 23
+f 13 23 18
+f 14 20 15
+f 15 20 21
+f 15 21 22
+f 19 22 21
+f 19 21 24
+f 19 24 23
+f 20 25 21
+f 21 25 24
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_293.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_293.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0360a6d828f7ab584ab76aa73693431dde3f2df9
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_293.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.01052485 -0.01246016 -0.02412507
+v 0.00908122 -0.01246016 -0.02398457
+v 0.00908122 -0.01208641 -0.02408631
+v 0.01052485 -0.01176392 -0.02430917
+v 0.01052485 -0.01246016 0.02317955
+v 0.00908122 -0.01246016 0.02307296
+v 0.00908122 -0.01176392 -0.02416867
+v 0.01052485 -0.01151845 -0.02436731
+v 0.01052485 -0.01244779 0.02318924
+v 0.00908122 -0.01243390 0.02309234
+v 0.00908122 -0.01018884 -0.02453688
+v 0.00908122 -0.01007495 -0.02456110
+v 0.00908122 -0.00988024 -0.02459986
+v 0.01052485 -0.00988024 -0.02468222
+v 0.01052485 -0.00988024 0.02463783
+v 0.00908122 -0.00988024 0.02481224
+v 0.00908122 -0.01096060 0.02417273
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 15
+f 1 15 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 17
+f 2 17 16
+f 2 16 13
+f 2 13 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 8 13 14
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 13 16 15
+f 13 15 14
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_294.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_294.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c86e60dc9be5f778952ea7b6ef8f6a3087ad5ec
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_294.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00386193 0.03337072 0.01341828
+v -0.00386193 0.03349575 0.01311687
+v -0.00387002 0.03337072 0.01341828
+v -0.00386193 -0.02120277 0.01341828
+v -0.00390766 0.03349575 0.01311066
+v -0.00386193 0.03349575 0.01137794
+v -0.00390766 0.03336528 0.01341828
+v -0.00386572 -0.02120820 0.01341828
+v -0.00386193 -0.02132780 0.01320505
+v -0.00554852 0.03349575 0.01229721
+v -0.00386193 0.03349031 0.01137093
+v -0.00387183 0.03349575 0.01137093
+v -0.00554852 0.03279449 0.01341828
+v -0.00554852 -0.02072982 0.01341828
+v -0.00554852 -0.02079505 0.01330024
+v -0.00386193 -0.02139303 0.01305455
+v -0.00554852 0.03349575 0.01137093
+v -0.00386193 -0.02203993 0.01137093
+v -0.00554852 -0.02157786 0.01137093
+v -0.00474237 -0.02184967 0.01137093
+v -0.00468871 -0.02185510 0.01139498
+v -0.00466642 -0.02187141 0.01137093
+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 9
+f 1 9 16
+f 1 16 18
+f 1 18 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 7
+f 4 8 9
+f 5 10 7
+f 6 11 12
+f 7 10 13
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 10 17 19
+f 10 19 15
+f 10 15 14
+f 10 14 13
+f 11 18 22
+f 11 22 20
+f 11 20 19
+f 11 19 17
+f 11 17 12
+f 15 19 20
+f 15 20 16
+f 16 20 21
+f 16 21 22
+f 16 22 18
+f 20 22 21
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_295.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_295.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4de662d81dab7472f568b4c48addf8cee434f8c7
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_295.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.01052712 0.00318561 -0.02570577
+v 0.01052494 0.00584963 -0.02558015
+v 0.01077033 0.00584963 -0.02557512
+v 0.01077033 0.00318561 -0.02570074
+v 0.01052494 0.00318561 -0.02549473
+v 0.01052494 0.00609588 -0.02554497
+v 0.01141571 0.00584963 -0.02549473
+v 0.01141571 0.00520448 -0.02552990
+v 0.01135632 0.00318561 -0.02563291
+v 0.01077033 0.00878635 -0.02510280
+v 0.01141571 0.00878635 -0.02503747
+v 0.01052494 0.00318561 -0.00004168
+v 0.01052494 0.00878635 -0.02511033
+v 0.01141571 0.00318561 -0.02562537
+v 0.01052494 0.00903057 -0.02506008
+v 0.01052494 0.01172104 -0.02443701
+v 0.01077033 0.01172104 -0.02441942
+v 0.01141571 0.01539042 -0.02351496
+v 0.01141571 0.00318561 -0.00004168
+v 0.01052494 0.02397267 -0.00004168
+v 0.01052494 0.01488571 -0.02368329
+v 0.01096958 0.01492437 -0.02365314
+v 0.01052494 0.01623908 -0.02335668
+v 0.01141571 0.01589311 -0.02339185
+v 0.01141571 0.02397267 -0.00004168
+v 0.01052494 0.02397267 -0.01936449
+v 0.01052494 0.01563668 -0.02350240
+v 0.01141571 0.01614954 -0.02332905
+v 0.01052494 0.01680689 -0.02319589
+v 0.01141571 0.01686591 -0.02312805
+v 0.01141571 0.02397267 -0.01907808
+v 0.01067092 0.02397267 -0.01931927
+v 0.01052494 0.02394417 -0.01939464
+v 0.01052494 0.01745814 -0.02299490
+v 0.01096958 0.01739098 -0.02300495
+v 0.01141571 0.01742354 -0.02295972
+v 0.01141571 0.02330310 -0.01975140
+v 0.01077033 0.02390754 -0.01935444
+v 0.01052494 0.02259894 -0.02067847
+v 0.01141571 0.02233640 -0.02067596
+v 0.01052494 0.01783668 -0.02286928
+v 0.01077033 0.02052715 -0.02183668
+v 0.01141571 0.01987997 -0.02203014
+v 0.01077033 0.02244020 -0.02075636
+v 0.01052494 0.02247479 -0.02077143
+v 0.01141571 0.02205351 -0.02086439
+v 0.01052494 0.02052715 -0.02185427
+v 0.01052494 0.02072253 -0.02176382
+v 0.01141571 0.02056582 -0.02170604
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 19
+f 1 19 12
+f 1 12 5
+f 1 5 2
+f 2 5 12
+f 2 12 20
+f 2 20 26
+f 2 26 33
+f 2 33 39
+f 2 39 45
+f 2 45 48
+f 2 48 47
+f 2 47 41
+f 2 41 34
+f 2 34 29
+f 2 29 23
+f 2 23 27
+f 2 27 21
+f 2 21 16
+f 2 16 15
+f 2 15 13
+f 2 13 6
+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 6 13 10
+f 7 11 18
+f 7 18 24
+f 7 24 28
+f 7 28 30
+f 7 30 36
+f 7 36 43
+f 7 43 49
+f 7 49 46
+f 7 46 40
+f 7 40 37
+f 7 37 31
+f 7 31 25
+f 7 25 19
+f 7 19 14
+f 7 14 8
+f 8 14 9
+f 10 13 15
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 12 19 25
+f 12 25 20
+f 16 21 22
+f 16 22 18
+f 16 18 17
+f 18 23 24
+f 18 22 23
+f 20 25 31
+f 20 31 32
+f 20 32 26
+f 21 27 22
+f 22 27 23
+f 23 28 24
+f 23 29 30
+f 23 30 28
+f 26 32 33
+f 29 34 35
+f 29 35 30
+f 30 35 36
+f 31 37 38
+f 31 38 32
+f 32 38 33
+f 33 38 37
+f 33 37 40
+f 33 40 39
+f 34 41 35
+f 35 41 42
+f 35 42 36
+f 36 42 43
+f 39 40 44
+f 39 44 45
+f 40 46 44
+f 41 47 42
+f 42 47 48
+f 42 48 44
+f 42 44 49
+f 42 49 43
+f 44 46 49
+f 44 48 45
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_296.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_296.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc9dfe87d650c0748d29f81a618e3509835f2924
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_296.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.00757020 0.00024255 -0.02591744
+v 0.00761700 0.00024255 -0.02591744
+v 0.00737222 0.00024255 -0.02591359
+v 0.00761700 0.00291502 -0.02585186
+v 0.00761700 0.00024255 0.01349188
+v 0.00602317 0.00024255 -0.02588272
+v 0.00602317 0.00291502 -0.02575541
+v 0.00761700 0.00585080 -0.02562424
+v 0.00761700 0.00188447 0.01349574
+v 0.00602317 0.00024255 0.01349188
+v 0.00602317 0.00585080 -0.02550850
+v 0.00602317 0.00757141 -0.02533875
+v 0.00761700 0.00606871 -0.02560109
+v 0.00761700 0.01570232 0.01349574
+v 0.00602317 0.00188447 0.01349574
+v 0.00602317 0.00766221 -0.02532717
+v 0.00602317 0.00878507 -0.02516128
+v 0.00761700 0.00878507 -0.02519600
+v 0.00602317 0.01570232 0.01349574
+v 0.00761700 0.01570232 -0.02359108
+v 0.00602317 0.01059497 -0.02489122
+v 0.00761700 0.00900147 -0.02516128
+v 0.00602317 0.01570232 -0.02361037
+v 0.00761700 0.01465513 -0.02388043
+v 0.00602317 0.01465513 -0.02392672
+v 0.00602317 0.01171783 -0.02466360
+v 0.00761700 0.01171783 -0.02461344
+v 0.00761700 0.01193574 -0.02455943
+v 0.00602317 0.01344147 -0.02423150
+f 1 2 5
+f 1 5 10
+f 1 10 6
+f 1 6 3
+f 1 3 4
+f 1 4 2
+f 2 4 8
+f 2 8 13
+f 2 13 18
+f 2 18 22
+f 2 22 27
+f 2 27 28
+f 2 28 24
+f 2 24 20
+f 2 20 14
+f 2 14 9
+f 2 9 5
+f 3 6 4
+f 4 6 7
+f 4 7 8
+f 5 9 15
+f 5 15 10
+f 6 10 15
+f 6 15 19
+f 6 19 23
+f 6 23 25
+f 6 25 29
+f 6 29 26
+f 6 26 21
+f 6 21 17
+f 6 17 16
+f 6 16 12
+f 6 12 11
+f 6 11 7
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 9 14 19
+f 9 19 15
+f 12 16 13
+f 13 16 17
+f 13 17 18
+f 14 20 23
+f 14 23 19
+f 17 21 18
+f 18 21 22
+f 20 24 25
+f 20 25 23
+f 21 26 27
+f 21 27 22
+f 24 28 26
+f 24 26 29
+f 24 29 25
+f 26 28 27
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_297.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_297.obj
new file mode 100644
index 0000000000000000000000000000000000000000..207f9968ceb1175772a231db094429723696b2c3
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_297.obj
@@ -0,0 +1,228 @@
+# https://github.com/mikedh/trimesh
+v -0.02445641 0.02350782 -0.01683665
+v -0.02449472 0.02350782 -0.01683294
+v -0.02445641 0.02392324 -0.01647990
+v -0.02287745 0.02388285 -0.01652078
+v -0.02287745 0.02350782 -0.01680321
+v -0.02449472 0.02392324 -0.01647619
+v -0.02449472 0.02350782 0.02106440
+v -0.02445641 0.02527996 -0.01501202
+v -0.02287745 0.02531128 -0.01505290
+v -0.02287745 0.02350782 0.02112758
+v -0.02449472 0.02527749 -0.01500830
+v -0.02445641 0.02350782 0.02107184
+v -0.02449472 0.02445901 0.02032117
+v -0.02449472 0.02529397 -0.01498601
+v -0.02449472 0.02660618 -0.01304618
+v -0.02445641 0.02660948 -0.01304618
+v -0.02287745 0.02667460 -0.01304618
+v -0.02287745 0.02451505 0.02031746
+v -0.02445641 0.02448209 0.02030631
+v -0.02449472 0.02447796 0.02030631
+v -0.02449472 0.02772551 -0.01133674
+v -0.02445641 0.02772716 -0.01134046
+v -0.02287745 0.02776096 -0.01140364
+v -0.02287745 0.02599624 0.01884958
+v -0.02445641 0.02747824 0.01739284
+v -0.02445641 0.02601025 0.01883843
+v -0.02449472 0.02600777 0.01883843
+v -0.02449472 0.02851432 -0.00986886
+v -0.02445641 0.02851680 -0.00987258
+v -0.02287745 0.02857615 -0.00993575
+v -0.02287745 0.02746423 0.01737055
+v -0.02445641 0.02881353 0.01592496
+v -0.02449472 0.02881188 0.01592125
+v -0.02449472 0.02747494 0.01738913
+v -0.02449472 0.02964355 -0.00717465
+v -0.02445641 0.02964767 -0.00717465
+v -0.02287745 0.02909872 -0.00869084
+v -0.02287745 0.02875088 0.01590266
+v -0.02429763 0.03038043 0.01313785
+v -0.02449472 0.03036807 0.01313785
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+f 59 66 67
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+f 64 69 71
+f 65 72 66
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+f 69 76 77
+f 69 77 71
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_298.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_298.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0450a865842eaff68bf2c9e631c38f34cc426a18
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_298.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v -0.02003354 0.01843010 -0.01400864
+v -0.02003354 0.02603631 -0.01400864
+v -0.01858266 0.01843010 -0.01400864
+v -0.02003354 0.01843010 0.02439079
+v -0.02003354 0.02670295 -0.01304593
+v -0.01858564 0.02601042 -0.01400864
+v -0.01858266 0.02586932 -0.01400864
+v -0.01858266 0.01843010 0.02372141
+v -0.01858564 0.01843010 0.02440960
+v -0.01858266 0.01944884 0.02385303
+v -0.02003354 0.02089474 0.02303322
+v -0.02003354 0.02722461 -0.01226372
+v -0.01858266 0.02667576 -0.01304593
+v -0.01858266 0.02091545 0.02304450
+v -0.01858564 0.02091545 0.02304450
+v -0.02003354 0.02305648 0.02157035
+v -0.02003354 0.02777346 -0.01143639
+v -0.01858564 0.02775663 -0.01141383
+v -0.01858266 0.02775534 -0.01141383
+v -0.01858266 0.02303706 0.02157035
+v -0.02003354 0.02452180 0.02029175
+v -0.02003354 0.02862262 -0.00996600
+v -0.01858266 0.02861615 -0.00994720
+v -0.01858266 0.02450238 0.02026918
+v -0.02003354 0.02595216 0.01882512
+v -0.02003354 0.02919995 -0.00857834
+v -0.01858266 0.02974491 -0.00717564
+v -0.01858266 0.02592498 0.01879503
+v -0.01858564 0.02592369 0.01880255
+v -0.02003354 0.02742007 0.01730583
+v -0.02003354 0.02977209 -0.00717188
+v -0.01858564 0.02974620 -0.00717188
+v -0.01858266 0.02982128 -0.00686351
+v -0.01858266 0.02739030 0.01726447
+v -0.02003354 0.02863427 0.01583544
+v -0.02003354 0.03012030 -0.00583687
+v -0.01951730 0.03083743 -0.00291864
+v -0.01858266 0.03052029 -0.00400169
+v -0.01858266 0.02857343 0.01579784
+v -0.02003354 0.02994037 0.01336849
+v -0.02003354 0.03084261 -0.00293745
+v -0.01858266 0.03080507 -0.00275318
+v -0.02003354 0.03092416 -0.00250122
+v -0.01858266 0.03101089 -0.00151594
+v -0.01858266 0.02980187 0.01336473
+v -0.01858564 0.02980187 0.01336849
+v -0.02003354 0.03063938 0.01142802
+v -0.02003354 0.03109114 -0.00140688
+v -0.01858266 0.03101995 -0.00145201
+v -0.01858266 0.03056171 0.01119863
+v -0.01858564 0.03036495 0.01176272
+v -0.02003354 0.03089050 0.01068343
+v -0.01858266 0.03105748 0.00973200
+v -0.02003354 0.03109373 -0.00138808
+v -0.02003354 0.03128531 0.00007103
+v -0.01858266 0.03133579 0.00133083
+v -0.02003354 0.03111056 0.00995763
+v -0.01858266 0.03147171 0.00749444
+v -0.01858564 0.03147171 0.00749820
+v -0.02003354 0.03157915 0.00749820
+v -0.02003354 0.03146265 0.00163544
+v -0.01858266 0.03136945 0.00163168
+v -0.01858266 0.03154420 0.00456494
+v -0.02003354 0.03165423 0.00456494
+v -0.02003354 0.03156491 0.00308327
+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 11
+f 1 11 16
+f 1 16 21
+f 1 21 25
+f 1 25 30
+f 1 30 35
+f 1 35 40
+f 1 40 47
+f 1 47 52
+f 1 52 57
+f 1 57 60
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+f 1 64 65
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+f 56 61 62
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+f 58 64 60
+f 58 60 59
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_299.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_299.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3147436bd774815102b1ca8de5f41f1f3f1024f5
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_299.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.00437769 0.02045027 -0.02222574
+v 0.00602317 0.02017783 -0.02222574
+v 0.00602317 0.01950192 -0.02245351
+v 0.00602317 0.01641894 -0.02341647
+v 0.00437769 0.01837425 -0.02286039
+v 0.00437769 -0.01411086 -0.02222574
+v 0.00602317 -0.01477987 -0.02222574
+v 0.00437769 0.01673965 -0.02335809
+v 0.00602317 0.01465329 -0.02393219
+v 0.00437769 0.01465329 -0.02398517
+v 0.00437769 0.01501194 -0.02387777
+v 0.00437769 -0.01397981 -0.02232124
+v 0.00602317 -0.01345908 -0.02321357
+v 0.00510508 -0.01441777 -0.02222574
+v 0.00602317 0.01171860 -0.02466775
+v 0.00437769 0.01223933 -0.02459027
+v 0.00437769 -0.01284869 -0.02311771
+v 0.00602317 -0.01326941 -0.02334980
+v 0.00489923 0.01171860 -0.02470235
+v 0.00602317 0.01059438 -0.02489372
+v 0.00437769 0.01171860 -0.02470631
+v 0.00437769 -0.01159343 -0.02366262
+v 0.00602317 -0.01310389 -0.02341215
+v 0.00602317 0.00765969 -0.02533123
+v 0.00437769 0.00930463 -0.02506490
+v 0.00437769 -0.01113478 -0.02379849
+v 0.00602317 -0.01241763 -0.02362586
+v 0.00437769 0.00878390 -0.02512077
+v 0.00602317 0.00584921 -0.02550963
+v 0.00437769 0.00636994 -0.02535898
+v 0.00602317 -0.01178655 -0.02381002
+v 0.00437769 -0.00882771 -0.02446701
+v 0.00602317 -0.00995193 -0.02434412
+v 0.00602317 0.00291107 -0.02575830
+v 0.00437769 0.00343179 -0.02561883
+v 0.00489923 -0.00882771 -0.02452504
+v 0.00437769 -0.00588957 -0.02518131
+v 0.00489923 -0.00588957 -0.02525519
+v 0.00602317 -0.00588957 -0.02533267
+v 0.00602317 -0.00002018 -0.02590750
+v 0.00489923 -0.00002018 -0.02588660
+v 0.00489923 0.00291107 -0.02569198
+v 0.00437769 0.00291107 -0.02566027
+v 0.00437769 -0.00536884 -0.02528330
+v 0.00489923 -0.00295488 -0.02578893
+v 0.00602317 -0.00416876 -0.02564585
+v 0.00602317 -0.00114440 -0.02589813
+v 0.00437769 -0.00002018 -0.02584551
+v 0.00437769 0.00050055 -0.02582028
+v 0.00437769 -0.00295488 -0.02572226
+v 0.00602317 -0.00295488 -0.02583758
+v 0.00602317 -0.00407909 -0.02566207
+v 0.00437769 -0.00243415 -0.02576514
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 8
+f 1 8 11
+f 1 11 10
+f 1 10 16
+f 1 16 21
+f 1 21 25
+f 1 25 28
+f 1 28 30
+f 1 30 35
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+f 1 43 49
+f 1 49 48
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+f 1 53 50
+f 1 50 44
+f 1 44 37
+f 1 37 32
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+f 1 22 17
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+f 1 12 6
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+f 22 27 23
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+f 24 30 28
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+f 26 33 31
+f 29 34 35
+f 29 35 30
+f 32 36 33
+f 32 37 38
+f 32 38 36
+f 33 36 38
+f 33 38 39
+f 34 40 41
+f 34 41 42
+f 34 42 35
+f 35 42 43
+f 37 44 38
+f 38 44 45
+f 38 45 46
+f 38 46 39
+f 40 47 41
+f 41 48 49
+f 41 49 43
+f 41 43 42
+f 41 47 45
+f 41 45 48
+f 44 50 45
+f 45 51 52
+f 45 52 46
+f 45 50 53
+f 45 53 48
+f 45 47 51
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_3.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fb3e66bf51be9ae4f8626d634cb6432cb886483
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.02774370 0.01452298 -0.01495023
+v 0.02774370 0.01651216 -0.01450679
+v 0.02854176 0.01452298 -0.01288461
+v 0.02774370 0.01452298 0.00152146
+v 0.02774370 0.01759216 -0.01401175
+v 0.02804788 0.01759216 -0.01304586
+v 0.02857762 0.01452298 -0.01277012
+v 0.02907111 0.01452298 0.00152146
+v 0.02774370 0.02055623 0.00152146
+v 0.02774370 0.01917142 -0.01296524
+v 0.02774370 0.02042572 -0.01200580
+v 0.02823368 0.02052645 -0.01011111
+v 0.02907111 0.01452298 -0.01051908
+v 0.02907111 0.01753522 0.00152146
+v 0.02774409 0.02059039 0.00152146
+v 0.02774370 0.02226162 -0.00130525
+v 0.02774370 0.02123768 -0.01084964
+v 0.02907111 0.01470429 -0.01011111
+v 0.02774370 0.02170892 -0.01011111
+v 0.02774370 0.02346336 -0.00427064
+v 0.02774682 0.02346249 -0.00424000
+v 0.02907111 0.01751595 -0.00130525
+v 0.02907111 0.01748092 -0.00159389
+v 0.02907111 0.01717435 -0.00405940
+v 0.02774370 0.02346249 -0.00416744
+v 0.02774370 0.02347037 -0.00424000
+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 16
+f 1 16 25
+f 1 25 26
+f 1 26 20
+f 1 20 19
+f 1 19 17
+f 1 17 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 5 6
+f 4 8 14
+f 4 14 15
+f 4 15 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 8 13 18
+f 8 18 24
+f 8 24 23
+f 8 23 22
+f 8 22 14
+f 9 15 16
+f 11 17 12
+f 12 18 13
+f 12 17 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 12 24 18
+f 14 22 21
+f 14 21 25
+f 14 25 16
+f 14 16 15
+f 20 26 21
+f 21 26 25
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_30.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a819ca783e16c6d19b0bc656e6ba8e71b8ce0a9
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.02991168 0.00302639 -0.00470722
+v 0.02991168 0.01568456 -0.00470722
+v 0.03113603 0.00302639 -0.00470722
+v 0.02991168 0.00302639 0.02273486
+v 0.02991168 0.01635660 -0.00405717
+v 0.03113603 0.01495118 -0.00470722
+v 0.03113603 0.00302639 0.02230776
+v 0.03021848 0.00302639 0.02273486
+v 0.02991168 0.00329174 0.02273486
+v 0.03113603 0.01581523 0.00063560
+v 0.03113603 0.01568456 -0.00130114
+v 0.03113603 0.01564989 -0.00173899
+v 0.03113603 0.01518052 -0.00405985
+v 0.03113603 0.01517119 -0.00408940
+v 0.02991168 0.01664729 0.00163486
+v 0.03113603 0.00500385 0.02125209
+v 0.03085991 0.00302639 0.02243670
+v 0.02991168 0.00441314 0.02213584
+v 0.03113603 0.01585390 0.00163486
+v 0.02991168 0.01657528 0.00456818
+v 0.03113603 0.01582724 0.00456818
+v 0.03113603 0.01584190 0.00352325
+v 0.02991168 0.00552922 0.02149116
+v 0.03113603 0.00515586 0.02116345
+v 0.02991168 0.00710266 0.02057517
+v 0.02991168 0.01628060 0.00634644
+v 0.03113603 0.01532053 0.00734033
+v 0.03113603 0.00662929 0.02026357
+v 0.03113603 0.00781470 0.01927774
+v 0.03023131 0.00781337 0.01979886
+v 0.02991168 0.00744801 0.02028238
+v 0.02991168 0.01578590 0.00803336
+v 0.03113603 0.01446181 0.01044824
+v 0.03113603 0.01447648 0.01039721
+v 0.03113603 0.01531653 0.00735644
+v 0.03113603 0.00869343 0.01854441
+v 0.02991168 0.00781470 0.01996809
+v 0.03103800 0.00873743 0.01856053
+v 0.02991168 0.01502585 0.01055838
+v 0.03113603 0.01365242 0.01267778
+v 0.03113603 0.00885344 0.01838324
+v 0.02991168 0.01021486 0.01781646
+v 0.02991168 0.00876410 0.01913537
+v 0.02991168 0.01398045 0.01315323
+v 0.03113603 0.01364042 0.01270464
+v 0.03113603 0.01082424 0.01631219
+v 0.02991168 0.01029087 0.01773587
+v 0.02991168 0.01318439 0.01455274
+v 0.03113603 0.01353775 0.01288999
+v 0.03113603 0.01361242 0.01275836
+v 0.03113603 0.01096691 0.01615371
+v 0.02991168 0.01308439 0.01470048
+v 0.03113603 0.01268569 0.01418204
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 17
+f 1 17 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 23
+f 1 23 25
+f 1 25 31
+f 1 31 37
+f 1 37 43
+f 1 43 42
+f 1 42 47
+f 1 47 52
+f 1 52 48
+f 1 48 44
+f 1 44 39
+f 1 39 32
+f 1 32 26
+f 1 26 20
+f 1 20 15
+f 1 15 5
+f 1 5 2
+f 2 5 6
+f 3 6 14
+f 3 14 13
+f 3 13 12
+f 3 12 11
+f 3 11 10
+f 3 10 19
+f 3 19 22
+f 3 22 21
+f 3 21 27
+f 3 27 35
+f 3 35 34
+f 3 34 33
+f 3 33 40
+f 3 40 45
+f 3 45 50
+f 3 50 49
+f 3 49 53
+f 3 53 51
+f 3 51 46
+f 3 46 41
+f 3 41 36
+f 3 36 29
+f 3 29 28
+f 3 28 24
+f 3 24 16
+f 3 16 7
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 5 15 10
+f 7 16 17
+f 8 17 16
+f 8 16 18
+f 8 18 9
+f 10 15 19
+f 15 20 21
+f 15 21 22
+f 15 22 19
+f 16 23 18
+f 16 24 25
+f 16 25 23
+f 20 26 21
+f 21 26 27
+f 24 28 25
+f 25 28 29
+f 25 29 30
+f 25 30 31
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 29 36 30
+f 30 37 31
+f 30 36 38
+f 30 38 37
+f 32 39 33
+f 33 39 40
+f 36 41 42
+f 36 42 38
+f 37 38 43
+f 38 42 43
+f 39 44 40
+f 40 44 45
+f 41 46 42
+f 42 46 47
+f 44 48 49
+f 44 49 50
+f 44 50 45
+f 46 51 52
+f 46 52 47
+f 48 52 53
+f 48 53 49
+f 51 53 52
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_300.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_300.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a85f91393cc4c5c1995426d6d238bf12aeeb2e9
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_300.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v 0.00057028 0.01032247 0.03199158
+v 0.00195270 0.01170096 0.03185396
+v 0.00195270 0.01171542 0.03185396
+v 0.00057028 0.01171542 0.03195335
+v 0.00057028 0.00878011 0.03197756
+v 0.00195270 0.00876565 0.03182847
+v 0.00057028 0.01325778 0.03172908
+v 0.00195270 0.01464109 0.03142836
+v 0.00057028 0.00738716 0.03195462
+v 0.00195270 0.00585926 0.03169213
+v 0.00057028 0.01464591 0.03147423
+v 0.00195270 0.01757158 0.03067145
+v 0.00057028 0.01619309 0.03107667
+v 0.00057028 0.00585926 0.03188199
+v 0.00195270 0.00292395 0.03153157
+v 0.00195270 0.02060328 0.02987122
+v 0.00195270 0.02190465 0.02949532
+v 0.00057028 0.01917660 0.03021400
+v 0.00057028 0.00292395 0.03165645
+v 0.00195270 -0.00001618 0.03101168
+v 0.00195270 0.02321084 0.02842877
+v 0.00057028 0.02332652 0.02821470
+v 0.00110574 0.02177933 0.02944562
+v 0.00057028 0.02130216 0.02954119
+v 0.00057028 -0.00001618 0.03102824
+v 0.00195270 -0.00295149 0.03012353
+v 0.00057028 0.02505686 0.02674039
+v 0.00195270 0.02506167 0.02676333
+v 0.00057028 0.02168293 0.02941122
+v 0.00057028 -0.00295149 0.03009422
+v 0.00195270 -0.00464327 0.02958962
+v 0.00057028 0.02894650 0.02201547
+v 0.00195270 0.02894650 0.02200527
+v 0.00057028 -0.00457579 0.02956795
+v 0.00195270 -0.00610851 0.02911304
+v 0.00057028 0.03041174 0.02017545
+v 0.00195270 0.03040693 0.02014997
+v 0.00057028 -0.00604103 0.02906335
+v 0.00195270 -0.00882693 0.02778400
+v 0.00195270 0.03041174 0.02014359
+v 0.00057028 0.03116847 0.01897383
+v 0.00057028 -0.00891850 0.02757630
+v 0.00195270 -0.00984392 0.02712139
+v 0.00195270 0.03112027 0.01897383
+v 0.00057028 -0.01807146 0.01897383
+v 0.00057028 -0.01008973 0.02681047
+v 0.00195270 -0.01046087 0.02671618
+v 0.00195270 -0.01790759 0.01897383
+v 0.00171413 -0.01797506 0.01897383
+v 0.00171968 -0.01797024 0.01898020
+v 0.00195270 -0.01646644 0.02105978
+v 0.00057028 -0.01731956 0.02002254
+v 0.00057028 -0.01035483 0.02663463
+v 0.00057028 -0.01268765 0.02470669
+v 0.00066649 -0.01422037 0.02337764
+v 0.00195270 -0.01193093 0.02543301
+v 0.00195270 -0.01790277 0.01898530
+v 0.00195270 -0.01788831 0.01900696
+v 0.00057028 -0.01650500 0.02110820
+v 0.00057028 -0.01675563 0.02077690
+v 0.00195270 -0.01506385 0.02252135
+v 0.00057028 -0.01576756 0.02187912
+v 0.00057028 -0.01426375 0.02333432
+v 0.00195270 -0.01359861 0.02396635
+v 0.00195270 -0.01419628 0.02337764
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 11
+f 1 11 13
+f 1 13 18
+f 1 18 24
+f 1 24 29
+f 1 29 22
+f 1 22 27
+f 1 27 32
+f 1 32 36
+f 1 36 41
+f 1 41 45
+f 1 45 52
+f 1 52 60
+f 1 60 59
+f 1 59 62
+f 1 62 63
+f 1 63 54
+f 1 54 53
+f 1 53 46
+f 1 46 42
+f 1 42 38
+f 1 38 34
+f 1 34 30
+f 1 30 25
+f 1 25 19
+f 1 19 14
+f 1 14 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 15
+f 2 15 20
+f 2 20 26
+f 2 26 31
+f 2 31 35
+f 2 35 39
+f 2 39 43
+f 2 43 47
+f 2 47 56
+f 2 56 64
+f 2 64 65
+f 2 65 61
+f 2 61 51
+f 2 51 58
+f 2 58 57
+f 2 57 48
+f 2 48 44
+f 2 44 40
+f 2 40 37
+f 2 37 33
+f 2 33 28
+f 2 28 21
+f 2 21 17
+f 2 17 16
+f 2 16 12
+f 2 12 8
+f 2 8 3
+f 3 7 4
+f 3 8 7
+f 5 9 6
+f 6 9 10
+f 7 8 11
+f 8 12 13
+f 8 13 11
+f 9 14 10
+f 10 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 22
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 19 25 20
+f 20 25 26
+f 21 27 22
+f 21 28 27
+f 22 29 23
+f 23 29 24
+f 25 30 31
+f 25 31 26
+f 27 28 32
+f 28 33 32
+f 30 34 31
+f 31 34 35
+f 32 33 36
+f 33 37 36
+f 34 38 35
+f 35 38 39
+f 36 40 41
+f 36 37 40
+f 38 42 39
+f 39 42 43
+f 40 44 41
+f 41 44 48
+f 41 48 49
+f 41 49 45
+f 42 46 43
+f 43 46 47
+f 45 49 50
+f 45 50 51
+f 45 51 52
+f 46 53 47
+f 47 53 54
+f 47 54 55
+f 47 55 56
+f 48 57 49
+f 49 57 50
+f 50 57 58
+f 50 58 51
+f 51 59 60
+f 51 60 52
+f 51 61 62
+f 51 62 59
+f 54 63 55
+f 55 63 62
+f 55 62 64
+f 55 64 56
+f 61 65 62
+f 62 65 64
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_301.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_301.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95488fccdd73595a4a8152e3db3cf667960269b3
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_301.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.01564935 0.03077969 -0.00133014
+v -0.01472193 0.03076520 -0.00133014
+v -0.01472193 0.03056725 -0.00307751
+v -0.01564935 0.03067347 -0.00198966
+v -0.01564935 -0.01806567 -0.00133014
+v -0.01472193 -0.01854365 -0.00133014
+v -0.01472193 0.03029205 -0.00463742
+v -0.01534705 0.03022446 -0.00463742
+v -0.01564935 0.03023411 -0.00424145
+v -0.01564935 -0.01765529 -0.00423983
+v -0.01563156 -0.01807533 -0.00133014
+v -0.01472193 -0.01835536 -0.00264593
+v -0.01472193 -0.01794497 -0.00463742
+v -0.01564935 0.03014721 -0.00463742
+v -0.01544373 -0.01766012 -0.00463742
+v -0.01564935 -0.01757321 -0.00463742
+v -0.01472193 -0.01802705 -0.00423983
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 16
+f 1 16 10
+f 1 10 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 17
+f 2 17 13
+f 2 13 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 6 11 10
+f 6 10 12
+f 7 13 15
+f 7 15 16
+f 7 16 14
+f 7 14 8
+f 8 14 9
+f 10 15 12
+f 10 16 15
+f 12 15 17
+f 13 17 15
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_302.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_302.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feb47e329868942959a7bcc790eb75ceb3142075
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_302.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.01692583 0.02992122 -0.00605904
+v -0.01564985 0.02982415 -0.00605904
+v -0.01564935 0.02956993 -0.00717756
+v -0.01692583 0.02964389 -0.00718696
+v -0.01692583 -0.01696240 -0.00605904
+v -0.01564935 0.01142755 -0.00605904
+v -0.01564935 0.02956531 -0.00719339
+v -0.01564935 0.02849756 -0.01022081
+v -0.01692583 0.02903837 -0.00889690
+v -0.01692583 -0.01676364 -0.00706175
+v -0.01647239 -0.01708257 -0.00605904
+v -0.01564935 -0.01602870 -0.00605904
+v -0.01564935 0.02846983 -0.01029703
+v -0.01692583 0.02854841 -0.01010203
+v -0.01564935 -0.01707795 -0.00718251
+v -0.01692583 -0.01649555 -0.00841139
+v -0.01564985 -0.01729982 -0.00605904
+v -0.01564935 -0.01707795 -0.00717558
+v -0.01564935 0.02811854 -0.01111463
+v -0.01692583 0.02852992 -0.01014509
+v -0.01692583 -0.01631066 -0.00921068
+v -0.01564935 -0.01644470 -0.00988426
+v -0.01692583 0.02793365 -0.01111463
+v -0.01692583 0.02793827 -0.01111018
+v -0.01692583 0.02849294 -0.01020695
+v -0.01564935 -0.01603794 -0.01111463
+v -0.01692583 -0.01601945 -0.01010351
+v -0.01564935 -0.01608416 -0.01097506
+v -0.01692583 -0.01563118 -0.01111463
+v -0.01692583 -0.01584381 -0.01062961
+v -0.01629909 -0.01593163 -0.01088548
+v -0.01692583 -0.01571438 -0.01092755
+v -0.01653599 -0.01575598 -0.01111463
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 20
+f 1 20 25
+f 1 25 24
+f 1 24 23
+f 1 23 29
+f 1 29 32
+f 1 32 30
+f 1 30 27
+f 1 27 21
+f 1 21 16
+f 1 16 10
+f 1 10 5
+f 1 5 11
+f 1 11 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 12
+f 3 12 18
+f 3 18 15
+f 3 15 22
+f 3 22 28
+f 3 28 26
+f 3 26 19
+f 3 19 13
+f 3 13 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 8 13 9
+f 9 13 14
+f 10 15 11
+f 10 16 15
+f 11 15 17
+f 12 17 18
+f 13 19 20
+f 13 20 14
+f 15 16 21
+f 15 21 22
+f 15 18 17
+f 19 23 24
+f 19 24 25
+f 19 25 20
+f 19 26 33
+f 19 33 29
+f 19 29 23
+f 21 27 22
+f 22 27 28
+f 26 28 27
+f 26 27 30
+f 26 30 31
+f 26 31 32
+f 26 32 33
+f 29 33 32
+f 30 32 31
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_303.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_303.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da44cc2e406575a1aa62438108e968c0de68e08b
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_303.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.01472193 0.03127599 0.00390112
+v -0.01447490 0.03127102 0.00390112
+v -0.01472193 0.03132081 0.00363836
+v -0.01472193 -0.01869805 0.00390112
+v -0.01372992 0.03124612 0.00390112
+v -0.01472193 0.03129093 0.00070834
+v -0.01372992 0.03144030 0.00264650
+v -0.01372992 0.03149507 -0.00027880
+v -0.01472193 -0.01871298 0.00346260
+v -0.01449976 -0.01886235 0.00390112
+v -0.01372992 -0.01937021 0.00390112
+v -0.01472193 0.03116147 -0.00071318
+v -0.01372992 0.03143532 -0.00091913
+v -0.01472193 -0.01869805 0.00163096
+v -0.01472193 -0.01868809 0.00050061
+v -0.01372992 -0.01934033 0.00163096
+v -0.01472193 0.03064864 -0.00214357
+v -0.01372992 0.03093244 -0.00169676
+v -0.01373205 0.03084282 -0.00214357
+v -0.01472193 -0.01854370 -0.00130439
+v -0.01372992 -0.01907645 -0.00130439
+v -0.01472193 -0.01842420 -0.00214357
+v -0.01372992 0.02625718 -0.00214357
+v -0.01372992 -0.01885737 -0.00214357
+v -0.01442994 -0.01857357 -0.00214357
+v -0.01416465 -0.01868311 -0.00214357
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 17
+f 1 17 22
+f 1 22 20
+f 1 20 15
+f 1 15 14
+f 1 14 9
+f 1 9 4
+f 1 4 10
+f 1 10 11
+f 1 11 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 5 11 16
+f 5 16 21
+f 5 21 24
+f 5 24 23
+f 5 23 18
+f 5 18 13
+f 5 13 8
+f 5 8 7
+f 6 8 12
+f 8 13 12
+f 9 14 11
+f 9 11 10
+f 11 14 15
+f 11 15 16
+f 12 13 17
+f 13 18 19
+f 13 19 17
+f 15 20 16
+f 16 20 21
+f 17 19 23
+f 17 23 24
+f 17 24 26
+f 17 26 25
+f 17 25 22
+f 18 23 19
+f 20 22 21
+f 21 22 25
+f 21 25 26
+f 21 26 24
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_304.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_304.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c433f7817b7bd11eff5d5eef3809e6e898d2f5d
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_304.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.05034056 -0.00632977 -0.00130300
+v 0.05033778 -0.00632977 -0.00141659
+v 0.05016541 -0.00567426 -0.00130300
+v 0.05007229 -0.00570461 0.00456543
+v 0.05031745 -0.00632977 0.00001778
+v 0.05031537 -0.00632977 -0.00228684
+v 0.05015940 -0.00567426 -0.00153596
+v 0.05007714 -0.00567426 0.00380107
+v 0.05023034 -0.00632977 0.00456543
+v 0.05025784 -0.00632977 0.00320807
+v 0.05006074 -0.00567426 0.00453270
+v 0.05005958 -0.00567426 0.00456543
+v 0.04961686 -0.00632977 0.00703757
+v 0.05000644 -0.00567426 -0.00242162
+v 0.05005519 -0.00632977 -0.00379053
+v 0.04925871 -0.00567426 0.00726476
+v 0.04945858 -0.00614098 0.00722818
+v 0.04798022 -0.00590200 0.00958479
+v 0.04798022 -0.00632573 0.00967143
+v 0.04927858 -0.00632977 0.00755933
+v 0.04984608 -0.00598716 -0.00413517
+v 0.04969843 -0.00567426 -0.00415442
+v 0.04798022 -0.00632977 -0.00999782
+v 0.04880420 -0.00589302 -0.00717528
+v 0.04798022 -0.00567426 0.00943654
+v 0.04798022 -0.00588384 0.00957324
+v 0.04798022 -0.00632977 0.00726861
+v 0.04870230 -0.00567426 -0.00717528
+v 0.04798022 -0.00597400 -0.00967052
+v 0.04798022 -0.00567426 -0.00927775
+v 0.04862675 -0.00567426 -0.00740247
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 9
+f 1 9 13
+f 1 13 20
+f 1 20 27
+f 1 27 23
+f 1 23 15
+f 1 15 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 14
+f 3 14 22
+f 3 22 28
+f 3 28 31
+f 3 31 30
+f 3 30 25
+f 3 25 16
+f 3 16 12
+f 3 12 11
+f 3 11 8
+f 3 8 4
+f 4 9 10
+f 4 10 5
+f 4 8 11
+f 4 11 12
+f 4 12 13
+f 4 13 9
+f 6 14 7
+f 6 15 14
+f 12 16 13
+f 13 16 17
+f 13 17 18
+f 13 18 19
+f 13 19 20
+f 14 15 21
+f 14 21 22
+f 15 23 24
+f 15 24 21
+f 16 25 26
+f 16 26 17
+f 17 26 18
+f 18 26 25
+f 18 25 30
+f 18 30 29
+f 18 29 23
+f 18 23 27
+f 18 27 19
+f 19 27 20
+f 21 24 22
+f 22 24 28
+f 23 29 24
+f 24 29 30
+f 24 30 31
+f 24 31 28
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_305.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_305.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fb08596e44d8501c59958075a7bb9f167d6e0ee
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_305.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.03032877 0.02556523 0.01798301
+v -0.03032877 0.02682509 0.01673340
+v -0.03132697 0.02523974 0.01798301
+v -0.03032877 -0.00681197 0.01798301
+v -0.03132697 0.02584095 0.01738617
+v -0.03032877 0.02825344 0.01526480
+v -0.03132697 0.02809644 0.01509224
+v -0.03132697 -0.00583932 0.01798301
+v -0.03067915 -0.00650563 0.01798301
+v -0.03032877 -0.00771187 0.01630853
+v -0.03032877 0.02936013 0.01337372
+v -0.03132697 0.02858277 0.01425678
+v -0.03132697 -0.00681963 0.01630853
+v -0.03125115 -0.00690005 0.01630853
+v -0.03032877 -0.00881473 0.01339455
+v -0.03032877 0.02937927 0.01332314
+v -0.03035945 0.02990773 0.01190393
+v -0.03110439 0.02969328 0.01190393
+v -0.03132697 0.02927971 0.01282210
+v -0.03132697 0.02905761 0.01340645
+v -0.03132697 -0.00689239 0.01610740
+v -0.03033590 -0.00882239 0.01335646
+v -0.03032877 -0.00883005 0.01335170
+v -0.03032877 0.02991538 0.01190393
+v -0.03132697 0.02962818 0.01190393
+v -0.03132697 -0.00758550 0.01403244
+v -0.03130880 -0.00826713 0.01190393
+v -0.03033238 -0.00920149 0.01190393
+v -0.03032877 -0.00883388 0.01333742
+v -0.03032877 -0.00746679 0.01190393
+v -0.03132697 -0.00824798 0.01190393
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 15
+f 1 15 23
+f 1 23 29
+f 1 29 30
+f 1 30 24
+f 1 24 16
+f 1 16 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 12
+f 3 12 20
+f 3 20 19
+f 3 19 25
+f 3 25 31
+f 3 31 26
+f 3 26 21
+f 3 21 13
+f 3 13 8
+f 4 9 10
+f 6 11 7
+f 7 11 12
+f 8 13 14
+f 8 14 9
+f 9 14 10
+f 10 14 15
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 13 21 14
+f 14 22 15
+f 14 21 22
+f 15 22 23
+f 16 24 17
+f 17 24 30
+f 17 30 28
+f 17 28 27
+f 17 27 31
+f 17 31 25
+f 17 25 18
+f 18 25 19
+f 21 26 22
+f 22 26 27
+f 22 27 28
+f 22 28 29
+f 22 29 23
+f 26 31 27
+f 28 30 29
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_306.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_306.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d65e8f7059ee0ea70c0278dd3147e1c77df52ade
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_306.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00981186 0.00991386 -0.02483610
+v -0.01049968 0.00991386 -0.02479004
+v -0.00981186 0.01170939 -0.02460898
+v -0.00981186 0.00991386 -0.00861061
+v -0.01049968 0.01172097 -0.02456133
+v -0.01049968 0.00991386 -0.00861061
+v -0.00981186 0.01172097 -0.02460739
+v -0.00981186 0.01582718 -0.00861061
+v -0.00981186 0.01465563 -0.02417857
+v -0.00981186 0.01175396 -0.02460263
+v -0.01049968 0.01441426 -0.02416268
+v -0.01049968 0.01582718 -0.00861061
+v -0.00981186 0.01582718 -0.02391015
+v -0.01049968 0.01465563 -0.02412615
+v -0.00981186 0.01467994 -0.02417380
+v -0.01049968 0.01582718 -0.02387203
+v -0.01024747 0.01582718 -0.02388633
+v -0.01049968 0.01518121 -0.02401974
+f 1 2 3
+f 1 3 7
+f 1 7 10
+f 1 10 9
+f 1 9 15
+f 1 15 13
+f 1 13 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 12
+f 2 12 16
+f 2 16 18
+f 2 18 14
+f 2 14 11
+f 2 11 5
+f 3 5 7
+f 4 8 12
+f 4 12 6
+f 5 9 10
+f 5 10 7
+f 5 11 9
+f 8 13 17
+f 8 17 16
+f 8 16 12
+f 9 11 14
+f 9 14 15
+f 13 15 17
+f 14 18 15
+f 15 18 16
+f 15 16 17
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_307.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_307.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c23fe89293ab89c40da022fa62b211531a3a7326
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_307.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.00386193 0.00569967 -0.00802395
+v -0.00386193 0.00569967 -0.02525650
+v -0.00554852 0.00569967 -0.00802395
+v -0.00386193 -0.02132143 -0.00802395
+v -0.00554852 0.00569967 -0.02530926
+v -0.00386193 0.00291186 -0.02540625
+v -0.00554852 -0.02078979 -0.00802395
+v -0.00386193 -0.02119182 -0.00848680
+v -0.00554852 0.00455440 -0.02537052
+v -0.00386193 0.00286690 -0.02540455
+v -0.00554852 0.00291186 -0.02538243
+v -0.00554852 -0.02016028 -0.01016462
+v -0.00390766 -0.02072102 -0.01011187
+v -0.00386193 -0.02073424 -0.01011357
+v -0.00386193 -0.00002406 -0.02522247
+v -0.00554852 0.00161847 -0.02529905
+v -0.00554852 -0.01970799 -0.01154976
+v -0.00386193 -0.01966567 -0.01301147
+v -0.00554852 -0.01943556 -0.01228997
+v -0.00386193 -0.00006903 -0.02521566
+v -0.00554852 -0.00002406 -0.02510676
+v -0.00386193 -0.01899649 -0.01435577
+v -0.00554852 -0.01904410 -0.01303530
+v -0.00386193 -0.00295999 -0.02466944
+v -0.00554852 -0.00131746 -0.02486172
+v -0.00554852 -0.01741744 -0.01599105
+v -0.00386193 -0.01811836 -0.01586683
+v -0.00386193 -0.00594617 -0.02407046
+v -0.00554852 -0.00425338 -0.02424232
+v -0.00386193 -0.01809191 -0.01590937
+v -0.00554852 -0.01652873 -0.01738980
+v -0.00386193 -0.00816266 -0.02355486
+v -0.00554852 -0.00603081 -0.02386626
+v -0.00386193 -0.01668742 -0.01785265
+v -0.00554852 -0.01635416 -0.01762973
+v -0.00386193 -0.00819969 -0.02354465
+v -0.00554852 -0.00777120 -0.02345787
+v -0.00554852 -0.00711789 -0.02361272
+v -0.00390766 -0.01665569 -0.01786967
+v -0.00386193 -0.01666362 -0.01787477
+v -0.00400704 -0.01455557 -0.01948963
+v -0.00554852 -0.01299239 -0.02020943
+v -0.00505175 -0.01310084 -0.02029111
+v -0.00386193 -0.00962798 -0.02301714
+v -0.00554852 -0.00821292 -0.02329451
+v -0.00386193 -0.01468253 -0.01943178
+v -0.00386193 -0.01438365 -0.01966320
+v -0.00386193 -0.01459260 -0.01950154
+v -0.00554852 -0.01258506 -0.02051062
+v -0.00554852 -0.01157997 -0.02124232
+v -0.00400704 -0.01197936 -0.02142610
+v -0.00386193 -0.01221741 -0.02129167
+v -0.00386193 -0.01333095 -0.02046467
+v -0.00386193 -0.01196085 -0.02148055
+v -0.00554852 -0.00913337 -0.02285038
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 18
+f 1 18 22
+f 1 22 27
+f 1 27 30
+f 1 30 34
+f 1 34 40
+f 1 40 46
+f 1 46 48
+f 1 48 47
+f 1 47 53
+f 1 53 52
+f 1 52 54
+f 1 54 44
+f 1 44 36
+f 1 36 32
+f 1 32 28
+f 1 28 24
+f 1 24 20
+f 1 20 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 5
+f 3 5 9
+f 3 9 11
+f 3 11 16
+f 3 16 21
+f 3 21 25
+f 3 25 29
+f 3 29 33
+f 3 33 38
+f 3 38 37
+f 3 37 45
+f 3 45 55
+f 3 55 50
+f 3 50 49
+f 3 49 42
+f 3 42 35
+f 3 35 31
+f 3 31 26
+f 3 26 23
+f 3 23 19
+f 3 19 17
+f 3 17 12
+f 3 12 7
+f 4 7 8
+f 5 6 9
+f 6 10 11
+f 6 11 9
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 10 15 11
+f 11 15 16
+f 12 17 13
+f 13 17 14
+f 14 17 19
+f 14 19 18
+f 15 20 21
+f 15 21 16
+f 18 19 22
+f 19 23 22
+f 20 24 21
+f 21 24 25
+f 22 23 26
+f 22 26 27
+f 24 28 25
+f 25 28 29
+f 26 30 27
+f 26 31 30
+f 28 32 33
+f 28 33 29
+f 30 31 34
+f 31 35 34
+f 32 36 37
+f 32 37 38
+f 32 38 33
+f 34 35 39
+f 34 39 40
+f 35 41 39
+f 35 42 43
+f 35 43 41
+f 36 44 37
+f 37 44 45
+f 39 41 46
+f 39 46 40
+f 41 47 48
+f 41 48 46
+f 41 43 47
+f 42 49 43
+f 43 49 50
+f 43 50 51
+f 43 51 52
+f 43 52 53
+f 43 53 47
+f 44 54 50
+f 44 50 55
+f 44 55 45
+f 50 54 51
+f 51 54 52
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_308.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_308.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e79326ee4cac1fd6b1a0ba2ba7115cc8cbfacdb
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_308.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.03436471 -0.02631684 0.01302356
+v 0.03265424 -0.02631684 0.01292642
+v 0.03436471 -0.02663874 0.01279192
+v 0.03436471 -0.02631684 -0.02306013
+v 0.03131944 -0.02631684 0.01276203
+v 0.03378437 -0.02745670 0.01204469
+v 0.03436471 -0.02745670 0.01210073
+v 0.03436471 -0.02632153 -0.02511128
+v 0.03425434 -0.02631684 -0.02513370
+v 0.02907163 -0.02631684 0.01210073
+v 0.03131944 -0.02745670 0.01154778
+v 0.03436471 -0.02745670 -0.02508513
+v 0.03436471 -0.02644203 -0.02511502
+v 0.03425434 -0.02644203 -0.02513743
+v 0.03412947 -0.02631684 -0.02512996
+v 0.02907163 -0.02745670 0.01063990
+v 0.03032301 -0.02745670 0.01115175
+v 0.02907163 -0.02631684 -0.02420713
+v 0.03425434 -0.02745670 -0.02511502
+v 0.03131944 -0.02745670 -0.02499920
+v 0.03131944 -0.02631684 -0.02498051
+v 0.02907163 -0.02745670 -0.02419592
+v 0.03107176 -0.02631684 -0.02490206
+v 0.02950689 -0.02745670 -0.02437152
+v 0.02907163 -0.02699500 -0.02421087
+v 0.03117021 -0.02631684 -0.02493568
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 13
+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 15
+f 1 15 21
+f 1 21 26
+f 1 26 23
+f 1 23 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 6 11 17
+f 6 17 16
+f 6 16 22
+f 6 22 24
+f 6 24 20
+f 6 20 19
+f 6 19 12
+f 6 12 7
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 10 16 17
+f 10 17 11
+f 10 18 25
+f 10 25 22
+f 10 22 16
+f 12 19 13
+f 13 19 14
+f 14 20 15
+f 14 19 20
+f 15 20 21
+f 18 23 24
+f 18 24 25
+f 20 24 23
+f 20 23 26
+f 20 26 21
+f 22 25 24
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_309.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_309.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f44679333441071c302df718f2c449a4c5e88a0
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_309.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.01529485 0.01183061 -0.02382323
+v 0.01529485 0.01370520 -0.02343701
+v 0.01556689 0.01361801 -0.02341668
+v 0.01649449 0.01183061 -0.02360979
+v 0.01529485 0.01183061 0.02809401
+v 0.01529485 0.01391912 -0.02338619
+v 0.01529485 0.01595086 -0.02282209
+v 0.01658351 0.01462070 -0.02290848
+v 0.01678343 0.01298335 -0.02326422
+v 0.01678343 0.01185900 -0.02353356
+v 0.01678343 0.01183061 -0.02353865
+v 0.01677964 0.01183061 0.02735712
+v 0.01576418 0.01465618 0.02688450
+v 0.01529485 0.01396981 0.02735204
+v 0.01529485 0.01609279 -0.02278143
+v 0.01541010 0.01609178 -0.02275602
+v 0.01678343 0.01462273 -0.02285258
+v 0.01678343 0.01440982 -0.02290848
+v 0.01678343 0.01418982 -0.02296438
+v 0.01661207 0.01609178 -0.02247652
+v 0.01678343 0.01609178 -0.02243078
+v 0.01678343 0.01183061 0.02610188
+v 0.01678343 0.01465618 0.02633057
+v 0.01529485 0.01589611 0.02664057
+v 0.01529485 0.01759125 -0.02234439
+v 0.01664122 0.01759125 -0.02203439
+v 0.01678343 0.01743512 -0.02203947
+v 0.01529485 0.01624893 0.02646270
+v 0.01529485 0.01609279 0.02654401
+v 0.01678343 0.01609279 0.02554286
+v 0.01529485 0.01814582 -0.02208012
+v 0.01529485 0.02022521 -0.02108914
+v 0.01664122 0.01983285 -0.02096209
+v 0.01678343 0.01979433 -0.02093668
+v 0.01678343 0.01759531 -0.02198357
+v 0.01529485 0.01777983 0.02554286
+v 0.01678343 0.01726682 0.02487205
+v 0.01529485 0.02114172 -0.02044882
+v 0.01678343 0.02115388 -0.01979324
+v 0.01529485 0.01814582 0.02526336
+v 0.01529485 0.01908565 0.02453664
+v 0.01678343 0.01778895 0.02445533
+v 0.01563683 0.01944962 0.02400812
+v 0.01529485 0.02163039 -0.02003210
+v 0.01664122 0.02129988 -0.01972718
+v 0.01673068 0.02218800 -0.01882767
+v 0.01678343 0.02218800 -0.01879718
+v 0.01529485 0.01958243 0.02415041
+v 0.01678343 0.02028908 0.02233107
+v 0.01678343 0.02057093 0.02207189
+v 0.01529485 0.02218800 -0.01942734
+v 0.01532035 0.02218800 -0.01941718
+v 0.01664122 0.02218800 -0.01887341
+v 0.01678343 0.02218800 0.02054730
+v 0.01529485 0.02108089 0.02274779
+v 0.01675443 0.02218800 0.02057271
+v 0.01529485 0.02218800 0.02170599
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 22
+f 1 22 12
+f 1 12 5
+f 1 5 14
+f 1 14 24
+f 1 24 29
+f 1 29 28
+f 1 28 36
+f 1 36 40
+f 1 40 41
+f 1 41 48
+f 1 48 55
+f 1 55 57
+f 1 57 51
+f 1 51 44
+f 1 44 38
+f 1 38 32
+f 1 32 31
+f 1 31 25
+f 1 25 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 4
+f 4 10 11
+f 5 12 13
+f 5 13 14
+f 7 15 16
+f 7 16 8
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 8 16 20
+f 8 20 21
+f 8 21 17
+f 9 19 18
+f 9 18 17
+f 9 17 21
+f 9 21 27
+f 9 27 35
+f 9 35 34
+f 9 34 39
+f 9 39 47
+f 9 47 54
+f 9 54 50
+f 9 50 49
+f 9 49 42
+f 9 42 37
+f 9 37 30
+f 9 30 23
+f 9 23 22
+f 9 22 11
+f 9 11 10
+f 12 23 13
+f 12 22 23
+f 13 24 14
+f 13 23 24
+f 15 25 16
+f 16 25 26
+f 16 26 20
+f 20 26 21
+f 21 26 27
+f 23 28 29
+f 23 29 24
+f 23 30 28
+f 25 31 26
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 26 31 32
+f 28 30 37
+f 28 37 36
+f 32 38 33
+f 33 38 34
+f 34 38 39
+f 36 37 40
+f 37 41 40
+f 37 42 43
+f 37 43 41
+f 38 44 39
+f 39 44 45
+f 39 45 46
+f 39 46 47
+f 41 43 48
+f 42 49 43
+f 43 49 50
+f 43 50 48
+f 44 51 52
+f 44 52 53
+f 44 53 45
+f 45 53 46
+f 46 53 52
+f 46 52 51
+f 46 51 57
+f 46 57 56
+f 46 56 54
+f 46 54 47
+f 48 50 55
+f 50 54 56
+f 50 56 57
+f 50 57 55
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_31.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ac7f6b51737115421f9ed55c1b6d98b98ebed7d
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.02774370 -0.00295848 0.02498114
+v 0.02774370 -0.00359978 0.02496090
+v 0.02838376 -0.00295848 0.02484271
+v 0.02774370 -0.00002239 0.02487998
+v 0.02774370 -0.00691061 0.02452326
+v 0.02907111 -0.00295848 0.02460206
+v 0.02838376 -0.00002239 0.02472345
+v 0.02865935 -0.00614182 0.02433372
+v 0.02774370 0.00242307 0.02415056
+v 0.02774370 -0.00882679 0.02422510
+v 0.02907111 -0.00547733 0.02427515
+v 0.02907111 -0.00002239 0.02447321
+v 0.02907111 0.00066141 0.02429751
+v 0.02907111 0.00194016 0.02391630
+v 0.02838376 0.00220672 0.02405686
+v 0.02798330 -0.00882679 0.02414418
+v 0.02907111 -0.00593320 0.02420381
+v 0.02774370 0.00390270 0.02337110
+v 0.02774370 -0.00963422 0.02403450
+v 0.02907111 0.00400315 0.02274179
+v 0.02838376 0.00367477 0.02323693
+v 0.02907111 -0.00882679 0.02363838
+v 0.02907111 -0.00791892 0.02384176
+v 0.02907111 -0.01178220 0.02288128
+v 0.02774370 0.00527416 0.02257674
+v 0.02774370 -0.01048800 0.02380130
+v 0.02907111 0.00656450 0.02126486
+v 0.02857749 0.00606227 0.02177279
+v 0.02774370 -0.01117566 0.02360963
+v 0.02907111 -0.01469897 0.02204751
+v 0.02774370 0.00778916 0.02108171
+v 0.02907111 0.00807890 0.02018299
+v 0.02774370 0.00783938 0.02104657
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+v 0.02774370 -0.01963238 0.02062915
+v 0.02907111 -0.01952420 0.02043109
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+v 0.02907111 -0.02480144 0.01410384
+v 0.02907111 -0.02360382 0.01632295
+v 0.02907111 0.01384677 0.01410384
+v 0.02774370 0.01466579 0.01410384
+v 0.02774370 -0.02394379 0.01634212
+v 0.02774370 -0.02479371 0.01410384
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 18
+f 1 18 25
+f 1 25 31
+f 1 31 33
+f 1 33 38
+f 1 38 42
+f 1 42 47
+f 1 47 52
+f 1 52 59
+f 1 59 61
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+f 29 35 36
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+f 43 49 48
+f 44 50 49
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+f 48 49 53
+f 49 54 53
+f 49 50 55
+f 49 55 56
+f 49 56 57
+f 49 57 54
+f 51 58 52
+f 52 58 59
+f 55 60 56
+f 56 60 61
+f 56 61 59
+f 56 59 58
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_310.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_310.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30e34337c857ad763e6a01bcf4e00ffc9ac05e69
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_310.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.00057014 -0.01815581 -0.01797381
+v -0.00006820 -0.01815581 -0.01777838
+v -0.00092817 -0.01726007 -0.01825153
+v 0.00057014 -0.01736918 -0.01861667
+v 0.00057014 -0.01815581 0.01887999
+v -0.00008478 -0.01815581 -0.01777324
+v -0.00092817 -0.01537196 -0.01973267
+v -0.00092817 -0.01815581 -0.01736695
+v 0.00057014 -0.01648280 -0.01931096
+v 0.00057014 -0.01732658 0.02002170
+v -0.00077944 -0.01815581 0.01901370
+v -0.00092817 -0.01390678 -0.02086411
+v -0.00092817 -0.01815581 0.01304283
+v 0.00057014 -0.01454273 -0.02080753
+v 0.00057014 -0.01651293 0.02110685
+v -0.00092817 -0.01655865 0.02115828
+v -0.00083445 -0.01815581 0.01901884
+v -0.00092817 -0.01176927 -0.02243268
+v 0.00057014 -0.01430165 -0.02099268
+v -0.00092803 -0.01815581 0.01899313
+v -0.00092817 -0.01815477 0.01899313
+v 0.00057014 -0.01577515 0.02187313
+v -0.00092817 -0.01706887 0.02047428
+v -0.00092817 -0.01653787 0.02117885
+v -0.00092817 -0.01164769 -0.02252011
+v 0.00057014 -0.01318458 -0.02181039
+v 0.00057014 -0.01426944 0.02332857
+v -0.00092817 -0.01501346 0.02262400
+v 0.00057014 -0.01201035 -0.02264868
+v 0.00057014 -0.01206855 -0.02260754
+v -0.00092817 -0.01037371 -0.02337383
+v -0.00092817 -0.01499164 0.02264457
+v 0.00057014 -0.01269722 0.02470171
+v 0.00057014 -0.01117697 -0.02319897
+v -0.00092817 -0.00931068 -0.02366182
+v -0.00021048 -0.01052023 -0.02344068
+v -0.00092817 -0.01354516 0.02389428
+v 0.00057014 -0.01036332 0.02663543
+v 0.00057014 -0.01064908 -0.02349211
+v -0.00092817 -0.00900621 -0.02374411
+v 0.00057014 -0.00890853 -0.02398068
+v -0.00092817 -0.01352022 0.02391486
+v 0.00057014 -0.01009419 0.02681029
+v -0.00079793 -0.00901244 0.02736572
+v 0.00029644 -0.01034254 0.02661486
+v -0.00092817 -0.00753999 -0.02406811
+v 0.00057014 -0.00753999 -0.02428411
+v -0.00092817 -0.01302871 0.02430057
+v 0.00057014 -0.00892204 0.02757144
+v -0.00092817 -0.00753999 0.02815258
+v -0.00092817 -0.00898439 0.02736572
+v -0.00092817 -0.00917871 0.02722686
+v -0.00092817 -0.01128919 0.02565829
+v -0.00092817 -0.01161652 0.02540629
+v 0.00057014 -0.00753999 0.02825544
+v -0.00088212 -0.00753999 0.02815772
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 19
+f 1 19 26
+f 1 26 30
+f 1 30 29
+f 1 29 34
+f 1 34 39
+f 1 39 41
+f 1 41 47
+f 1 47 55
+f 1 55 49
+f 1 49 43
+f 1 43 38
+f 1 38 33
+f 1 33 27
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+f 1 22 15
+f 1 15 10
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+f 1 5 11
+f 1 11 17
+f 1 17 20
+f 1 20 13
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+f 1 8 6
+f 1 6 2
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+f 3 6 8
+f 3 8 13
+f 3 13 21
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+f 13 20 21
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+f 16 22 24
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+f 18 25 26
+f 18 26 19
+f 20 23 21
+f 22 27 24
+f 24 27 28
+f 25 29 30
+f 25 30 26
+f 25 31 29
+f 27 32 28
+f 27 33 32
+f 29 31 34
+f 31 35 36
+f 31 36 34
+f 32 33 37
+f 33 38 37
+f 34 36 39
+f 35 40 36
+f 36 40 41
+f 36 41 39
+f 37 38 42
+f 38 43 44
+f 38 44 45
+f 38 45 42
+f 40 46 47
+f 40 47 41
+f 42 45 48
+f 43 49 44
+f 44 49 50
+f 44 50 51
+f 44 51 45
+f 45 52 53
+f 45 53 54
+f 45 54 48
+f 45 51 52
+f 46 50 56
+f 46 56 55
+f 46 55 47
+f 49 55 56
+f 49 56 50
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_311.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_311.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f02856b52495e750ac9af44c60f23cee64a66029
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_311.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.01472193 0.02430092 0.00390172
+v -0.01472193 0.03127977 0.00390172
+v -0.01372992 0.02430092 0.00390172
+v -0.01472193 0.02430092 0.01138519
+v -0.01472193 0.03105024 0.00656957
+v -0.01372992 0.03124698 0.00390172
+v -0.01372992 0.02430092 0.01138519
+v -0.01472193 0.02981514 0.01138519
+v -0.01472193 0.03073463 0.00819065
+v -0.01462366 0.03070184 0.00827855
+v -0.01372992 0.03106458 0.00567443
+v -0.01372992 0.02962045 0.01138519
+v -0.01472193 0.03016558 0.01037504
+v -0.01372992 0.02996064 0.01040580
+v -0.01472193 0.03066700 0.00848219
+v -0.01372992 0.03061850 0.00785735
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 6 11
+f 3 11 16
+f 3 16 14
+f 3 14 12
+f 3 12 7
+f 4 7 12
+f 4 12 8
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 8 12 14
+f 8 14 13
+f 9 15 10
+f 10 15 13
+f 10 13 14
+f 10 14 16
+f 10 16 11
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_312.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_312.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0b76aecd25bf08c5b15454b22b680f093e84218
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_312.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.00057028 0.03560992 -0.00561026
+v 0.00072456 0.03559886 -0.00561026
+v 0.00057028 0.03515482 -0.00717601
+v 0.00057028 0.01678872 -0.00561026
+v 0.00195270 0.03550489 -0.00561026
+v 0.00057028 0.03514745 -0.00720058
+v 0.00057028 0.01678872 -0.02354269
+v 0.00195270 0.01678872 -0.00561026
+v 0.00195270 0.03502953 -0.00716548
+v 0.00057028 0.03511613 -0.00730239
+v 0.00057028 0.01756994 -0.02334083
+v 0.00176648 0.01678872 -0.02344966
+v 0.00195270 0.01678872 -0.02343211
+v 0.00195270 0.03400510 -0.01044619
+v 0.00179639 0.03408432 -0.01025310
+v 0.00057028 0.03462233 -0.00889096
+v 0.00057028 0.01927057 -0.02289497
+v 0.00057028 0.02052900 -0.02256322
+v 0.00195270 0.02052900 -0.02242630
+v 0.00195270 0.03368634 -0.01142917
+v 0.00070656 0.03375820 -0.01161348
+v 0.00057028 0.03421698 -0.01018991
+v 0.00057028 0.02192194 -0.02214545
+v 0.00057028 0.02346412 -0.02167502
+v 0.00195270 0.02346412 -0.02152933
+v 0.00195270 0.03285905 -0.01251221
+v 0.00057028 0.03376188 -0.01161875
+v 0.00057028 0.03380795 -0.01149061
+v 0.00179639 0.03268402 -0.01277375
+v 0.00195270 0.03102761 -0.01475376
+v 0.00057028 0.03182910 -0.01393753
+v 0.00057028 0.02539875 -0.02077454
+v 0.00195270 0.02529557 -0.02069204
+v 0.00195270 0.03254030 -0.01292120
+v 0.00195270 0.02964204 -0.01622824
+v 0.00057028 0.02827674 -0.01790282
+v 0.00057028 0.02973417 -0.01631249
+v 0.00057028 0.03106998 -0.01484328
+v 0.00057028 0.03107920 -0.01483275
+v 0.00057028 0.02541165 -0.02076752
+v 0.00057028 0.02610443 -0.02013033
+v 0.00195270 0.02676220 -0.01925267
+v 0.00195270 0.02817909 -0.01777819
+v 0.00057028 0.02687828 -0.01937028
+f 1 2 3
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+f 1 39 38
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+f 4 13 8
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+f 5 19 25
+f 5 25 33
+f 5 33 42
+f 5 42 43
+f 5 43 35
+f 5 35 30
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+f 5 26 20
+f 5 20 14
+f 5 14 9
+f 6 9 10
+f 7 11 12
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 11 17 12
+f 12 17 18
+f 12 18 13
+f 13 18 19
+f 14 20 15
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 20 26 21
+f 21 27 28
+f 21 28 22
+f 21 26 29
+f 21 29 30
+f 21 30 31
+f 21 31 27
+f 24 32 33
+f 24 33 25
+f 26 34 29
+f 29 34 30
+f 30 35 36
+f 30 36 37
+f 30 37 38
+f 30 38 39
+f 30 39 31
+f 32 40 33
+f 33 40 41
+f 33 41 42
+f 35 43 36
+f 36 43 44
+f 41 44 42
+f 42 44 43
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_313.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_313.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1478b1093c9cfb6ef93dae274c38f039099af94f
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_313.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.00092832 0.03430150 0.01137066
+v -0.00092832 0.03464305 0.01044000
+v -0.00097223 0.03464894 0.01043672
+v -0.00097223 0.03430150 0.01137066
+v -0.00092832 -0.02233655 0.01137066
+v -0.00092832 0.03545570 0.00750145
+v -0.00097223 0.03546158 0.00750145
+v -0.00239890 0.03546158 0.00750145
+v -0.00239890 0.03461361 0.01043672
+v -0.00239890 0.03423672 0.01137066
+v -0.00097223 -0.02233655 0.01137066
+v -0.00092832 -0.02257799 0.01043781
+v -0.00092832 0.03597980 0.00456729
+v -0.00239890 0.03601513 0.00456729
+v -0.00239890 0.03546747 0.00747849
+v -0.00239890 -0.02224822 0.01137066
+v -0.00163834 -0.02229533 0.01137066
+v -0.00239890 -0.02290776 0.00900955
+v -0.00097223 -0.02257799 0.01043672
+v -0.00239890 -0.02291365 0.00898658
+v -0.00239890 -0.02293720 0.00887503
+v -0.00239890 -0.02320809 0.00750145
+v -0.00097223 -0.02315509 0.00750145
+v -0.00092832 -0.02314331 0.00754848
+v -0.00092832 0.03652156 0.00132691
+v -0.00166368 0.03671000 0.00041046
+v -0.00239890 0.03663933 0.00093758
+v -0.00239890 -0.02333764 0.00607538
+v -0.00239890 -0.02337297 0.00561716
+v -0.00092832 -0.02333764 0.00456729
+v -0.00092832 0.03656867 0.00019830
+v -0.00166368 0.03671000 0.00019830
+v -0.00191792 0.03671589 0.00019830
+v -0.00239890 0.03671589 0.00045639
+v -0.00239890 -0.02343186 0.00456729
+v -0.00092832 -0.02333175 0.00163203
+v -0.00092832 -0.02330819 0.00019830
+v -0.00239890 0.03671589 0.00019830
+v -0.00239890 -0.02330819 0.00163203
+v -0.00097223 -0.02330819 0.00019830
+v -0.00239890 -0.02314331 0.00019830
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 17
+f 1 17 11
+f 1 11 5
+f 1 5 12
+f 1 12 24
+f 1 24 30
+f 1 30 36
+f 1 36 37
+f 1 37 31
+f 1 31 25
+f 1 25 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
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+f 8 39 35
+f 8 35 29
+f 8 29 28
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+f 8 22 21
+f 8 21 20
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+f 8 16 10
+f 8 10 9
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+f 12 19 20
+f 12 20 21
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+f 12 22 23
+f 12 23 24
+f 13 25 26
+f 13 26 27
+f 13 27 14
+f 16 18 17
+f 18 20 19
+f 22 28 23
+f 23 28 29
+f 23 29 30
+f 23 30 24
+f 25 31 26
+f 26 31 32
+f 26 32 33
+f 26 33 34
+f 26 34 27
+f 29 35 30
+f 30 35 36
+f 31 37 40
+f 31 40 41
+f 31 41 38
+f 31 38 33
+f 31 33 32
+f 33 38 34
+f 35 37 36
+f 35 39 40
+f 35 40 37
+f 39 41 40
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_314.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_314.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ac1bdb29d8ff6a6fbd79a390b6588d0620af387
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_314.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.01858550 0.00584955 0.02758703
+v -0.01858550 0.00545062 0.02752484
+v -0.01858266 0.00584955 0.02758679
+v -0.01858550 0.00878552 0.02749468
+v -0.02003354 0.00584955 0.02755452
+v -0.01898529 0.00545062 0.02751824
+v -0.01858266 0.00545062 0.02728761
+v -0.01858266 0.00878552 0.02749445
+v -0.02003354 0.00878552 0.02746217
+v -0.01858266 0.01172037 0.02697006
+v -0.01858550 0.01172037 0.02697006
+v -0.02003354 0.01027256 0.02719645
+v -0.02003354 0.00545062 0.02749468
+v -0.01858266 0.00545062 0.02518042
+v -0.01858266 0.01336765 0.02664073
+v -0.01858550 0.01336653 0.02664120
+v -0.02003354 0.01045521 0.02716276
+v -0.02003354 0.01330154 0.02661953
+v -0.02003354 0.01184364 0.02690504
+v -0.02003354 0.00545062 0.02518042
+v -0.01858266 0.01670816 0.02518042
+v -0.01858266 0.01483676 0.02612035
+v -0.01858550 0.01483452 0.02612153
+v -0.02003354 0.01463393 0.02615640
+v -0.02003354 0.01681349 0.02518042
+v -0.01858550 0.01689754 0.02518042
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 13
+f 2 13 20
+f 2 20 14
+f 2 14 7
+f 2 7 3
+f 3 7 14
+f 3 14 21
+f 3 21 22
+f 3 22 15
+f 3 15 10
+f 3 10 8
+f 4 8 10
+f 4 10 11
+f 4 11 12
+f 4 12 9
+f 5 9 12
+f 5 12 17
+f 5 17 19
+f 5 19 18
+f 5 18 24
+f 5 24 25
+f 5 25 20
+f 5 20 13
+f 5 13 6
+f 10 15 16
+f 10 16 11
+f 11 17 12
+f 11 16 18
+f 11 18 19
+f 11 19 17
+f 14 20 25
+f 14 25 26
+f 14 26 21
+f 15 22 23
+f 15 23 16
+f 16 23 24
+f 16 24 18
+f 21 26 22
+f 22 26 23
+f 23 26 25
+f 23 25 24
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_315.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_315.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ede1e585dc54e384a04ca5175aa9b851fc777a7
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_315.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.01820687 0.02594737 -0.00736419
+v 0.01820687 0.02964889 -0.00736419
+v 0.01931567 0.02594737 -0.00736419
+v 0.01820687 0.02594737 0.01478563
+v 0.01908045 0.02923755 -0.00736419
+v 0.01820687 0.03056981 -0.00511321
+v 0.01931567 0.03031029 -0.00448432
+v 0.01931567 0.02932108 -0.00689144
+v 0.01931567 0.02912671 -0.00736419
+v 0.01931567 0.02594737 0.01363412
+v 0.01896757 0.02594737 0.01399627
+v 0.01931567 0.02737471 0.01138314
+v 0.01931567 0.02820632 0.01004079
+v 0.01820687 0.02739940 0.01240020
+v 0.01820687 0.03113822 -0.00360822
+v 0.01864692 0.03102790 -0.00339570
+v 0.01931567 0.03047997 -0.00403976
+v 0.01931567 0.02838020 0.00974586
+v 0.01820687 0.02787640 0.01159782
+v 0.01820687 0.03124907 -0.00293596
+v 0.01931567 0.03076944 -0.00249357
+v 0.01820687 0.02878734 0.01004296
+v 0.01931567 0.02929114 0.00750139
+v 0.01820687 0.02984432 0.00750139
+v 0.01820687 0.03131421 -0.00130302
+v 0.01931567 0.03081566 -0.00130302
+v 0.01931567 0.02990158 0.00488826
+v 0.01820687 0.03013430 0.00625880
+v 0.01820687 0.03120179 -0.00039005
+v 0.01820687 0.03101214 0.00114313
+v 0.01840084 0.03093597 0.00103470
+v 0.01931567 0.03040485 0.00175033
+v 0.01931567 0.02996830 0.00456514
+v 0.01820687 0.03016582 0.00610700
+v 0.01931567 0.03037018 0.00197803
+v 0.01820687 0.03058767 0.00389722
+v 0.01820687 0.03048418 0.00456514
+v 0.01931567 0.03035179 0.00209730
+f 1 2 5
+f 1 5 9
+f 1 9 3
+f 1 3 10
+f 1 10 11
+f 1 11 4
+f 1 4 14
+f 1 14 19
+f 1 19 22
+f 1 22 24
+f 1 24 28
+f 1 28 34
+f 1 34 37
+f 1 37 36
+f 1 36 30
+f 1 30 29
+f 1 29 25
+f 1 25 20
+f 1 20 15
+f 1 15 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 5
+f 3 9 8
+f 3 8 7
+f 3 7 17
+f 3 17 21
+f 3 21 26
+f 3 26 32
+f 3 32 35
+f 3 35 38
+f 3 38 33
+f 3 33 27
+f 3 27 23
+f 3 23 18
+f 3 18 13
+f 3 13 12
+f 3 12 10
+f 4 11 12
+f 4 12 13
+f 4 13 14
+f 5 8 9
+f 6 15 16
+f 6 16 7
+f 7 16 17
+f 10 12 11
+f 13 18 19
+f 13 19 14
+f 15 20 16
+f 16 20 21
+f 16 21 17
+f 18 22 19
+f 18 23 24
+f 18 24 22
+f 20 25 21
+f 21 25 26
+f 23 27 24
+f 24 27 28
+f 25 29 26
+f 26 29 30
+f 26 30 31
+f 26 31 32
+f 27 33 34
+f 27 34 28
+f 30 35 32
+f 30 32 31
+f 30 36 35
+f 33 37 34
+f 33 38 37
+f 35 36 38
+f 36 37 38
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_316.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_316.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84086c55231baaddee64e28f8348ace72047c092
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_316.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.03798873 -0.00884115 0.01937842
+v 0.03677038 -0.00866508 0.02015650
+v 0.03798873 -0.00950295 0.01932475
+v 0.03798873 -0.00866508 0.01936947
+v 0.03705870 -0.00990814 0.01987031
+v 0.03630671 -0.00866508 0.02041586
+v 0.03798873 -0.00990814 0.01928898
+v 0.03798873 -0.00866508 -0.02112677
+v 0.03573438 -0.00866508 0.02073336
+v 0.03552137 -0.00990814 0.02063051
+v 0.03798873 -0.00990814 -0.02151134
+v 0.03798873 -0.00879528 -0.02117596
+v 0.03770257 -0.00866508 -0.02126987
+v 0.03249406 -0.00866508 0.02212855
+v 0.03249406 -0.00883640 0.02210172
+v 0.03249406 -0.00990814 0.02189602
+v 0.03725396 -0.00990814 -0.02185120
+v 0.03798873 -0.00919401 -0.02130117
+v 0.03755518 -0.00866508 -0.02134142
+v 0.03249406 -0.00866508 -0.02329110
+v 0.03249406 -0.00990814 -0.02355494
+v 0.03630671 -0.00990814 -0.02224024
+v 0.03745137 -0.00866508 -0.02139061
+v 0.03258927 -0.00866508 -0.02326874
+v 0.03311103 -0.00987638 -0.02343420
+v 0.03249406 -0.00954822 -0.02349681
+v 0.03312663 -0.00990814 -0.02343420
+v 0.03506147 -0.00990814 -0.02274555
+v 0.03416263 -0.00866508 -0.02274108
+v 0.03415618 -0.00887023 -0.02279921
+v 0.03314869 -0.00990814 -0.02342973
+v 0.03455584 -0.00990814 -0.02292889
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 18
+f 1 18 12
+f 1 12 8
+f 1 8 4
+f 1 4 2
+f 2 5 3
+f 2 4 8
+f 2 8 13
+f 2 13 19
+f 2 19 23
+f 2 23 29
+f 2 29 24
+f 2 24 20
+f 2 20 14
+f 2 14 9
+f 2 9 6
+f 2 6 5
+f 3 5 7
+f 5 6 9
+f 5 9 10
+f 5 10 16
+f 5 16 21
+f 5 21 27
+f 5 27 31
+f 5 31 32
+f 5 32 28
+f 5 28 22
+f 5 22 17
+f 5 17 11
+f 5 11 7
+f 8 12 13
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 11 17 18
+f 12 18 19
+f 12 19 13
+f 14 20 26
+f 14 26 21
+f 14 21 16
+f 14 16 15
+f 17 22 23
+f 17 23 18
+f 18 23 19
+f 20 24 25
+f 20 25 26
+f 21 26 25
+f 21 25 27
+f 22 28 29
+f 22 29 23
+f 24 29 25
+f 25 29 30
+f 25 30 31
+f 25 31 27
+f 28 32 30
+f 28 30 29
+f 30 32 31
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_317.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_317.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3821d6cff5ec1bdf863979114819ff869be43478
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_317.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.04104891 -0.02530708 0.01224825
+v 0.04099614 -0.02437887 0.01257676
+v 0.04104891 -0.02564531 0.01217394
+v 0.04104891 -0.02530708 -0.02122539
+v 0.04099614 -0.02437887 -0.02304788
+v 0.04012384 -0.02437887 0.01292875
+v 0.04104891 -0.02631666 0.01190017
+v 0.04012384 -0.02530688 0.01256894
+v 0.04012384 -0.02592189 0.01233038
+v 0.04104891 -0.02531220 -0.02308699
+v 0.04104891 -0.02551574 -0.02310264
+v 0.04024226 -0.02437887 -0.02342333
+v 0.03720912 -0.02437887 0.01373440
+v 0.04012384 -0.02631666 0.01216612
+v 0.04104891 -0.02631666 -0.02315348
+v 0.04101959 -0.02631666 -0.02316912
+v 0.04047206 -0.02530708 -0.02337249
+v 0.03996673 -0.02437887 -0.02356022
+v 0.03425688 -0.02437887 0.01443054
+v 0.03711532 -0.02631666 0.01273320
+v 0.03719036 -0.02631666 -0.02451448
+v 0.03718919 -0.02437887 -0.02455359
+v 0.03791142 -0.02437887 -0.02429938
+v 0.03130464 -0.02437887 0.01481772
+v 0.03439406 -0.02631666 0.01302261
+v 0.03425571 -0.02631666 -0.02513632
+v 0.03425571 -0.02437887 -0.02505810
+v 0.02907229 -0.02437887 0.01463391
+v 0.03265531 -0.02631666 0.01292484
+v 0.03413025 -0.02631666 -0.02513241
+v 0.03312077 -0.02530688 -0.02506592
+v 0.03274324 -0.02437887 -0.02501899
+v 0.02907112 -0.02530708 0.01340979
+v 0.02907112 -0.02578113 0.01286617
+v 0.02907229 -0.02462795 0.01433668
+v 0.03132106 -0.02631666 0.01276058
+v 0.02907229 -0.02437887 -0.02428765
+v 0.03132106 -0.02631666 -0.02497988
+v 0.03219336 -0.02437887 -0.02500335
+v 0.03132106 -0.02530688 -0.02496815
+v 0.03132106 -0.02437887 -0.02495642
+v 0.02907112 -0.02530708 -0.02425636
+v 0.02907112 -0.02631666 0.01209572
+v 0.02945099 -0.02437887 -0.02440107
+v 0.02907229 -0.02455586 -0.02429156
+v 0.03117098 -0.02631666 -0.02493686
+v 0.02907112 -0.02631666 -0.02420943
+f 1 2 3
+f 1 3 7
+f 1 7 15
+f 1 15 11
+f 1 11 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 12
+f 2 12 18
+f 2 18 23
+f 2 23 22
+f 2 22 27
+f 2 27 32
+f 2 32 39
+f 2 39 41
+f 2 41 44
+f 2 44 37
+f 2 37 28
+f 2 28 24
+f 2 24 19
+f 2 19 13
+f 2 13 6
+f 2 6 3
+f 3 6 8
+f 3 8 9
+f 3 9 7
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 6 13 8
+f 7 9 14
+f 7 14 20
+f 7 20 25
+f 7 25 29
+f 7 29 36
+f 7 36 43
+f 7 43 47
+f 7 47 46
+f 7 46 38
+f 7 38 30
+f 7 30 26
+f 7 26 21
+f 7 21 16
+f 7 16 15
+f 8 13 9
+f 9 13 14
+f 11 15 16
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 13 19 14
+f 14 19 20
+f 16 18 17
+f 16 21 22
+f 16 22 23
+f 16 23 18
+f 19 24 20
+f 20 24 25
+f 21 26 22
+f 22 26 27
+f 24 28 29
+f 24 29 25
+f 26 30 31
+f 26 31 32
+f 26 32 27
+f 28 33 34
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 28 37 42
+f 28 42 33
+f 30 38 31
+f 31 39 32
+f 31 38 40
+f 31 40 41
+f 31 41 39
+f 33 42 47
+f 33 47 43
+f 33 43 34
+f 34 43 36
+f 34 36 35
+f 37 44 45
+f 37 45 42
+f 38 46 40
+f 40 46 41
+f 41 46 45
+f 41 45 44
+f 42 45 46
+f 42 46 47
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_318.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_318.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e48f2ab6bc602358c996109e1623175ae1c80bb
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_318.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.01372992 0.00899090 -0.00416405
+v -0.01372992 0.00899090 -0.02472014
+v -0.01472193 0.00899090 -0.00416405
+v -0.01372992 -0.01191323 -0.00416405
+v -0.01372992 0.00878419 -0.02475476
+v -0.01472193 0.00878419 -0.02471810
+v -0.01451869 0.00899090 -0.02468958
+v -0.01472193 0.00899090 -0.02468143
+v -0.01472193 -0.01191323 -0.00416405
+v -0.01372992 -0.01191323 -0.01849139
+v -0.01372992 0.00831347 -0.02479346
+v -0.01372992 0.00686447 -0.02491160
+v -0.01472193 0.00785503 -0.02479346
+v -0.01472193 -0.01191323 -0.01822252
+v -0.01372992 -0.01163284 -0.01870730
+v -0.01372992 0.00584730 -0.02497271
+v -0.01472193 0.00584730 -0.02491160
+v -0.01472193 -0.01154075 -0.01850768
+v -0.01372992 -0.00855883 -0.02103544
+v -0.01372992 0.00392758 -0.02489123
+v -0.01472193 0.00492018 -0.02487290
+v -0.01472193 -0.01020635 -0.01951797
+v -0.01472193 -0.00828867 -0.02096008
+v -0.01372992 -0.00769720 -0.02159150
+v -0.01472193 -0.00967218 -0.01992127
+v -0.01372992 0.00291245 -0.02478328
+v -0.01472193 0.00291245 -0.02466106
+v -0.01472193 -0.00676394 -0.02194388
+v -0.01372992 -0.00584501 -0.02271178
+v -0.01472193 -0.00586957 -0.02248569
+v -0.01372992 0.00244378 -0.02470384
+v -0.01372992 0.00099273 -0.02445534
+v -0.01472193 0.00198534 -0.02450219
+v -0.01372992 -0.00532313 -0.02298269
+v -0.01472193 -0.00466002 -0.02311304
+v -0.01372992 -0.00002239 -0.02426795
+v -0.01472193 -0.00002239 -0.02413148
+v -0.01372992 -0.00488310 -0.02316600
+v -0.01472193 -0.00425275 -0.02328210
+v -0.01372992 -0.00447173 -0.02333710
+v -0.01372992 -0.00304320 -0.02365281
+v -0.01472193 -0.00279965 -0.02358764
+v -0.01372992 -0.00420772 -0.02339821
+v -0.01372992 -0.00399078 -0.02344709
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 15
+f 1 15 19
+f 1 19 24
+f 1 24 29
+f 1 29 34
+f 1 34 38
+f 1 38 40
+f 1 40 43
+f 1 43 44
+f 1 44 41
+f 1 41 36
+f 1 36 32
+f 1 32 31
+f 1 31 26
+f 1 26 20
+f 1 20 16
+f 1 16 12
+f 1 12 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 6
+f 3 6 13
+f 3 13 17
+f 3 17 21
+f 3 21 27
+f 3 27 33
+f 3 33 37
+f 3 37 42
+f 3 42 39
+f 3 39 35
+f 3 35 30
+f 3 30 28
+f 3 28 23
+f 3 23 25
+f 3 25 22
+f 3 22 18
+f 3 18 14
+f 3 14 9
+f 4 9 14
+f 4 14 10
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 8 7
+f 10 14 15
+f 12 16 13
+f 13 16 17
+f 14 18 15
+f 15 18 19
+f 16 20 21
+f 16 21 17
+f 18 22 19
+f 19 23 24
+f 19 22 25
+f 19 25 23
+f 20 26 27
+f 20 27 21
+f 23 28 24
+f 24 28 30
+f 24 30 29
+f 26 31 27
+f 27 31 32
+f 27 32 33
+f 29 30 34
+f 30 35 34
+f 32 36 33
+f 33 36 37
+f 34 35 38
+f 35 39 40
+f 35 40 38
+f 36 41 42
+f 36 42 37
+f 39 43 40
+f 39 42 41
+f 39 41 44
+f 39 44 43
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_319.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_319.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7aa1b6431d49b036c245468a18a31f0d88365911
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_319.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.02724139 0.02285073 0.00204661
+v -0.02724139 0.02285073 -0.00287303
+v -0.02883613 0.02285073 0.00204661
+v -0.02724139 -0.00958048 0.00204661
+v -0.02724139 0.01907899 -0.00443864
+v -0.02724263 0.02285073 -0.00443864
+v -0.02883613 0.02285073 -0.00443864
+v -0.02883613 -0.00958048 0.00204661
+v -0.02724139 -0.00958048 -0.00443864
+v -0.02883613 -0.00958048 -0.00443864
+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 5
+f 1 5 2
+f 2 5 6
+f 3 7 10
+f 3 10 8
+f 4 8 10
+f 4 10 9
+f 5 9 10
+f 5 10 7
+f 5 7 6
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_32.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15ea6e06e28084fda0c028c191db555f0da80ac4
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_32.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v -0.04660941 0.00886484 -0.01969587
+v -0.04823964 0.00886484 -0.01913132
+v -0.04823964 0.00890448 -0.01911703
+v -0.04660941 0.00889174 -0.01968515
+v -0.04660941 0.00886484 0.01680642
+v -0.04823964 0.00886484 0.01612754
+v -0.04823964 0.01116840 -0.01804512
+v -0.04660941 0.01042508 -0.01898840
+v -0.04660941 0.01023678 0.01668136
+v -0.04786747 0.00886484 0.01628475
+v -0.04660941 0.01181401 0.01643125
+v -0.04823964 0.01188481 0.01562731
+v -0.04660941 0.01307269 -0.01735909
+v -0.04660941 0.01233929 -0.01786646
+v -0.04660941 0.01160023 -0.01837741
+v -0.04823964 0.01263661 -0.01701250
+v -0.04660941 0.01305570 0.01620257
+v -0.04823964 0.01390236 0.01505562
+v -0.04660941 0.01470939 -0.01596917
+v -0.04823964 0.01454090 -0.01535461
+v -0.04660941 0.01459329 0.01572378
+v -0.04823964 0.01512422 0.01460184
+v -0.04660941 0.01551641 0.01542722
+v -0.04660941 0.01613513 -0.01458283
+v -0.04823964 0.01478726 -0.01509735
+v -0.04823964 0.01740371 0.01319764
+v -0.04660941 0.01646502 0.01505920
+v -0.04823964 0.01533235 -0.01450780
+v -0.04660941 0.01618751 -0.01452566
+v -0.04660941 0.01899652 0.01344418
+v -0.04823964 0.01901917 0.01180415
+v -0.04823964 0.01607566 -0.01365384
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+f 33 39 34
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+f 35 41 36
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+f 37 44 42
+f 40 45 46
+f 40 46 41
+f 43 47 48
+f 43 48 44
+f 45 49 46
+f 46 49 50
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+f 47 54 48
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+f 49 56 57
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+f 51 58 52
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_320.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_320.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b0dabbed7b2d368395a047252bcca047f1848df
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_320.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.00327946 0.01813628 -0.02298355
+v 0.00437758 0.01791354 -0.02298355
+v 0.00437758 0.01674184 -0.02335814
+v 0.00327946 0.01737346 -0.02322114
+v 0.00327946 -0.01256889 -0.02298355
+v 0.00437758 -0.01303574 -0.02298355
+v 0.00437758 0.01465476 -0.02398515
+v 0.00327946 0.01465476 -0.02402466
+v 0.00327946 -0.01200440 -0.02330014
+v 0.00345200 -0.01265128 -0.02298355
+v 0.00437758 -0.01284656 -0.02311775
+v 0.00437758 0.01224118 -0.02459032
+v 0.00327946 0.01333965 -0.02435470
+v 0.00327946 -0.01126904 -0.02362990
+v 0.00437758 -0.01159553 -0.02366240
+v 0.00437758 0.01171941 -0.02470631
+v 0.00327946 0.01171941 -0.02471471
+v 0.00327946 -0.01008514 -0.02398039
+v 0.00437758 -0.01113478 -0.02379856
+v 0.00437758 0.00930584 -0.02506492
+v 0.00327946 0.01040430 -0.02491027
+v 0.00327946 -0.00882801 -0.02434489
+v 0.00437758 -0.00882801 -0.02446704
+v 0.00327946 0.00878407 -0.02508341
+v 0.00437758 0.00878407 -0.02512068
+v 0.00327946 -0.00589266 -0.02502570
+v 0.00437758 -0.00589266 -0.02518119
+v 0.00327946 0.00746896 -0.02521341
+v 0.00437758 0.00637049 -0.02535882
+v 0.00327946 -0.00455619 -0.02528709
+v 0.00437758 -0.00537089 -0.02528345
+v 0.00437758 0.00343515 -0.02561881
+v 0.00327946 0.00453056 -0.02546500
+v 0.00327946 -0.00427242 -0.02534257
+v 0.00327946 -0.00295731 -0.02558183
+v 0.00437758 -0.00295731 -0.02572219
+v 0.00437758 0.00291338 -0.02566028
+v 0.00327946 0.00291338 -0.02559388
+v 0.00327946 0.00424679 -0.02548770
+v 0.00437758 -0.00243554 -0.02576534
+v 0.00327946 -0.00133708 -0.02571547
+v 0.00437758 0.00049980 -0.02582054
+v 0.00327946 0.00159827 -0.02568129
+v 0.00437758 -0.00001892 -0.02584547
+v 0.00327946 -0.00001892 -0.02575918
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+f 9 11 10
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+f 13 16 17
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+f 32 39 33
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+f 35 41 40
+f 37 42 43
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+f 40 45 44
+f 42 46 43
+f 42 44 45
+f 42 45 46
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_321.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_321.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06e292cb713706b2a2aa42f7c89ab6cf5c66a3bb
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_321.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.01141571 0.02941121 -0.01343441
+v 0.01141571 0.02973096 -0.01303424
+v 0.01218464 0.02941121 -0.01309470
+v 0.01141571 0.02941121 0.01597636
+v 0.01141571 0.03081697 -0.01152570
+v 0.01312297 0.02941121 -0.01261104
+v 0.01374082 0.02941121 0.01342566
+v 0.01242271 0.03090656 0.01214167
+v 0.01141571 0.03049055 0.01386901
+v 0.01141571 0.03115435 -0.01075992
+v 0.01199166 0.03070832 -0.01133569
+v 0.01375432 0.02941121 -0.01207557
+v 0.01375226 0.02941121 0.01341127
+v 0.01375432 0.03117294 0.01006023
+v 0.01141571 0.03102188 0.01270306
+v 0.01141571 0.03100806 0.01273473
+v 0.01352289 0.03122011 0.01020706
+v 0.01141571 0.03200925 0.01038267
+v 0.01141571 0.03347267 -0.00508562
+v 0.01147774 0.03346171 -0.00505971
+v 0.01375432 0.03042574 -0.01030505
+v 0.01254770 0.03386581 -0.00310206
+v 0.01375432 0.02941121 0.01337960
+v 0.01375432 0.02941883 0.01339399
+v 0.01375432 0.03200925 0.00750090
+v 0.01370579 0.03203212 0.00750090
+v 0.01141571 0.03220272 0.00978962
+v 0.01141571 0.03400638 -0.00370951
+v 0.01375432 0.03289321 -0.00415286
+v 0.01141571 0.03426371 -0.00195626
+v 0.01260127 0.03389059 -0.00130275
+v 0.01375432 0.03336402 -0.00167413
+v 0.01375432 0.03202021 0.00744620
+v 0.01141571 0.03294849 0.00746923
+v 0.01375432 0.03258442 0.00456443
+v 0.01370579 0.03260682 0.00456443
+v 0.01151918 0.03350555 0.00456443
+v 0.01141571 0.03427896 -0.00130275
+v 0.01375432 0.03337403 -0.00130275
+v 0.01241310 0.03381339 0.00065777
+v 0.01141571 0.03347696 0.00490126
+v 0.01375432 0.03304094 0.00164811
+v 0.01351717 0.03315483 0.00163084
+v 0.01200151 0.03365995 0.00261254
+v 0.01141571 0.03353843 0.00456443
+v 0.01141571 0.03404212 0.00130840
+v 0.01375432 0.03318866 0.00037276
+v 0.01375432 0.03307000 0.00140916
+v 0.01141571 0.03392871 0.00207995
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_322.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_322.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30a6ce02332e06958a010f8afccf592f8bb4704c
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_322.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.02579647 0.01575173 -0.02091827
+v -0.02724125 0.01602156 -0.02086398
+v -0.02449472 0.01575173 -0.02091374
+v -0.02579647 0.01575173 0.02500307
+v -0.02724125 0.01672275 -0.02066496
+v -0.02449472 0.01671497 -0.02066496
+v -0.02724125 0.01602156 0.02460048
+v -0.02449472 0.01575173 0.02386318
+v -0.02528970 0.01575173 0.02511615
+v -0.02579647 0.01738805 -0.02034380
+v -0.02724125 0.01819035 -0.01995931
+v -0.02449472 0.01821249 -0.01992765
+v -0.02449714 0.01575173 0.02529256
+v -0.02724125 0.01714155 0.02414815
+v -0.02449472 0.01781941 0.02438789
+v -0.02579647 0.01815026 -0.01996836
+v -0.02724125 0.02040461 -0.01886013
+v -0.02579647 0.01923496 -0.01943007
+v -0.02579647 0.02052666 -0.01877871
+v -0.02449472 0.02052666 -0.01876061
+v -0.02457349 0.01782539 0.02437432
+v -0.02579647 0.01751189 0.02427480
+v -0.02724125 0.01726181 0.02408934
+v -0.02449472 0.01795223 0.02432004
+v -0.02724125 0.02052666 -0.01879680
+v -0.02449472 0.02182255 -0.01806854
+v -0.02449472 0.02026641 0.02309872
+v -0.02457349 0.02036154 0.02303540
+v -0.02562979 0.01895855 0.02359630
+v -0.02579647 0.01756693 0.02424766
+v -0.02579647 0.01892146 0.02357820
+v -0.02724125 0.02051769 0.02245188
+v -0.02724125 0.02186324 -0.01805497
+v -0.02579647 0.02186324 -0.01804592
+v -0.02449472 0.02182255 0.02216691
+v -0.02449472 0.02037470 0.02303540
+v -0.02579647 0.02043333 0.02276852
+v -0.02450924 0.02182255 0.02216691
+v -0.02724125 0.02186324 0.02168743
+v -0.02579647 0.02186324 0.02190455
+f 1 2 3
+f 1 3 8
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+f 1 13 9
+f 1 9 4
+f 1 4 7
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+f 11 18 16
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+f 12 19 20
+f 12 16 18
+f 13 15 21
+f 13 21 22
+f 13 22 14
+f 14 22 23
+f 15 24 21
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+f 17 19 18
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+f 19 26 20
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+f 21 27 28
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+f 21 29 22
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+f 22 29 30
+f 23 30 29
+f 23 29 31
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+f 26 33 34
+f 26 34 40
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+f 28 37 29
+f 28 36 38
+f 28 38 39
+f 28 39 37
+f 29 37 32
+f 29 32 31
+f 32 37 39
+f 33 39 40
+f 33 40 34
+f 35 40 38
+f 35 38 36
+f 38 40 39
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_323.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_323.obj
new file mode 100644
index 0000000000000000000000000000000000000000..896a1add871de7cb567afdc7ef33e98b920e58ac
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_323.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.01370579 -0.02129512 -0.01890613
+v 0.01370579 -0.02089389 -0.01929901
+v 0.01375432 -0.02091763 -0.01927475
+v 0.01375432 -0.02129512 -0.01890128
+v 0.01141571 -0.02129512 -0.01878488
+v 0.01155237 -0.01937826 -0.02058918
+v 0.01370579 -0.01942686 -0.02063768
+v 0.01375432 -0.01942347 -0.02063768
+v 0.01375432 -0.02129512 0.01884347
+v 0.01141571 -0.01953988 -0.02042427
+v 0.01141571 -0.02129512 0.01773276
+v 0.01141571 -0.01935000 -0.02056493
+v 0.01141571 -0.01914656 -0.02071528
+v 0.01141571 -0.01573893 -0.02306766
+v 0.01316440 -0.01602488 -0.02325682
+v 0.01375432 -0.01606896 -0.02327622
+v 0.01375432 -0.01699235 -0.02256323
+v 0.01375432 -0.01904145 -0.02094810
+v 0.01375432 -0.02095606 0.01913449
+v 0.01297578 -0.02129512 0.01857671
+v 0.01141571 -0.02016490 0.01867856
+v 0.01141571 -0.01466748 -0.02357209
+v 0.01141571 -0.01431598 -0.02368364
+v 0.01375432 -0.01520546 -0.02354784
+v 0.01364811 -0.02060908 0.01933820
+v 0.01375432 -0.02050170 0.01944490
+v 0.01141571 -0.01799373 0.02021610
+v 0.01141571 -0.01239911 -0.02419777
+v 0.01375432 -0.01469799 -0.02369819
+v 0.01375432 -0.01485848 -0.02365454
+v 0.01308131 -0.01862892 0.02042951
+v 0.01375432 -0.01783776 0.02112309
+v 0.01141571 -0.01671545 0.02103579
+v 0.01141571 -0.01176506 -0.02435783
+v 0.01370579 -0.01176506 -0.02443544
+v 0.01375432 -0.01234486 -0.02428993
+v 0.01375432 -0.01758346 0.02127830
+v 0.01375432 -0.01446065 0.02313595
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+v 0.01141571 -0.00974873 -0.02474100
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+v 0.01375432 -0.01176506 -0.02442573
+v 0.01375432 -0.01183965 -0.02441118
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+v 0.01141571 -0.01492065 0.02206890
+v 0.01141571 -0.00974873 0.02462499
+v 0.01375432 -0.00974873 -0.02481861
+v 0.01375432 -0.01188034 0.02419331
+v 0.01141571 -0.01119090 0.02400415
+v 0.01375432 -0.00974873 0.02472199
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+f 1 3 4
+f 1 4 9
+f 1 9 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 18
+f 3 18 17
+f 3 17 16
+f 3 16 24
+f 3 24 30
+f 3 30 29
+f 3 29 36
+f 3 36 43
+f 3 43 42
+f 3 42 50
+f 3 50 53
+f 3 53 51
+f 3 51 44
+f 3 44 38
+f 3 38 37
+f 3 37 32
+f 3 32 26
+f 3 26 19
+f 3 19 9
+f 3 9 4
+f 5 10 6
+f 5 11 21
+f 5 21 27
+f 5 27 33
+f 5 33 39
+f 5 39 48
+f 5 48 47
+f 5 47 46
+f 5 46 52
+f 5 52 49
+f 5 49 40
+f 5 40 34
+f 5 34 28
+f 5 28 23
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+f 5 22 14
+f 5 14 13
+f 5 13 12
+f 5 12 10
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 6 10 12
+f 7 18 8
+f 9 19 20
+f 11 20 21
+f 14 22 15
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 19 25 20
+f 19 26 25
+f 20 25 27
+f 20 27 21
+f 23 28 29
+f 23 29 30
+f 23 30 24
+f 25 26 31
+f 25 31 27
+f 26 32 31
+f 27 31 33
+f 28 34 29
+f 29 34 35
+f 29 35 36
+f 31 32 37
+f 31 37 33
+f 33 37 38
+f 33 38 39
+f 34 40 41
+f 34 41 35
+f 35 42 43
+f 35 43 36
+f 35 41 50
+f 35 50 42
+f 38 44 45
+f 38 45 46
+f 38 46 47
+f 38 47 48
+f 38 48 39
+f 40 49 53
+f 40 53 50
+f 40 50 41
+f 44 51 49
+f 44 49 45
+f 45 49 52
+f 45 52 46
+f 49 51 53
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_324.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_324.obj
new file mode 100644
index 0000000000000000000000000000000000000000..631ebc310021a0a5d62067d8b2ab49e300aa502a
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_324.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.01141571 -0.01052935 -0.02459123
+v 0.01077033 -0.01052935 -0.02457096
+v 0.01052494 -0.00589171 -0.02550852
+v 0.01141571 -0.00653735 -0.02540210
+v 0.01141571 -0.01052935 0.02417255
+v 0.01052494 -0.01052935 -0.02455575
+v 0.01052494 -0.00564741 -0.02554907
+v 0.01077033 -0.00589171 -0.02551359
+v 0.01141571 -0.00589171 -0.02551359
+v 0.01141571 -0.00865953 0.02527229
+v 0.01052494 -0.00778301 0.02592099
+v 0.01052494 -0.01052935 0.02425363
+v 0.01052494 -0.00295744 -0.02584808
+v 0.01141571 -0.00360309 -0.02577206
+v 0.01141571 -0.00710649 0.02592099
+v 0.01052494 0.00318358 0.02592099
+v 0.01052494 -0.00271314 -0.02585315
+v 0.01077033 -0.00295744 -0.02584301
+v 0.01141571 -0.00295744 -0.02580753
+v 0.01141571 0.00318358 0.02592099
+v 0.01052494 0.00318358 -0.02549332
+v 0.01052494 0.00291243 -0.02572645
+v 0.01077033 0.00291243 -0.02571124
+v 0.01141571 -0.00066748 -0.02575179
+v 0.01141571 0.00318358 -0.02562509
+v 0.01052712 0.00318358 -0.02570617
+v 0.01052494 0.00315807 -0.02570617
+v 0.01077033 0.00318358 -0.02570111
+v 0.01141571 0.00226813 -0.02567070
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 19
+f 1 19 24
+f 1 24 29
+f 1 29 25
+f 1 25 20
+f 1 20 15
+f 1 15 10
+f 1 10 5
+f 1 5 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 8
+f 3 8 4
+f 3 6 12
+f 3 12 11
+f 3 11 16
+f 3 16 21
+f 3 21 27
+f 3 27 22
+f 3 22 17
+f 3 17 13
+f 3 13 7
+f 4 8 9
+f 5 10 11
+f 5 11 12
+f 7 9 8
+f 7 13 14
+f 7 14 9
+f 10 15 11
+f 11 15 20
+f 11 20 16
+f 13 17 18
+f 13 18 14
+f 14 18 19
+f 16 20 25
+f 16 25 28
+f 16 28 26
+f 16 26 21
+f 17 19 18
+f 17 22 19
+f 19 22 23
+f 19 23 24
+f 21 26 27
+f 22 27 26
+f 22 26 28
+f 22 28 23
+f 23 28 29
+f 23 29 24
+f 25 29 28
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_325.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_325.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4701d6479209736d8d8633807540a8385f57422
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_325.obj
@@ -0,0 +1,201 @@
+# https://github.com/mikedh/trimesh
+v 0.00821175 -0.02660626 -0.00130220
+v 0.00783473 -0.02641268 -0.00423818
+v 0.00821175 -0.02653640 -0.00386059
+v 0.00821175 -0.02659364 -0.00092461
+v 0.00783473 -0.02649180 -0.00130220
+v 0.00761706 -0.02632178 -0.00423818
+v 0.00761706 -0.02627044 -0.00457725
+v 0.00761706 -0.02586812 -0.00717417
+v 0.00783473 -0.02595650 -0.00717417
+v 0.00821175 -0.02606844 -0.00717417
+v 0.00821175 -0.02651452 -0.00427286
+v 0.00821175 -0.02651957 -0.00423818
+v 0.00761706 -0.02640258 -0.00130220
+v 0.00821175 -0.02622331 0.00456591
+v 0.00783473 -0.02608864 0.00456591
+v 0.00761706 -0.02602046 0.00427694
+v 0.00761706 -0.02582604 -0.00740535
+v 0.00761706 -0.02535134 -0.00979035
+v 0.00781773 -0.02540100 -0.00992906
+v 0.00821175 -0.02551799 -0.00995603
+v 0.00821175 -0.02606255 -0.00720499
+v 0.00821175 -0.02616355 0.00494351
+v 0.00821175 -0.02575534 0.00740557
+v 0.00776412 -0.02559458 0.00738631
+v 0.00761706 -0.02554576 0.00728998
+v 0.00761706 -0.02599185 0.00456591
+v 0.00761706 -0.02527222 -0.01010630
+v 0.00821175 -0.02523435 -0.01106570
+v 0.00821175 -0.02531767 -0.01076901
+v 0.00821175 -0.02550957 -0.00999071
+v 0.00821175 -0.02545655 0.00870788
+v 0.00821175 -0.02490946 0.01043403
+v 0.00761706 -0.02453745 0.01043403
+v 0.00761706 -0.02494061 -0.01127376
+v 0.00821175 -0.02507191 -0.01163979
+v 0.00821175 -0.02357711 0.01305021
+v 0.00761706 -0.02319162 0.01306948
+v 0.00761706 -0.02411072 -0.01300761
+v 0.00821175 -0.02460899 -0.01258763
+v 0.00821175 -0.02343150 0.01325827
+v 0.00761706 -0.02273881 0.01367054
+v 0.00781773 -0.02420499 -0.01299990
+v 0.00761706 -0.02256879 -0.01574323
+v 0.00798325 -0.02263360 -0.01592047
+v 0.00821175 -0.02253091 -0.01627109
+v 0.00821175 -0.02317395 0.01357422
+v 0.00821175 -0.02119014 0.01588987
+v 0.00761706 -0.02048146 0.01624820
+v 0.00761706 -0.02246863 -0.01592047
+v 0.00821175 -0.02219593 -0.01682978
+v 0.00821175 -0.02066157 0.01642158
+v 0.00761706 -0.02011112 0.01659882
+v 0.00761706 -0.02178772 -0.01704555
+v 0.00821175 -0.02193670 -0.01726131
+v 0.00821175 -0.02012964 0.01692247
+v 0.00821175 -0.01834951 0.01855614
+v 0.00761706 -0.01800780 0.01852532
+v 0.00761706 -0.02052859 -0.01834786
+v 0.00821175 -0.02095784 -0.01821300
+v 0.00821175 -0.01800780 0.01882200
+v 0.00800537 -0.01800780 0.01872953
+v 0.00761706 -0.01800780 -0.02034371
+v 0.00761706 -0.02031649 -0.01852124
+v 0.00761706 -0.01853131 -0.01996227
+v 0.00821175 -0.01882758 -0.01993144
+v 0.00821175 -0.01800780 -0.02054021
+v 0.00761706 -0.01842190 -0.02004318
+v 0.00821175 -0.01866430 -0.02006244
+f 1 2 3
+f 1 3 12
+f 1 12 11
+f 1 11 10
+f 1 10 21
+f 1 21 20
+f 1 20 30
+f 1 30 29
+f 1 29 28
+f 1 28 35
+f 1 35 39
+f 1 39 45
+f 1 45 50
+f 1 50 54
+f 1 54 59
+f 1 59 65
+f 1 65 68
+f 1 68 66
+f 1 66 60
+f 1 60 56
+f 1 56 55
+f 1 55 51
+f 1 51 47
+f 1 47 46
+f 1 46 40
+f 1 40 36
+f 1 36 32
+f 1 32 31
+f 1 31 23
+f 1 23 22
+f 1 22 14
+f 1 14 4
+f 1 4 5
+f 1 5 2
+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 3
+f 2 5 13
+f 2 13 6
+f 4 14 5
+f 5 14 15
+f 5 15 16
+f 5 16 13
+f 6 13 16
+f 6 16 26
+f 6 26 25
+f 6 25 33
+f 6 33 37
+f 6 37 41
+f 6 41 48
+f 6 48 52
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+f 6 57 62
+f 6 62 67
+f 6 67 64
+f 6 64 63
+f 6 63 58
+f 6 58 53
+f 6 53 49
+f 6 49 43
+f 6 43 38
+f 6 38 34
+f 6 34 27
+f 6 27 18
+f 6 18 17
+f 6 17 8
+f 6 8 7
+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 14 22 15
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 26
+f 15 26 16
+f 18 27 19
+f 19 27 28
+f 19 28 29
+f 19 29 30
+f 19 30 20
+f 23 31 24
+f 24 31 25
+f 25 31 32
+f 25 32 33
+f 27 34 35
+f 27 35 28
+f 32 36 33
+f 33 36 37
+f 34 38 35
+f 35 38 39
+f 36 40 37
+f 37 40 41
+f 38 42 39
+f 38 43 44
+f 38 44 42
+f 39 42 44
+f 39 44 45
+f 40 46 41
+f 41 46 47
+f 41 47 48
+f 43 49 44
+f 44 49 45
+f 45 49 50
+f 47 51 48
+f 48 51 52
+f 49 53 54
+f 49 54 50
+f 51 55 52
+f 52 55 56
+f 52 56 57
+f 53 58 54
+f 54 58 59
+f 56 60 61
+f 56 61 57
+f 57 61 60
+f 57 60 66
+f 57 66 62
+f 58 63 59
+f 59 63 64
+f 59 64 65
+f 62 66 67
+f 64 67 68
+f 64 68 65
+f 66 68 67
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_326.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_326.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d95a46cb41ccb03e46d1552c78adee167d39d2c8
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_326.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.01372992 0.02651991 0.01720770
+v -0.01372992 0.02708128 0.01657581
+v -0.01372992 -0.01268480 0.01720770
+v -0.01271168 0.02634796 0.01720770
+v -0.01372992 0.02713691 0.01651039
+v -0.01372453 -0.01269492 0.01720770
+v -0.01372992 -0.01447005 0.01604354
+v -0.01271168 0.02710657 0.01625764
+v -0.01271168 -0.01424753 0.01720770
+v -0.01372992 0.02810287 0.01521390
+v -0.01355171 -0.01296296 0.01720770
+v -0.01372992 -0.01580014 0.01393823
+v -0.01271168 -0.01749436 0.01294356
+v -0.01271168 -0.01736287 0.01314725
+v -0.01271168 -0.01504153 0.01635131
+v -0.01271168 -0.01477349 0.01665313
+v -0.01279620 -0.01412109 0.01720770
+v -0.01271168 0.02740495 0.01585323
+v -0.01325518 0.02804724 0.01513956
+v -0.01372992 0.02885642 0.01353828
+v -0.01372992 -0.01717574 0.01176007
+v -0.01271168 -0.01762079 0.01271905
+v -0.01372992 -0.01794446 0.01043681
+v -0.01337080 -0.01829848 0.01043681
+v -0.01271168 0.02838608 0.01413151
+v -0.01271168 0.02861872 0.01362600
+v -0.01271168 0.02975157 0.01042640
+v -0.01372992 0.02958974 0.01145230
+v -0.01271168 -0.01883962 0.01043681
+v -0.01372992 -0.01815687 0.01001307
+v -0.01372992 -0.01867778 0.00872550
+v -0.01271168 0.03052029 0.00737103
+v -0.01372992 0.03061132 0.00786019
+v -0.01372992 0.02995387 0.01040410
+v -0.01372992 -0.01913294 0.00750335
+v -0.01271168 -0.01986626 0.00750335
+v -0.01271168 0.03108166 0.00476467
+v -0.01372992 0.03105637 0.00567608
+v -0.01372992 -0.01918858 0.00691458
+v -0.01271168 -0.02014442 0.00456841
+v -0.01271168 0.03108166 0.00473047
+v -0.01271507 0.03150142 0.00201855
+v -0.01310179 0.03152165 0.00201855
+v -0.01372992 0.03144073 0.00264895
+v -0.01372992 -0.01940099 0.00456841
+v -0.01271168 -0.02001293 0.00201855
+v -0.01372992 -0.01934030 0.00201855
+v -0.01271168 0.02924584 0.00201855
+v -0.01372992 0.03142050 0.00201855
+f 1 2 5
+f 1 5 10
+f 1 10 20
+f 1 20 28
+f 1 28 34
+f 1 34 33
+f 1 33 38
+f 1 38 44
+f 1 44 49
+f 1 49 47
+f 1 47 45
+f 1 45 39
+f 1 39 35
+f 1 35 31
+f 1 31 30
+f 1 30 23
+f 1 23 21
+f 1 21 12
+f 1 12 7
+f 1 7 3
+f 1 3 6
+f 1 6 11
+f 1 11 17
+f 1 17 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 3 7 6
+f 4 8 5
+f 4 9 16
+f 4 16 15
+f 4 15 14
+f 4 14 13
+f 4 13 22
+f 4 22 29
+f 4 29 36
+f 4 36 40
+f 4 40 46
+f 4 46 48
+f 4 48 41
+f 4 41 37
+f 4 37 32
+f 4 32 27
+f 4 27 26
+f 4 26 25
+f 4 25 18
+f 4 18 8
+f 5 8 10
+f 6 7 11
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 7 16 9
+f 7 9 17
+f 7 17 11
+f 8 18 10
+f 10 18 19
+f 10 19 20
+f 12 21 13
+f 13 21 23
+f 13 23 24
+f 13 24 22
+f 18 25 19
+f 19 25 26
+f 19 26 20
+f 20 27 28
+f 20 26 27
+f 22 24 29
+f 23 30 24
+f 24 31 29
+f 24 30 31
+f 27 32 33
+f 27 33 34
+f 27 34 28
+f 29 35 36
+f 29 31 35
+f 32 37 33
+f 33 37 38
+f 35 39 40
+f 35 40 36
+f 37 41 42
+f 37 42 38
+f 38 42 43
+f 38 43 44
+f 39 45 40
+f 40 45 47
+f 40 47 46
+f 41 48 42
+f 42 48 46
+f 42 46 47
+f 42 47 49
+f 42 49 43
+f 43 49 44
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_327.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_327.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f004236155b59161f71337001063dda91c771d4
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_327.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.01858266 0.01384439 -0.02266572
+v -0.02003354 0.01384439 -0.02211308
+v -0.02003354 0.01463692 -0.02185549
+v -0.01858266 0.01461852 -0.02239877
+v -0.01858266 0.01384439 0.02518042
+v -0.02003354 0.01384439 0.02518042
+v -0.02003354 0.01564261 -0.02150423
+v -0.01858266 0.01471052 -0.02236598
+v -0.01858266 0.01670889 0.02518042
+v -0.02003354 0.01681391 0.02518042
+v -0.02003354 0.01701900 -0.02084386
+v -0.01858266 0.01743052 -0.02106398
+v -0.01858550 0.01689738 0.02518042
+v -0.01858266 0.01759118 0.02486194
+v -0.02003354 0.01759118 0.02484321
+v -0.02003354 0.01774376 -0.02047855
+v -0.02003354 0.01777114 -0.02046450
+v -0.01858266 0.01748437 -0.02103588
+v -0.01858550 0.01759118 0.02486194
+v -0.01858266 0.01842903 0.02372387
+v -0.01858550 0.01842903 0.02440765
+v -0.01937940 0.01842903 0.02439828
+v -0.02003354 0.01842903 0.02438892
+v -0.02003354 0.01842903 -0.01989312
+v -0.01858266 0.01842903 -0.02040830
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 18
+f 1 18 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 10
+f 2 10 15
+f 2 15 23
+f 2 23 24
+f 2 24 17
+f 2 17 16
+f 2 16 11
+f 2 11 7
+f 2 7 3
+f 3 7 4
+f 4 7 8
+f 5 9 13
+f 5 13 10
+f 5 10 6
+f 7 11 12
+f 7 12 8
+f 9 14 13
+f 10 13 15
+f 11 16 12
+f 12 16 17
+f 12 17 18
+f 13 14 19
+f 13 19 15
+f 14 20 21
+f 14 21 19
+f 15 19 22
+f 15 22 23
+f 17 24 25
+f 17 25 18
+f 19 21 22
+f 20 25 24
+f 20 24 23
+f 20 23 22
+f 20 22 21
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_328.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_328.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ffc6c8f6707de390473d1593d37469785142522
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_328.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v -0.02152092 0.02719495 -0.01235120
+v -0.02153637 0.02719495 -0.01234827
+v -0.02153637 0.02779025 -0.01145947
+v -0.02152092 0.02779025 -0.01145947
+v -0.02003354 0.02722673 -0.01226320
+v -0.02003354 0.02719495 -0.01231013
+v -0.02153637 0.02719495 0.01702010
+v -0.02153637 0.02862813 -0.00998988
+v -0.02152092 0.02862858 -0.00998988
+v -0.02003354 0.02777413 -0.01143600
+v -0.02003354 0.02862366 -0.00996641
+v -0.02003354 0.02719495 0.01754223
+v -0.02153372 0.02719495 0.01761556
+v -0.02153637 0.02744426 0.01735743
+v -0.02153637 0.02979813 -0.00717390
+v -0.02152092 0.02979903 -0.00717390
+v -0.02003354 0.02920149 -0.00857895
+v -0.02003354 0.02742188 0.01730756
+v -0.02152092 0.02745232 0.01735156
+v -0.02026820 0.02719495 0.01755396
+v -0.02153637 0.02745232 0.01735156
+v -0.02153637 0.02980216 -0.00715923
+v -0.02153637 0.03050398 -0.00446938
+v -0.02152092 0.03050443 -0.00446938
+v -0.02003354 0.02977262 -0.00717390
+v -0.02152092 0.02869841 0.01588197
+v -0.02153637 0.02869169 0.01589077
+v -0.02003354 0.02863485 0.01584091
+v -0.02153637 0.03050622 -0.00446058
+v -0.02003354 0.03012040 -0.00583924
+v -0.02153637 0.03085668 -0.00300272
+v -0.02152092 0.03085668 -0.00300272
+v -0.02003354 0.03084236 -0.00294112
+v -0.02153637 0.02869885 0.01588197
+v -0.02153637 0.03007743 0.01338572
+v -0.02003354 0.02994091 0.01337105
+v -0.02152092 0.03008414 0.01337105
+v -0.02153637 0.03008549 0.01337105
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+v -0.02152092 0.03117357 -0.00130433
+v -0.02003354 0.03092427 -0.00250406
+v -0.02003354 0.03064005 0.01142920
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+v -0.02153637 0.03072061 0.01166093
+v -0.02153637 0.03155895 0.00163192
+v -0.02003354 0.03128458 0.00005673
+v -0.02003354 0.03109435 -0.00139233
+v -0.02152092 0.03155895 0.00163192
+v -0.02003354 0.03089070 0.01068414
+v -0.02153637 0.03116283 0.01020894
+v -0.02153637 0.03156074 0.00164952
+v -0.02003354 0.03128636 0.00007140
+v -0.02153637 0.03176752 0.00456524
+v -0.02152092 0.03176663 0.00456524
+v -0.02003354 0.03156611 0.00307805
+v -0.02003354 0.03146361 0.00163192
+v -0.02003354 0.03111091 0.00995961
+v -0.02152092 0.03116596 0.01019134
+v -0.02153637 0.03116596 0.01019427
+v -0.02153637 0.03169143 0.00750149
+v -0.02003354 0.03165428 0.00456524
+v -0.02152092 0.03169054 0.00750149
+v -0.02003354 0.03158043 0.00750149
+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 13
+f 1 13 7
+f 1 7 2
+f 2 7 14
+f 2 14 21
+f 2 21 27
+f 2 27 34
+f 2 34 35
+f 2 35 38
+f 2 38 44
+f 2 44 50
+f 2 50 59
+f 2 59 60
+f 2 60 53
+f 2 53 51
+f 2 51 45
+f 2 45 39
+f 2 39 31
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+f 2 22 15
+f 2 15 8
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+f 3 9 4
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+f 4 11 10
+f 5 10 11
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+f 5 30 33
+f 5 33 41
+f 5 41 47
+f 5 47 46
+f 5 46 52
+f 5 52 56
+f 5 56 55
+f 5 55 61
+f 5 61 63
+f 5 63 57
+f 5 57 49
+f 5 49 42
+f 5 42 36
+f 5 36 28
+f 5 28 18
+f 5 18 12
+f 5 12 6
+f 7 13 14
+f 8 15 16
+f 8 16 9
+f 9 16 17
+f 9 17 11
+f 12 18 19
+f 12 19 20
+f 13 20 19
+f 13 19 21
+f 13 21 14
+f 15 22 16
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 17
+f 18 26 27
+f 18 27 19
+f 18 28 26
+f 19 27 21
+f 23 29 24
+f 24 30 25
+f 24 29 31
+f 24 31 32
+f 24 32 33
+f 24 33 30
+f 26 34 27
+f 26 28 35
+f 26 35 34
+f 28 36 37
+f 28 37 38
+f 28 38 35
+f 31 39 40
+f 31 40 32
+f 32 40 41
+f 32 41 33
+f 36 42 43
+f 36 43 37
+f 37 43 38
+f 38 43 44
+f 39 45 48
+f 39 48 40
+f 40 46 47
+f 40 47 41
+f 40 48 46
+f 42 49 43
+f 43 49 50
+f 43 50 44
+f 45 51 48
+f 46 48 52
+f 48 51 53
+f 48 53 54
+f 48 54 55
+f 48 55 56
+f 48 56 52
+f 49 57 50
+f 50 57 58
+f 50 58 59
+f 53 60 62
+f 53 62 54
+f 54 61 55
+f 54 62 63
+f 54 63 61
+f 57 63 62
+f 57 62 58
+f 58 62 60
+f 58 60 59
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_329.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_329.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e73b4a159725a5c83c33e4ffad4450e1091f72a0
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_329.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.03107301 -0.01738772 -0.02469912
+v 0.02995174 -0.01626527 -0.02461822
+v 0.03005869 -0.01626527 -0.02461738
+v 0.03132080 -0.01626527 -0.02459631
+v 0.03132080 -0.01738772 -0.02469491
+v 0.02907112 -0.01738772 -0.02458957
+v 0.02907112 -0.01626527 -0.02457103
+v 0.03288595 -0.01626527 -0.02445643
+v 0.03400901 -0.01738772 -0.02445559
+v 0.02907112 -0.01738772 -0.01609027
+v 0.02907112 -0.01626527 -0.01609027
+v 0.03302143 -0.01626527 -0.02443789
+v 0.03425679 -0.01738772 -0.02442019
+v 0.04728069 -0.01738772 -0.01609027
+v 0.04678512 -0.01626527 -0.01609027
+v 0.03425679 -0.01626527 -0.02426008
+v 0.03716783 -0.01738772 -0.02377385
+v 0.04585816 -0.01738772 -0.01828461
+v 0.04557472 -0.01626527 -0.01828546
+v 0.03595207 -0.01626527 -0.02388340
+v 0.03602338 -0.01626527 -0.02386486
+v 0.03728905 -0.01738772 -0.02374183
+v 0.04564246 -0.01738772 -0.01850034
+v 0.04482958 -0.01626527 -0.01902449
+v 0.03688082 -0.01626527 -0.02363650
+v 0.03813045 -0.01626527 -0.02329015
+v 0.03842815 -0.01652130 -0.02325729
+v 0.03752257 -0.01738772 -0.02367695
+v 0.04252285 -0.01738772 -0.02125592
+v 0.04239985 -0.01626527 -0.02108485
+v 0.03833723 -0.01626527 -0.02322780
+v 0.03869198 -0.01738772 -0.02333482
+v 0.03992021 -0.01738772 -0.02284859
+v 0.03979186 -0.01738772 -0.02290336
+v 0.04005747 -0.01738772 -0.02278960
+v 0.04008599 -0.01626527 -0.02247696
+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 22
+f 1 22 28
+f 1 28 32
+f 1 32 34
+f 1 34 33
+f 1 33 35
+f 1 35 29
+f 1 29 23
+f 1 23 18
+f 1 18 14
+f 1 14 10
+f 1 10 6
+f 1 6 7
+f 1 7 2
+f 2 7 11
+f 2 11 15
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+f 2 19 24
+f 2 24 30
+f 2 30 36
+f 2 36 31
+f 2 31 26
+f 2 26 25
+f 2 25 21
+f 2 21 20
+f 2 20 16
+f 2 16 12
+f 2 12 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 5
+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 13
+f 13 16 17
+f 14 18 19
+f 14 19 15
+f 16 20 17
+f 17 21 22
+f 17 20 21
+f 18 23 19
+f 19 23 24
+f 21 25 22
+f 22 25 26
+f 22 26 27
+f 22 27 28
+f 23 29 24
+f 24 29 30
+f 26 31 27
+f 27 32 28
+f 27 31 33
+f 27 33 34
+f 27 34 32
+f 29 35 30
+f 30 35 36
+f 31 36 33
+f 33 36 35
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_33.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8dd41715985f15da5104ae0f62b5eb026dd5090
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_33.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.05087148 -0.01219008 -0.00424212
+v -0.04936915 -0.01197247 -0.00424212
+v -0.05087148 -0.01188555 -0.00130637
+v -0.05087148 -0.01208270 -0.00717495
+v -0.04936915 -0.01196452 -0.00717495
+v -0.04936915 -0.01158045 -0.00130637
+v -0.05087148 -0.01186509 -0.00123320
+v -0.05087148 -0.01177305 -0.01011069
+v -0.04936915 -0.01174805 -0.01011069
+v -0.04936915 -0.01078673 0.00143034
+v -0.05064869 -0.01094184 0.00188987
+v -0.05087148 -0.01081685 0.00232306
+v -0.04936915 -0.01077367 -0.01520069
+v -0.05087148 -0.01100775 -0.01326011
+v -0.04945577 -0.01032823 -0.01749543
+v -0.04936915 -0.01032823 -0.01749543
+v -0.04936915 -0.01024926 0.00298163
+v -0.04951841 -0.01027085 0.00304310
+v -0.05087148 -0.01041402 0.00335628
+v -0.05087148 -0.01030835 -0.01507776
+v -0.05087148 -0.00961235 -0.01636562
+v -0.05087148 -0.00837889 -0.01797253
+v -0.05061119 -0.00855104 -0.01805741
+v -0.04936915 -0.00707440 -0.02026142
+v -0.04936915 -0.01014926 0.00318652
+v -0.05064869 -0.00973508 0.00451244
+v -0.05087148 -0.00993507 0.00423730
+v -0.05087148 -0.00638636 -0.01920771
+v -0.05030325 -0.00638636 -0.01974334
+v -0.04936915 -0.00642727 -0.02041069
+v -0.04936915 -0.00937884 0.00453585
+v -0.04936915 -0.00880785 0.00552517
+v -0.04936915 -0.00787607 0.00706475
+v -0.05087148 -0.00798459 0.00749209
+v -0.05087148 -0.00892545 0.00593787
+v -0.05087148 -0.00638636 0.00948536
+v -0.04937782 -0.00638636 -0.02041362
+v -0.04936915 -0.00638636 -0.02041655
+v -0.04936915 -0.00732723 0.00787552
+v -0.05087148 -0.00716474 0.00870385
+v -0.04938606 -0.00638636 0.00912534
+v -0.04936915 -0.00638636 0.00911948
+v -0.04936915 -0.00695793 0.00840238
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 19
+f 1 19 27
+f 1 27 35
+f 1 35 34
+f 1 34 40
+f 1 40 36
+f 1 36 28
+f 1 28 22
+f 1 22 21
+f 1 21 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 13
+f 2 13 16
+f 2 16 24
+f 2 24 30
+f 2 30 38
+f 2 38 42
+f 2 42 43
+f 2 43 39
+f 2 39 33
+f 2 33 32
+f 2 32 31
+f 2 31 25
+f 2 25 17
+f 2 17 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 7 11 12
+f 8 13 9
+f 8 14 15
+f 8 15 16
+f 8 16 13
+f 10 17 18
+f 10 18 11
+f 11 18 12
+f 12 18 19
+f 14 20 15
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 15 20 21
+f 17 25 18
+f 18 25 26
+f 18 26 19
+f 19 26 27
+f 22 28 24
+f 22 24 23
+f 24 28 29
+f 24 29 30
+f 25 31 26
+f 26 31 32
+f 26 32 33
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 28 36 41
+f 28 41 42
+f 28 42 38
+f 28 38 37
+f 28 37 29
+f 29 37 30
+f 30 37 38
+f 33 39 40
+f 33 40 34
+f 36 40 41
+f 39 43 40
+f 40 43 42
+f 40 42 41
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_330.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_330.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c87950cf36fc984c53787f2baf850e1913aa6f62
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_330.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.01049982 0.02998112 -0.00634199
+v -0.01049982 0.02998112 -0.01519303
+v -0.01197750 0.02998112 -0.00634199
+v -0.01049982 -0.01933676 -0.00634199
+v -0.01070439 0.02998112 -0.01519303
+v -0.01049982 -0.01609687 -0.01519303
+v -0.01197750 0.02998112 -0.01393144
+v -0.01197750 -0.01867044 -0.00634199
+v -0.01052369 -0.01932711 -0.00634199
+v -0.01049982 -0.01918708 -0.00692860
+v -0.01197750 0.02932928 -0.01519303
+v -0.01148995 0.02998112 -0.01441493
+v -0.01049982 -0.01634795 -0.01482737
+v -0.01131895 -0.01619827 -0.01457263
+v -0.01192223 -0.01552228 -0.01519303
+v -0.01182762 0.02998112 -0.01408047
+v -0.01197750 -0.01851593 -0.00692860
+v -0.01185048 -0.01872838 -0.00634199
+v -0.01049982 -0.01826968 -0.01018394
+v -0.01197750 -0.01789788 -0.00926374
+v -0.01197750 -0.01766612 -0.01013542
+v -0.01197750 -0.01549331 -0.01519303
+v -0.01049982 -0.01688873 -0.01376074
+v -0.01197750 -0.01605341 -0.01425897
+v -0.01197750 -0.01636243 -0.01356232
+v -0.01049982 -0.01798962 -0.01094990
+v -0.01197750 -0.01685493 -0.01235272
+v -0.01049982 -0.01722190 -0.01298438
+v -0.01197750 -0.01666663 -0.01285701
+f 1 2 5
+f 1 5 12
+f 1 12 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 10
+f 1 10 19
+f 1 19 26
+f 1 26 28
+f 1 28 23
+f 1 23 13
+f 1 13 6
+f 1 6 2
+f 2 6 15
+f 2 15 22
+f 2 22 11
+f 2 11 5
+f 3 7 11
+f 3 11 22
+f 3 22 24
+f 3 24 25
+f 3 25 29
+f 3 29 27
+f 3 27 21
+f 3 21 20
+f 3 20 17
+f 3 17 8
+f 4 9 10
+f 5 11 12
+f 6 13 14
+f 6 14 15
+f 7 16 11
+f 8 17 18
+f 9 18 10
+f 10 18 17
+f 10 17 20
+f 10 20 21
+f 10 21 19
+f 11 16 12
+f 13 23 14
+f 14 24 15
+f 14 23 25
+f 14 25 24
+f 15 24 22
+f 19 21 26
+f 21 27 26
+f 23 28 29
+f 23 29 25
+f 26 27 29
+f 26 29 28
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_331.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_331.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48703d6af57187ff10f64cfc75fb0a04ec7a6981
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_331.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.03517692 -0.00765313 0.02103150
+v 0.03509313 -0.00632984 0.02121519
+v 0.03517692 -0.00834963 0.02101806
+v 0.03517692 -0.00765313 -0.02204206
+v 0.03509313 -0.00632984 -0.02171051
+v 0.03428149 -0.00632984 0.02166770
+v 0.03517692 -0.00866508 0.02096878
+v 0.03261409 -0.00632984 0.02247864
+v 0.03517692 -0.00788606 -0.02210926
+v 0.03509313 -0.00658860 -0.02178668
+v 0.03478135 -0.00632984 -0.02184044
+v 0.03249352 -0.00866508 0.02212469
+v 0.03517692 -0.00866508 -0.02232431
+v 0.03249352 -0.00765313 0.02100014
+v 0.03249352 -0.00765427 0.02226358
+v 0.03261409 -0.00632984 -0.02257073
+v 0.03419586 -0.00765313 -0.02244976
+v 0.03423999 -0.00632984 -0.02206446
+v 0.03249352 -0.00866508 -0.02329206
+v 0.03416198 -0.00866508 -0.02273650
+v 0.03249352 -0.00765313 -0.02300084
+v 0.03249352 -0.00803304 -0.02312181
+v 0.03335638 -0.00866508 -0.02300980
+v 0.03258887 -0.00866508 -0.02326966
+v 0.03249352 -0.00844381 -0.02323829
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 18
+f 2 18 16
+f 2 16 8
+f 2 8 6
+f 2 6 3
+f 3 6 8
+f 3 8 7
+f 4 9 10
+f 4 10 5
+f 5 10 11
+f 7 8 12
+f 7 12 19
+f 7 19 24
+f 7 24 23
+f 7 23 20
+f 7 20 13
+f 8 14 15
+f 8 15 12
+f 8 16 21
+f 8 21 14
+f 9 13 10
+f 10 13 17
+f 10 17 18
+f 10 18 11
+f 12 15 14
+f 12 14 21
+f 12 21 22
+f 12 22 25
+f 12 25 19
+f 13 20 17
+f 16 18 22
+f 16 22 21
+f 17 20 23
+f 17 23 24
+f 17 24 18
+f 18 24 25
+f 18 25 22
+f 19 25 24
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_332.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_332.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f1414610963354a7045f7bfa26bb90a84e9227a
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_332.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00981186 -0.00240599 -0.02424402
+v -0.01049968 -0.00240599 -0.02415611
+v -0.00981186 -0.00003271 -0.02478776
+v -0.00981186 -0.00240599 -0.00861061
+v -0.01049968 -0.00002065 -0.02469822
+v -0.01049968 -0.00240599 -0.00861061
+v -0.00981186 0.00001191 -0.02479590
+v -0.00981186 0.00991386 -0.00861061
+v -0.01049968 0.00069930 -0.02482195
+v -0.01049968 0.00991386 -0.00861061
+v -0.01049968 0.00291460 -0.02515080
+v -0.00981186 0.00281210 -0.02521104
+v -0.00981186 0.00991386 -0.02483497
+v -0.01049968 0.00991386 -0.02478939
+v -0.01049968 0.00363575 -0.02518173
+v -0.00981186 0.00294716 -0.02522732
+v -0.00981186 0.00291460 -0.02522569
+v -0.00981186 0.00878390 -0.02497824
+v -0.01049968 0.00878390 -0.02493428
+v -0.01049968 0.00584865 -0.02519150
+v -0.00981186 0.00584865 -0.02524197
+v -0.01049968 0.00656980 -0.02513289
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 17
+f 1 17 16
+f 1 16 21
+f 1 21 18
+f 1 18 13
+f 1 13 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 14
+f 2 14 19
+f 2 19 22
+f 2 22 20
+f 2 20 15
+f 2 15 11
+f 2 11 9
+f 2 9 5
+f 3 5 7
+f 4 8 10
+f 4 10 6
+f 5 9 7
+f 7 9 11
+f 7 11 12
+f 8 13 14
+f 8 14 10
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 13 18 19
+f 13 19 14
+f 15 20 21
+f 15 21 16
+f 18 21 19
+f 19 21 22
+f 20 22 21
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_333.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_333.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dff3fadad96e60551c01db19e25b103d366d416b
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_333.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.00239914 0.03295854 0.01469592
+v -0.00092861 0.03316932 0.01450921
+v -0.00093952 0.03317486 0.01450921
+v -0.00097225 0.03317486 0.01450921
+v -0.00386193 0.03284206 0.01469592
+v -0.00239914 -0.02071181 0.01469592
+v -0.00092861 0.03340228 0.01387592
+v -0.00092861 -0.02106126 0.01450921
+v -0.00092861 0.03392922 0.01243521
+v -0.00097225 0.03392922 0.01243852
+v -0.00386193 0.03325806 0.01369318
+v -0.00386193 0.03422320 0.01131396
+v -0.00386193 0.03386821 0.01219520
+v -0.00386193 -0.02050104 0.01469592
+v -0.00093090 -0.02107235 0.01450921
+v -0.00092861 -0.02152718 0.01370245
+v -0.00092861 0.03431195 0.01137123
+v -0.00097225 0.03431749 0.01137123
+v -0.00239914 0.03426203 0.01131396
+v -0.00386193 -0.02205413 0.01131396
+v -0.00386193 -0.02132750 0.01320489
+v -0.00378899 -0.02134969 0.01320059
+v -0.00239886 -0.02145508 0.01342768
+v -0.00097225 -0.02156046 0.01366041
+v -0.00092861 -0.02155492 0.01365313
+v -0.00092861 -0.02234256 0.01137123
+v -0.00239914 -0.02227045 0.01131396
+v -0.00323018 -0.02224826 0.01131396
+v -0.00273138 -0.02210405 0.01210814
+v -0.00386193 -0.02139406 0.01305427
+v -0.00239914 -0.02200420 0.01240145
+v -0.00239886 -0.02211514 0.01212403
+v -0.00097225 -0.02213178 0.01219322
+v -0.00092861 -0.02213178 0.01219057
+v -0.00097225 -0.02234810 0.01137123
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+f 2 34 26
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+f 8 15 16
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+f 14 22 23
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+f 17 27 19
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+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 26 34 35
+f 26 35 27
+f 27 35 28
+f 28 35 29
+f 29 32 31
+f 29 35 32
+f 32 35 33
+f 33 35 34
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_334.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_334.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86b090061cf55135682732b39dfc8741f77f84ad
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_334.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v -0.00390766 0.03513100 -0.00802225
+v -0.00386193 0.03512812 -0.00802225
+v -0.00386193 0.03445687 -0.01011216
+v -0.00390766 0.03445687 -0.01011216
+v -0.00554852 0.03490917 -0.00847069
+v -0.00554852 0.03505322 -0.00802225
+v -0.00386193 0.00569967 -0.00802225
+v -0.00386193 0.03444823 -0.01013585
+v -0.00554852 0.03432723 -0.01024754
+v -0.00390766 0.03382595 -0.01170455
+v -0.00554852 0.03377986 -0.01164194
+v -0.00554852 0.00569967 -0.00802225
+v -0.00386193 0.00569967 -0.02525763
+v -0.00386193 0.03382595 -0.01170455
+v -0.00390766 0.03265631 -0.01317341
+v -0.00554852 0.03116111 -0.01496886
+v -0.00554852 0.00569967 -0.02531009
+v -0.00386193 0.00874191 -0.02511887
+v -0.00386193 0.03265343 -0.01317171
+v -0.00386193 0.03263038 -0.01320048
+v -0.00386193 0.03118704 -0.01498748
+v -0.00390766 0.03118704 -0.01498917
+v -0.00554852 0.02997418 -0.01643603
+v -0.00554852 0.00878512 -0.02515948
+v -0.00390766 0.00878512 -0.02511718
+v -0.00390766 0.01172076 -0.02489888
+v -0.00386193 0.01167755 -0.02489888
+v -0.00386193 0.02996554 -0.01645634
+v -0.00390766 0.02996842 -0.01645634
+v -0.00554852 0.02850780 -0.01817734
+v -0.00554852 0.01172076 -0.02488027
+v -0.00554852 0.01336288 -0.02458751
+v -0.00554852 0.01465641 -0.02435060
+v -0.00390766 0.01465641 -0.02436075
+v -0.00386193 0.01461319 -0.02436752
+v -0.00386193 0.01172076 -0.02489550
+v -0.00386193 0.02849916 -0.01817057
+v -0.00390766 0.02849916 -0.01817226
+v -0.00386193 0.02693771 -0.01963773
+v -0.00554852 0.02781638 -0.01882377
+v -0.00554852 0.01609398 -0.02397831
+v -0.00390766 0.01736734 -0.02365509
+v -0.00386193 0.01732701 -0.02366524
+v -0.00386193 0.01465641 -0.02435906
+v -0.00386193 0.02847611 -0.01819256
+v -0.00386193 0.02691466 -0.01965804
+v -0.00390766 0.02693483 -0.01963942
+v -0.00554852 0.02679654 -0.01964450
+v -0.00554852 0.01728955 -0.02366694
+v -0.00390766 0.01883660 -0.02325911
+v -0.00386193 0.01736446 -0.02365509
+v -0.00390766 0.02546845 -0.02071568
+v -0.00554852 0.02615122 -0.02011833
+v -0.00386193 0.02546845 -0.02071738
+v -0.00554852 0.01875593 -0.02322019
+v -0.00386193 0.02052481 -0.02271083
+v -0.00386193 0.01883084 -0.02325742
+v -0.00390766 0.02052481 -0.02271083
+v -0.00386193 0.02543676 -0.02073261
+v -0.00386193 0.02346045 -0.02163795
+v -0.00390766 0.02346045 -0.02163456
+v -0.00554852 0.02444572 -0.02101521
+v -0.00554852 0.02533016 -0.02060907
+v -0.00554852 0.02052481 -0.02258052
+v -0.00554852 0.02346045 -0.02143827
+f 1 2 3
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+f 1 6 12
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+f 58 64 61
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_335.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_335.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d64041b6299e252b37036254d57fd4d729c75e4
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_335.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.04104825 -0.02631684 0.01190496
+v 0.04012571 -0.02631684 0.01217008
+v 0.04104825 -0.02745670 0.01148675
+v 0.04104825 -0.02631684 -0.02316117
+v 0.03711534 -0.02631684 0.01273765
+v 0.04012571 -0.02745670 0.01170706
+v 0.04104825 -0.02745670 -0.02314624
+v 0.04104825 -0.02636850 -0.02316491
+v 0.04102077 -0.02631684 -0.02317237
+v 0.03439285 -0.02631684 0.01302890
+v 0.03709833 -0.02666061 0.01256215
+v 0.03774738 -0.02745670 0.01205059
+v 0.04007271 -0.02745670 -0.02347856
+v 0.03719058 -0.02644203 -0.02451662
+v 0.03719058 -0.02631684 -0.02451662
+v 0.04088599 -0.02631684 -0.02322092
+v 0.03436537 -0.02631684 0.01302517
+v 0.03436537 -0.02663874 0.01278993
+v 0.03508640 -0.02745670 0.01226343
+v 0.03646040 -0.02745670 0.01218128
+v 0.03796264 -0.02745670 -0.02416562
+v 0.03719058 -0.02745670 -0.02441580
+v 0.03436537 -0.02745670 -0.02508419
+v 0.03436537 -0.02644203 -0.02511779
+v 0.03436537 -0.02632153 -0.02511033
+v 0.03686736 -0.02631684 -0.02458010
+v 0.03436537 -0.02631684 -0.02306035
+v 0.03436537 -0.02745670 0.01209913
+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 15
+f 1 15 26
+f 1 26 27
+f 1 27 17
+f 1 17 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
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+f 6 11 12
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+f 13 21 14
+f 14 21 22
+f 14 22 23
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+f 14 24 15
+f 15 24 25
+f 15 25 26
+f 17 27 25
+f 17 25 24
+f 17 24 23
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+f 17 28 18
+f 18 28 19
+f 25 27 26
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_336.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_336.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18ea8beb7bab575feb2adb9d7a83e0c1ab1e3ccc
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_336.obj
@@ -0,0 +1,285 @@
+# https://github.com/mikedh/trimesh
+v -0.00386193 0.00589469 0.03203217
+v -0.00390817 0.00584859 0.03203122
+v -0.00386193 0.00584859 0.03203217
+v -0.00386193 0.00882845 0.03187616
+v -0.00390817 0.00877816 0.03187332
+v -0.00684280 0.00584859 0.03150741
+v -0.00390817 0.00291484 0.03174757
+v -0.00386193 0.00291484 0.03174851
+v -0.00390817 0.01171611 0.03166909
+v -0.00386193 0.01171611 0.03167476
+v -0.00684280 0.00877816 0.03128616
+v -0.00744080 0.00877816 0.03099967
+v -0.00744080 0.00584859 0.03120768
+v -0.00744080 0.00508582 0.03116230
+v -0.00684280 0.00291484 0.03121335
+v -0.00390817 -0.00001892 0.03090701
+v -0.00386193 -0.00001892 0.03090890
+v -0.00684280 0.01171611 0.03103938
+v -0.00390817 0.01464987 0.03114811
+v -0.00684280 0.01464987 0.03052975
+v -0.00386193 0.01464987 0.03115379
+v -0.00744080 0.01171611 0.03076045
+v -0.00744080 0.00291484 0.03094388
+v -0.00744080 0.00197603 0.03074721
+v -0.00744080 -0.00062244 0.03002862
+v -0.00684280 -0.00001892 0.03035483
+v -0.00684280 -0.00204741 0.02970337
+v -0.00684280 -0.00351429 0.02922210
+v -0.00456922 -0.00413876 0.02942444
+v -0.00386193 -0.00325863 0.02980738
+v -0.00386193 -0.00075236 0.03066212
+v -0.00744080 0.01464987 0.03028959
+v -0.00386193 0.01470016 0.03113960
+v -0.00404269 0.01780156 0.03008819
+v -0.00684280 0.01688372 0.02983007
+v -0.00744080 0.01665321 0.02973646
+v -0.00744080 -0.00184624 0.02963624
+v -0.00744080 -0.00397112 0.02874462
+v -0.00744080 -0.00646481 0.02756178
+v -0.00684280 -0.00588644 0.02809127
+v -0.00744080 -0.00332988 0.02903773
+v -0.00386193 -0.00537513 0.02896587
+v -0.00386193 0.01793149 0.03007212
+v -0.00386193 0.01814104 0.03000026
+v -0.00511117 0.01892477 0.02946415
+v -0.00744080 0.01755429 0.02924763
+v -0.00532627 0.02492221 0.02657844
+v -0.00614847 0.02296498 0.02713441
+v -0.00744080 -0.00767603 0.02682333
+v -0.00684280 -0.00780596 0.02692167
+v -0.00390817 -0.00833403 0.02731216
+v -0.00386193 -0.00563917 0.02883539
+v -0.00386193 0.01926425 0.02958707
+v -0.00404269 0.02046709 0.02910202
+v -0.00744080 0.02205551 0.02660303
+v -0.00744080 0.02408819 0.02487463
+v -0.00715004 0.02383672 0.02547692
+v -0.00744080 0.02315358 0.02573599
+v -0.00404725 0.02058444 0.02904435
+v -0.00417196 0.02375290 0.02742468
+v -0.00386193 0.02372356 0.02747763
+v -0.00386193 0.02498508 0.02664652
+v -0.00417196 0.02594903 0.02540695
+v -0.00386193 0.02763804 0.02328806
+v -0.00390817 0.02761708 0.02330791
+v -0.00389135 0.02832118 0.02237374
+v -0.00390817 0.02831699 0.02237374
+v -0.00619471 0.02566823 0.02462218
+v -0.00744080 0.02505633 0.02384496
+v -0.00744080 -0.00966680 0.02533699
+v -0.00684280 -0.00927284 0.02583338
+v -0.00386193 -0.00834242 0.02731311
+v -0.00386193 -0.00768442 0.02768564
+v -0.00684280 -0.01123845 0.02436500
+v -0.00390817 -0.00979672 0.02621159
+v -0.00386193 -0.00980510 0.02621631
+v -0.00386193 0.02026173 0.02921454
+v -0.00386193 0.02052158 0.02911431
+v -0.00386193 0.02612086 0.02522163
+v -0.00386193 0.02832538 0.02237374
+v -0.00744080 0.02058444 0.02237280
+v -0.00703058 0.02654416 0.02237374
+v -0.00744080 0.02587359 0.02274911
+v -0.00744080 -0.01110434 0.02426288
+v -0.00684280 -0.01270114 0.02322282
+v -0.00477486 -0.01306158 0.02351876
+v -0.00386193 -0.01198028 0.02454937
+v -0.00386193 0.02058444 0.02237280
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+v -0.00744080 -0.01334657 0.02237280
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+v -0.00744080 -0.01289393 0.02280395
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+v -0.00611729 -0.01382435 0.02237280
+v -0.00398454 -0.01446978 0.02237280
+v -0.00386193 -0.01449074 0.02237280
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_337.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_337.obj
new file mode 100644
index 0000000000000000000000000000000000000000..982e1485659c308d820dd4460ce9ab684f261c2c
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_337.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v -0.00239904 0.03578082 -0.00559007
+v -0.00224916 0.03577902 -0.00559007
+v -0.00239904 0.03535020 -0.00717621
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+v -0.00239904 0.01737547 -0.02357453
+v -0.00092832 0.01737547 -0.00559007
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+v -0.00092832 0.03528172 -0.00722550
+v -0.00239904 0.03442047 -0.01011259
+v -0.00092832 0.03437903 -0.01011435
+v -0.00092832 0.03436641 -0.01015132
+v -0.00097209 0.03381506 -0.01169169
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+v -0.00239904 0.03412677 -0.01092414
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_338.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_338.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43642dcb6b1a9bc6026d73f1ee0cd338ee2cdfc9
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_338.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.04733094 -0.01626492 0.00955129
+v 0.04733094 -0.01513315 0.00948059
+v 0.04486087 -0.01492295 0.01230853
+v 0.04475184 -0.01626492 0.01215142
+v 0.04733094 -0.01626492 -0.01437622
+v 0.04733094 -0.01492295 0.00939025
+v 0.04706463 -0.01492295 0.00974767
+v 0.04310929 -0.01492295 0.01391888
+v 0.04143993 -0.01492308 0.01550567
+v 0.04308606 -0.01626492 0.01352219
+v 0.04685015 -0.01626492 -0.01597872
+v 0.04733094 -0.01492295 -0.01430945
+v 0.04256058 -0.01492295 0.01441377
+v 0.04110392 -0.01492308 0.01550567
+v 0.04110392 -0.01538315 0.01550567
+v 0.04054270 -0.01626466 0.01549782
+v 0.04256058 -0.01626492 0.01387961
+v 0.04557401 -0.01626492 -0.01828035
+v 0.04656597 -0.01492295 -0.01597872
+v 0.02907525 -0.01492321 0.01549782
+v 0.04256058 -0.01492295 -0.02062518
+v 0.02907525 -0.01626466 0.01549782
+v 0.04111285 -0.01626479 0.01487331
+v 0.04256058 -0.01626492 -0.02093155
+v 0.04495738 -0.01626492 -0.01889700
+v 0.04523441 -0.01492295 -0.01828428
+v 0.02907525 -0.01492321 -0.02450968
+v 0.04372413 -0.01492295 -0.01976109
+v 0.04225495 -0.01492308 -0.02087263
+v 0.04110392 -0.01492308 -0.02153248
+v 0.03785635 -0.01492321 -0.02306821
+v 0.03656770 -0.01492321 -0.02346098
+v 0.03451049 -0.01492321 -0.02401086
+v 0.03425848 -0.01492321 -0.02406192
+v 0.03156499 -0.01492321 -0.02445076
+v 0.03132370 -0.01492321 -0.02447825
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+v 0.02995283 -0.01626466 -0.02461965
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+v 0.03288760 -0.01626466 -0.02445076
+v 0.03425848 -0.01626466 -0.02425830
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+v 0.04011732 -0.01492321 -0.02209807
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_339.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_339.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33bc0c7c564572a411a37f142a43099daf07b1c5
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_339.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.00386178 0.03202087 -0.01395620
+v -0.00239919 0.03196009 -0.01395620
+v -0.00239919 0.03187397 -0.01406810
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+v -0.00386178 0.03118507 -0.01498711
+v -0.00386178 -0.01919104 -0.01395620
+v -0.00239919 -0.01972798 -0.01395620
+v -0.00239919 0.02990857 -0.01641982
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+v -0.00386178 -0.01899349 -0.01435535
+v -0.00330667 -0.01942912 -0.01395620
+v -0.00326386 -0.01944431 -0.01395620
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+v -0.00239919 -0.01951523 -0.01444522
+v -0.00239919 0.02844465 -0.01810365
+v -0.00386178 0.02849530 -0.01817061
+v -0.00386178 -0.01811716 -0.01586647
+v -0.00386178 -0.01809183 -0.01590877
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+v -0.00239919 -0.01929235 -0.01491838
+v -0.00239919 0.02773042 -0.01885613
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+v -0.00239919 -0.01769673 -0.01733795
+v -0.00386178 -0.01668363 -0.01785429
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+v -0.00239919 0.02696553 -0.01957072
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+v -0.00239919 -0.01694197 -0.01807986
+v -0.00386178 -0.01666337 -0.01787632
+v -0.00239919 0.02621078 -0.02026416
+v -0.00239919 0.02549654 -0.02078667
+v -0.00386178 0.02546109 -0.02071794
+v -0.00239919 -0.01496644 -0.01962535
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+v -0.00239919 -0.01039738 -0.02295776
+v -0.00386178 -0.00970848 -0.02295776
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_34.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ecfe8ca3b98ab02e50d4ff27a707ea0d9e2b89a
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_34.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.02774370 -0.03933914 -0.01304437
+v 0.02774370 -0.03920400 -0.01011060
+v 0.02732596 -0.03887324 -0.01304437
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+v 0.02774370 -0.03891442 -0.01598160
+v 0.02774370 -0.03859009 -0.00694448
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+v 0.02740501 -0.03803152 -0.00688206
+v 0.02774370 -0.03810360 -0.00563712
+v 0.02657159 -0.03623355 -0.00619197
+v 0.02657159 -0.03648195 -0.00740570
+v 0.02657159 -0.03684875 -0.00941703
+v 0.02657159 -0.03694142 -0.01011060
+v 0.02657159 -0.03726189 -0.01304437
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+v 0.02774370 -0.03551540 -0.02177285
+v 0.02774370 -0.03692468 -0.02088856
+v 0.02774370 -0.03693241 -0.02088162
+v 0.02774370 -0.03694270 -0.02086428
+v 0.02657159 -0.03557717 -0.00424306
+v 0.02774370 -0.03747810 -0.00424306
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+v 0.02657159 -0.02815106 -0.02230342
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+v 0.02774370 -0.03281008 -0.02262593
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+v 0.02774370 -0.02758477 -0.02349635
+v 0.02774370 -0.02619221 0.01183719
+v 0.02774370 -0.02619221 -0.02358998
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+f 8 33 24
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+f 8 23 22
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+f 12 24 25
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+f 12 26 27
+f 12 27 28
+f 12 28 29
+f 12 29 30
+f 12 30 13
+f 12 22 23
+f 14 15 31
+f 14 31 16
+f 15 32 31
+f 24 33 25
+f 25 33 34
+f 25 34 35
+f 25 35 26
+f 26 35 36
+f 26 36 27
+f 31 32 37
+f 32 38 39
+f 32 39 37
+f 34 40 35
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+f 35 42 36
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+f 38 44 45
+f 38 45 39
+f 40 46 41
+f 40 47 52
+f 40 52 53
+f 40 53 50
+f 40 50 46
+f 41 46 48
+f 43 49 44
+f 44 49 47
+f 46 50 51
+f 46 51 48
+f 47 49 52
+f 50 53 51
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_340.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_340.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39deb3456eea7d3d8b389a727926974af4288552
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_340.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.02907112 -0.01738772 0.00102506
+v 0.02907112 -0.01738772 0.01550524
+v 0.02907112 -0.01626527 0.00102506
+v 0.04732148 -0.01738772 0.00102506
+v 0.03987378 -0.01738772 0.01550524
+v 0.02907112 -0.01626527 0.01550524
+v 0.04732148 -0.01626527 0.00102506
+v 0.04732148 -0.01738772 0.00970381
+v 0.04306438 -0.01738772 0.01320054
+v 0.04054369 -0.01626527 0.01550524
+v 0.04732148 -0.01626527 0.00956207
+v 0.04474900 -0.01626527 0.01215308
+v 0.04613886 -0.01738772 0.01074560
+v 0.04732148 -0.01656404 0.00960034
+v 0.04465789 -0.01738772 0.01201985
+v 0.04308581 -0.01626527 0.01352796
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 15
+f 1 15 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 6 10
+f 3 10 16
+f 3 16 12
+f 3 12 11
+f 3 11 7
+f 4 7 11
+f 4 11 14
+f 4 14 8
+f 5 9 10
+f 8 12 13
+f 8 14 12
+f 9 15 10
+f 10 15 16
+f 11 12 14
+f 12 16 15
+f 12 15 13
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_341.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_341.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b88b8de16297071b10f02f8cb5d89427539a50f
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_341.obj
@@ -0,0 +1,210 @@
+# https://github.com/mikedh/trimesh
+v -0.02724139 0.00585212 0.02663257
+v -0.02816723 0.00585212 0.02641873
+v -0.02724139 0.00300297 0.02620578
+v -0.02724139 0.00752042 0.02659086
+v -0.02800473 0.00878365 0.02638146
+v -0.02883613 0.00878365 0.02614988
+v -0.02883613 0.00585212 0.02622086
+v -0.02883613 0.00494245 0.02607623
+v -0.02883613 0.00296178 0.02574438
+v -0.02739234 -0.00001781 0.02525460
+v -0.02724139 0.00012980 0.02533889
+v -0.02724139 0.00878365 0.02655803
+v -0.02724139 0.00933289 0.02645777
+v -0.02883613 0.01158817 0.02561218
+v -0.02883613 -0.00006243 0.02478611
+v -0.02883613 -0.00129821 0.02417032
+v -0.02739234 -0.00215639 0.02412418
+v -0.02724139 -0.00000751 0.02529275
+v -0.02724139 0.01144743 0.02602832
+v -0.02883613 0.01465358 0.02480651
+v -0.02883613 -0.00182685 0.02389083
+v -0.02724139 -0.00218042 0.02414370
+v -0.02739234 -0.00362215 0.02307008
+v -0.02724139 -0.00357753 0.02314372
+v -0.02724139 0.01293723 0.02562726
+v -0.02724139 0.01465358 0.02516232
+v -0.02883613 0.01678186 0.02398044
+v -0.02883613 -0.00321366 0.02285092
+v -0.02724139 -0.00364961 0.02308960
+v -0.02883613 -0.00420228 0.02207986
+v -0.02739234 -0.00544149 0.02160338
+v -0.02724139 -0.00547925 0.02161669
+v -0.02724139 0.01713886 0.02415346
+v -0.02739234 0.01709767 0.02414104
+v -0.02724139 0.01725901 0.02409401
+v -0.02739234 0.02052351 0.02242235
+v -0.02883613 0.02065395 0.02203549
+v -0.02883613 -0.00512568 0.02133453
+v -0.02724139 -0.00693472 0.02018459
+v -0.02724139 0.01860119 0.02341967
+v -0.02724139 0.02051665 0.02245518
+v -0.02739234 0.02269985 0.02120054
+v -0.02883613 0.02246642 0.02103817
+v -0.02883613 -0.00656398 0.01965488
+v -0.02739249 -0.00690725 0.02014732
+v -0.02724139 -0.00770021 0.01915533
+v -0.02724139 0.02271701 0.02121386
+v -0.02739249 0.02329714 0.02074181
+v -0.02883613 0.02285432 0.02074181
+v -0.02883613 -0.00745305 0.01859101
+v -0.02739249 -0.00799542 0.01868063
+v -0.02724139 -0.00793020 0.01884300
+v -0.02724139 0.02333147 0.02074181
+v -0.02739249 0.02416218 0.02007191
+v -0.02883613 0.02305685 0.02058032
+v -0.02883613 -0.00769678 0.01825561
+v -0.02745712 -0.00871629 0.01756973
+v -0.02724139 -0.00879181 0.01756973
+v -0.02724139 -0.00801602 0.01872233
+v -0.02724139 0.02417935 0.02008433
+v -0.02739249 0.02579958 0.01860432
+v -0.02883613 0.02558332 0.01840113
+v -0.02883613 0.02380175 0.01997963
+v -0.02883613 -0.00773797 0.01817043
+v -0.02883613 -0.00798169 0.01756973
+v -0.02724139 0.02577556 0.01756973
+v -0.02724139 0.02580645 0.01861674
+v -0.02724139 0.02627673 0.01817043
+v -0.02739249 0.02625270 0.01817043
+v -0.02883613 0.02582018 0.01817043
+v -0.02883613 0.02577556 0.01756973
+f 1 2 3
+f 1 3 11
+f 1 11 18
+f 1 18 22
+f 1 22 24
+f 1 24 29
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+f 1 32 39
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+f 1 47 41
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+f 1 33 26
+f 1 26 25
+f 1 25 19
+f 1 19 13
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+f 1 12 4
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+f 10 15 16
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+f 13 19 14
+f 14 19 20
+f 16 21 17
+f 17 22 18
+f 17 21 23
+f 17 23 24
+f 17 24 22
+f 19 25 20
+f 20 25 26
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+f 23 29 24
+f 23 28 30
+f 23 30 31
+f 23 31 32
+f 23 32 29
+f 26 33 34
+f 26 34 27
+f 27 34 35
+f 27 35 36
+f 27 36 37
+f 30 38 31
+f 31 38 39
+f 31 39 32
+f 33 35 34
+f 35 40 36
+f 36 41 42
+f 36 42 43
+f 36 43 37
+f 36 40 41
+f 38 44 45
+f 38 45 39
+f 39 45 46
+f 41 47 42
+f 42 47 48
+f 42 48 49
+f 42 49 43
+f 44 50 45
+f 45 50 51
+f 45 51 46
+f 46 51 52
+f 47 53 48
+f 48 53 54
+f 48 54 49
+f 49 54 55
+f 50 56 51
+f 51 56 57
+f 51 57 58
+f 51 58 59
+f 51 59 52
+f 53 60 54
+f 54 60 61
+f 54 61 62
+f 54 62 63
+f 54 63 55
+f 56 64 57
+f 57 64 65
+f 57 65 71
+f 57 71 66
+f 57 66 58
+f 60 67 61
+f 61 67 68
+f 61 68 69
+f 61 69 62
+f 62 69 70
+f 66 71 68
+f 68 71 69
+f 69 71 70
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_342.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_342.obj
new file mode 100644
index 0000000000000000000000000000000000000000..658de9582ab9bd67b217b4454d6cb191fd5f4418
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_342.obj
@@ -0,0 +1,204 @@
+# https://github.com/mikedh/trimesh
+v 0.04896579 -0.02350675 0.00829846
+v 0.04785959 -0.02323047 0.00925545
+v 0.04785764 -0.02350675 0.00925148
+v 0.04896579 -0.02437876 0.00826669
+v 0.04896579 -0.02323047 0.00827860
+v 0.04597048 -0.02323047 0.01054600
+v 0.04783232 -0.02437876 0.00922368
+v 0.04896579 -0.02437876 -0.01845361
+v 0.04896579 -0.02323047 -0.01825109
+v 0.04404632 -0.02323047 0.01170550
+v 0.04599580 -0.02350675 0.01050629
+v 0.04599580 -0.02437876 0.01039510
+v 0.04896579 -0.02355340 -0.01841390
+v 0.04863666 -0.02437876 -0.01898968
+v 0.04845359 -0.02323047 -0.01890629
+v 0.04398400 -0.02350675 0.01168168
+v 0.04258957 -0.02323047 0.01232100
+v 0.04367434 -0.02437876 0.01159432
+v 0.04781480 -0.02437876 -0.02024449
+v 0.04849838 -0.02357262 -0.01901748
+v 0.04755967 -0.02437876 -0.02051848
+v 0.04718379 -0.02323047 -0.02022464
+v 0.04011814 -0.02323047 0.01336138
+v 0.04251751 -0.02350675 0.01229717
+v 0.04223901 -0.02437876 0.01217407
+v 0.04743113 -0.02437876 -0.02059393
+v 0.04728896 -0.02437876 -0.02067732
+v 0.04567835 -0.02323047 -0.02110618
+v 0.04012593 -0.02350675 0.01326608
+v 0.03707805 -0.02323047 0.01437793
+v 0.04012593 -0.02437876 0.01292458
+v 0.04600554 -0.02357262 -0.02105853
+v 0.04600359 -0.02437876 -0.02123722
+v 0.04284664 -0.02323047 -0.02230143
+v 0.03425607 -0.02323047 0.01520388
+v 0.03721048 -0.02437876 0.01373067
+v 0.03947935 -0.02323047 -0.02371507
+v 0.04393336 -0.02437876 -0.02207508
+v 0.03301354 -0.02323047 0.01550567
+v 0.03425607 -0.02435482 0.01444941
+v 0.03425802 -0.02437876 0.01442955
+v 0.03949493 -0.02350675 -0.02373096
+v 0.03920280 -0.02350675 -0.02384214
+v 0.03719295 -0.02323047 -0.02454499
+v 0.03996818 -0.02437876 -0.02356021
+v 0.03127245 -0.02379563 0.01550567
+v 0.02907174 -0.02323047 0.01550567
+v 0.03130556 -0.02437876 0.01481473
+v 0.03719295 -0.02350664 -0.02456882
+v 0.03691640 -0.02323047 -0.02459264
+v 0.03791354 -0.02437876 -0.02429880
+v 0.02907174 -0.02394770 0.01550567
+v 0.02907174 -0.02323047 -0.02432659
+v 0.02973000 -0.02437876 0.01468766
+v 0.03719295 -0.02437876 -0.02455294
+v 0.03425607 -0.02437876 -0.02506121
+v 0.03543822 -0.02350653 -0.02484281
+v 0.03543822 -0.02323047 -0.02482296
+v 0.02907174 -0.02437876 0.01463207
+v 0.03104459 -0.02323047 -0.02489443
+v 0.03132114 -0.02437876 -0.02495797
+v 0.02907174 -0.02437876 -0.02429085
+v 0.03274284 -0.02437876 -0.02501753
+v 0.03132114 -0.02323047 -0.02494209
+v 0.03397952 -0.02323047 -0.02501356
+v 0.03425607 -0.02350653 -0.02502547
+v 0.03425607 -0.02323047 -0.02500562
+v 0.03132114 -0.02350653 -0.02494606
+v 0.03219363 -0.02437876 -0.02500165
+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 2
+f 2 5 9
+f 2 9 15
+f 2 15 22
+f 2 22 28
+f 2 28 34
+f 2 34 37
+f 2 37 44
+f 2 44 50
+f 2 50 58
+f 2 58 67
+f 2 67 65
+f 2 65 64
+f 2 64 60
+f 2 60 53
+f 2 53 47
+f 2 47 39
+f 2 39 35
+f 2 35 30
+f 2 30 23
+f 2 23 17
+f 2 17 10
+f 2 10 6
+f 2 6 3
+f 3 7 4
+f 3 6 7
+f 4 7 12
+f 4 12 18
+f 4 18 25
+f 4 25 31
+f 4 31 36
+f 4 36 41
+f 4 41 48
+f 4 48 54
+f 4 54 59
+f 4 59 62
+f 4 62 61
+f 4 61 69
+f 4 69 63
+f 4 63 56
+f 4 56 55
+f 4 55 51
+f 4 51 45
+f 4 45 38
+f 4 38 33
+f 4 33 27
+f 4 27 26
+f 4 26 21
+f 4 21 19
+f 4 19 14
+f 4 14 8
+f 6 10 11
+f 6 11 7
+f 7 11 12
+f 8 14 13
+f 9 13 15
+f 10 16 12
+f 10 12 11
+f 10 17 16
+f 12 16 18
+f 13 14 19
+f 13 19 20
+f 13 20 15
+f 15 20 19
+f 15 19 21
+f 15 21 22
+f 16 17 23
+f 16 23 24
+f 16 24 18
+f 18 24 23
+f 18 23 25
+f 21 26 22
+f 22 26 27
+f 22 27 28
+f 23 29 25
+f 23 30 29
+f 25 29 31
+f 27 32 28
+f 27 33 32
+f 28 32 34
+f 29 30 31
+f 30 35 31
+f 31 35 36
+f 32 33 37
+f 32 37 34
+f 33 38 37
+f 35 39 36
+f 36 39 40
+f 36 40 41
+f 37 38 42
+f 37 42 43
+f 37 43 44
+f 38 45 43
+f 38 43 42
+f 39 46 40
+f 39 47 52
+f 39 52 46
+f 40 46 41
+f 41 46 48
+f 43 45 49
+f 43 49 44
+f 44 49 50
+f 45 51 49
+f 46 52 48
+f 47 53 62
+f 47 62 59
+f 47 59 52
+f 48 52 54
+f 49 55 56
+f 49 56 57
+f 49 57 50
+f 49 51 55
+f 50 57 58
+f 52 59 54
+f 53 60 61
+f 53 61 62
+f 56 63 64
+f 56 64 65
+f 56 65 66
+f 56 66 57
+f 57 66 67
+f 57 67 58
+f 60 64 68
+f 60 68 61
+f 61 68 69
+f 63 69 64
+f 64 69 68
+f 65 67 66
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_343.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_343.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f2f25244a0301280f8d6c84a8ea0d7921f11fa8
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_343.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00327946 0.03548317 0.00493462
+v 0.00327946 -0.02385461 0.00493462
+v 0.00404157 0.03538247 0.00493462
+v 0.00327946 0.03554832 0.00456621
+v 0.00327946 -0.02393753 0.00452658
+v 0.00382433 -0.02409153 0.00493462
+v 0.00437758 0.03533509 0.00493462
+v 0.00437758 0.03540024 0.00456621
+v 0.00327946 0.03602217 0.00163066
+v 0.00327946 -0.02418630 0.00163066
+v 0.00345789 -0.02426922 0.00163066
+v 0.00406833 -0.02426922 0.00456621
+v 0.00424505 -0.02426922 0.00493462
+v 0.00437758 -0.02426922 0.00493462
+v 0.00437758 0.03587409 0.00163066
+v 0.00437758 0.03606363 -0.00078236
+v 0.00327946 0.03612286 0.00031553
+v 0.00327946 -0.02426922 0.00042048
+v 0.00328612 -0.02426922 0.00046818
+v 0.00437758 -0.02426922 -0.00256277
+v 0.00437758 0.03609325 -0.00130415
+v 0.00327946 0.03624133 -0.00130415
+v 0.00327946 -0.02426922 -0.00256277
+v 0.00437758 0.03588594 -0.00256277
+v 0.00437758 0.03605771 -0.00154927
+v 0.00333858 0.03602217 -0.00256277
+v 0.00327946 0.03619986 -0.00154927
+v 0.00327946 0.03602809 -0.00256277
+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 9
+f 1 9 17
+f 1 17 22
+f 1 22 27
+f 1 27 28
+f 1 28 23
+f 1 23 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 4
+f 4 8 15
+f 4 15 9
+f 5 10 11
+f 5 11 12
+f 5 12 6
+f 6 12 13
+f 7 14 20
+f 7 20 24
+f 7 24 25
+f 7 25 21
+f 7 21 16
+f 7 16 15
+f 7 15 8
+f 9 16 17
+f 9 15 16
+f 10 18 19
+f 10 19 11
+f 11 19 18
+f 11 18 23
+f 11 23 20
+f 11 20 14
+f 11 14 13
+f 11 13 12
+f 16 21 22
+f 16 22 17
+f 20 23 28
+f 20 28 26
+f 20 26 24
+f 21 25 22
+f 22 25 26
+f 22 26 27
+f 24 26 25
+f 26 28 27
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_344.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_344.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b33315b3f9d81b5cffa4ea928c12e8f9fe6eb62
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_344.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.00981186 0.00584809 0.02973692
+v -0.01049968 0.00584809 0.02907238
+v -0.01049968 0.00314204 0.02906415
+v -0.00981186 0.00457015 0.02973235
+v -0.00981186 0.00726147 0.02962358
+v -0.01049968 0.00615138 0.02904770
+v -0.01049968 0.00291237 0.02904953
+v -0.00981186 0.00446120 0.02972595
+v -0.00981186 0.00741754 0.02961078
+v -0.00981186 0.01009119 0.02933107
+v -0.01049968 0.00878381 0.02877073
+v -0.00981186 0.00291237 0.02962175
+v -0.01049968 -0.00002041 0.02855866
+v -0.00981186 0.01044748 0.02926617
+v -0.01049968 0.01156347 0.02834385
+v -0.01049968 0.00885153 0.02876342
+v -0.00981186 0.00255019 0.02955593
+v -0.01049968 -0.00069765 0.02834933
+v -0.01017058 -0.00002041 0.02878901
+v -0.00981186 0.00100135 0.02927348
+v -0.00981186 0.01171953 0.02903399
+v -0.01049968 0.01171953 0.02831369
+v -0.01049968 -0.00281773 0.02767839
+v -0.00981186 -0.00273234 0.02817840
+v -0.00981186 -0.00146618 0.02857877
+v -0.00981186 -0.00002041 0.02902759
+v -0.00981186 0.01266473 0.02884477
+v -0.01049968 0.01424596 0.02761806
+v -0.01049968 -0.00368638 0.02737309
+v -0.00981186 -0.00299735 0.02808516
+v -0.00981186 0.01472297 0.02808516
+v -0.00981186 0.01582718 0.02740599
+v -0.01049968 0.01582718 0.02635845
+v -0.01049968 -0.00496726 0.02679264
+v -0.00981186 -0.00339192 0.02790691
+v -0.00981186 0.01582718 0.02039949
+v -0.01049968 0.01582718 0.02039949
+v -0.00981186 -0.00544722 0.02697454
+v -0.01049968 -0.00636297 0.02599098
+v -0.01042420 -0.00639831 0.02603577
+v -0.00981186 -0.00582707 0.02676065
+v -0.00981186 -0.01425438 0.02039949
+v -0.01049968 -0.01376558 0.02039949
+v -0.01049968 -0.00651020 0.02590597
+v -0.01049968 -0.00951659 0.02412624
+v -0.00981186 -0.00881873 0.02493521
+v -0.00981186 -0.01363602 0.02115453
+v -0.01049968 -0.01347407 0.02097720
+v -0.00988976 -0.01420138 0.02039949
+v -0.01005875 -0.01408065 0.02039949
+v -0.01049968 -0.01087403 0.02313445
+v -0.00981186 -0.01158661 0.02293244
+v -0.00981186 -0.01325912 0.02148452
+v -0.00994254 -0.01173678 0.02274687
+v -0.01049968 -0.01237281 0.02193425
+v -0.00981186 -0.01179862 0.02275053
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 17
+f 1 17 20
+f 1 20 26
+f 1 26 25
+f 1 25 24
+f 1 24 30
+f 1 30 35
+f 1 35 38
+f 1 38 41
+f 1 41 46
+f 1 46 52
+f 1 52 56
+f 1 56 53
+f 1 53 47
+f 1 47 42
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+f 1 36 32
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+f 2 34 29
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+f 7 12 8
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+f 10 14 15
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+f 10 16 11
+f 12 13 17
+f 13 18 19
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+f 13 20 17
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+f 15 21 22
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+f 18 25 19
+f 19 26 20
+f 19 25 26
+f 21 27 22
+f 22 27 28
+f 23 29 24
+f 24 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 37
+f 32 37 33
+f 34 38 35
+f 34 39 40
+f 34 40 41
+f 34 41 38
+f 36 42 49
+f 36 49 50
+f 36 50 43
+f 36 43 37
+f 39 44 40
+f 40 44 45
+f 40 45 41
+f 41 45 46
+f 42 47 48
+f 42 48 49
+f 43 50 48
+f 45 51 52
+f 45 52 46
+f 47 53 48
+f 48 50 49
+f 48 53 54
+f 48 54 55
+f 51 55 54
+f 51 54 52
+f 52 54 56
+f 53 56 54
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_345.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_345.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e182a2336750bd61a57c4aca63205e098e17b687
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_345.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.05419803 -0.02437876 -0.00336775
+v 0.05417295 -0.02437876 -0.00424017
+v 0.05405267 -0.02350644 -0.00424017
+v 0.05419752 -0.02437876 -0.00130589
+v 0.05384793 -0.02437876 -0.00636752
+v 0.05357102 -0.02323047 -0.00714825
+v 0.05397026 -0.02323047 -0.00453360
+v 0.05400149 -0.02323047 -0.00424017
+v 0.05400098 -0.02323047 -0.00162552
+v 0.05405165 -0.02350644 -0.00130589
+v 0.05356437 -0.02323047 0.00147643
+v 0.05359252 -0.02355309 0.00163887
+v 0.05372765 -0.02437876 0.00163625
+v 0.05341543 -0.02437876 -0.00866779
+v 0.05358894 -0.02350116 -0.00727139
+v 0.05350295 -0.02323047 -0.00755957
+v 0.05399636 -0.02323047 -0.00130589
+v 0.05347071 -0.02323047 0.00197421
+v 0.05343692 -0.02437876 0.00291475
+v 0.05339035 -0.02437876 -0.00879878
+v 0.05332022 -0.02323047 -0.00850012
+v 0.05270090 -0.02323047 0.00375050
+v 0.05322451 -0.02437876 0.00340467
+v 0.05334991 -0.02437876 -0.00893502
+v 0.05302592 -0.02323047 -0.00948257
+v 0.05235387 -0.02323047 0.00435569
+v 0.05242502 -0.02355309 0.00433212
+v 0.05078610 -0.02323047 0.00650925
+v 0.05080555 -0.02350644 0.00653021
+v 0.05241836 -0.02437876 0.00448145
+v 0.05217524 -0.02437876 -0.01226490
+v 0.05187479 -0.02350644 -0.01304563
+v 0.05293071 -0.02350116 -0.00992534
+v 0.05287953 -0.02323047 -0.00994368
+v 0.04932992 -0.02323047 0.00797639
+v 0.05084343 -0.02437876 0.00655378
+v 0.05187274 -0.02437876 -0.01304563
+v 0.05135527 -0.02437876 -0.01430580
+v 0.05116691 -0.02437876 -0.01476428
+v 0.05086953 -0.02350644 -0.01548999
+v 0.05084343 -0.02323047 -0.01544021
+v 0.05171765 -0.02323047 -0.01331286
+v 0.05181081 -0.02323047 -0.01305611
+v 0.04896907 -0.02323047 0.00828553
+v 0.04896907 -0.02329826 0.00829077
+v 0.04896907 -0.02350644 0.00830649
+v 0.04932787 -0.02350644 0.00799734
+v 0.04930279 -0.02437876 0.00802092
+v 0.05086442 -0.02437876 -0.01549785
+v 0.05012481 -0.02437876 -0.01696499
+v 0.05010228 -0.02350644 -0.01695713
+v 0.05005827 -0.02323047 -0.01687591
+v 0.04896907 -0.02323047 -0.01825659
+v 0.04896907 -0.02437876 0.00827243
+v 0.04896907 -0.02437876 -0.01845833
+v 0.04896907 -0.02355309 -0.01842165
+v 0.04896907 -0.02331658 -0.01830113
+f 1 2 3
+f 1 3 4
+f 1 4 13
+f 1 13 19
+f 1 19 23
+f 1 23 30
+f 1 30 36
+f 1 36 48
+f 1 48 54
+f 1 54 55
+f 1 55 50
+f 1 50 49
+f 1 49 39
+f 1 39 38
+f 1 38 37
+f 1 37 31
+f 1 31 24
+f 1 24 20
+f 1 20 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 7 8
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 15
+f 5 15 6
+f 6 15 16
+f 6 16 21
+f 6 21 25
+f 6 25 34
+f 6 34 43
+f 6 43 42
+f 6 42 41
+f 6 41 52
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+f 6 53 44
+f 6 44 35
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+f 6 22 18
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+f 6 11 17
+f 6 17 9
+f 6 9 8
+f 6 8 7
+f 9 17 10
+f 10 17 11
+f 11 18 12
+f 12 18 13
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+f 15 20 16
+f 16 20 21
+f 18 22 19
+f 19 22 23
+f 20 24 21
+f 21 24 25
+f 22 26 23
+f 23 26 27
+f 23 27 28
+f 23 28 29
+f 23 29 30
+f 24 31 32
+f 24 32 33
+f 24 33 25
+f 25 33 34
+f 26 28 27
+f 28 35 29
+f 29 35 36
+f 29 36 30
+f 31 37 32
+f 32 37 38
+f 32 38 39
+f 32 39 40
+f 32 40 41
+f 32 41 42
+f 32 42 43
+f 32 43 34
+f 32 34 33
+f 35 44 45
+f 35 45 46
+f 35 46 47
+f 35 47 36
+f 36 47 48
+f 39 49 40
+f 40 49 50
+f 40 50 51
+f 40 51 41
+f 41 51 52
+f 44 53 57
+f 44 57 56
+f 44 56 55
+f 44 55 54
+f 44 54 46
+f 44 46 45
+f 46 54 48
+f 46 48 47
+f 50 55 51
+f 51 55 56
+f 51 56 52
+f 52 56 57
+f 52 57 53
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_346.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_346.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40d9f43f4760b3097ccc8a5fbcc5d9a2d9afc6a3
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_346.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.00386193 0.00052844 0.01137093
+v -0.00386193 0.00052844 0.00624350
+v -0.00554852 0.00052844 0.01137093
+v -0.00386193 -0.02203788 0.01137093
+v -0.00554852 0.00052844 0.00624350
+v -0.00386193 -0.02338638 0.00624350
+v -0.00554852 -0.02158135 0.01137093
+v -0.00466642 -0.02186931 0.01137093
+v -0.00386193 -0.02237032 0.01050305
+v -0.00554852 -0.02300243 0.00624350
+v -0.00386193 -0.02327166 0.00750239
+v -0.00390766 -0.02338872 0.00624350
+v -0.00554852 -0.02173821 0.01101354
+v -0.00525333 -0.02167968 0.01137093
+v -0.00470374 -0.02185995 0.01137093
+v -0.00386193 -0.02241948 0.01035699
+v -0.00554852 -0.02224156 0.00960456
+v -0.00516682 -0.02309608 0.00624350
+v -0.00554852 -0.02286664 0.00753702
+v -0.00386193 -0.02326230 0.00754807
+v -0.00390766 -0.02327166 0.00750239
+v -0.00474237 -0.02184824 0.01137093
+v -0.00554852 -0.02209641 0.01003072
+v -0.00386193 -0.02294390 0.00862776
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 14
+f 1 14 22
+f 1 22 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 24
+f 1 24 20
+f 1 20 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 18
+f 2 18 10
+f 2 10 5
+f 3 5 10
+f 3 10 19
+f 3 19 17
+f 3 17 23
+f 3 23 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 14
+f 8 15 9
+f 9 15 17
+f 9 17 16
+f 10 18 19
+f 11 20 21
+f 11 21 12
+f 12 21 18
+f 13 15 22
+f 13 22 14
+f 13 23 15
+f 15 23 17
+f 16 17 24
+f 17 19 24
+f 18 21 19
+f 19 21 24
+f 20 24 21
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_347.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_347.obj
new file mode 100644
index 0000000000000000000000000000000000000000..401e713009410c01021947f190fc6fe85270fe88
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_347.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00554852 0.03601929 -0.00438110
+v -0.00554852 0.03532229 -0.00717554
+v -0.00642744 0.03528263 -0.00717554
+v -0.00642744 0.03593996 -0.00438110
+v -0.00554852 -0.02187157 -0.00438110
+v -0.00554852 0.03494263 -0.00835620
+v -0.00642744 0.03496529 -0.00816124
+v -0.00642744 -0.02163923 -0.00438110
+v -0.00554852 -0.02179223 -0.00484263
+v -0.00634527 0.03490296 -0.00835620
+v -0.00554852 -0.02068156 -0.00835620
+v -0.00642744 0.03489729 -0.00835620
+v -0.00642744 -0.02163356 -0.00440640
+v -0.00554852 -0.02145223 -0.00598515
+v -0.00642744 -0.02154856 -0.00470137
+v -0.00642744 -0.02093089 -0.00679301
+v -0.00576956 -0.02061923 -0.00835620
+v -0.00642744 -0.02042656 -0.00835620
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 9
+f 1 9 14
+f 1 14 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 12
+f 3 12 18
+f 3 18 16
+f 3 16 15
+f 3 15 13
+f 3 13 8
+f 3 8 4
+f 5 8 9
+f 6 10 7
+f 6 11 17
+f 6 17 18
+f 6 18 12
+f 6 12 10
+f 7 10 12
+f 8 13 9
+f 9 13 15
+f 9 15 16
+f 9 16 14
+f 11 14 17
+f 14 16 18
+f 14 18 17
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_348.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_348.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b02807f0245f369ff8635a321fb79acca17ffdbb
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_348.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.01678343 0.02356286 -0.00723640
+v 0.01678343 0.03036820 -0.00723640
+v 0.01820673 0.02356286 -0.00723640
+v 0.01678343 0.02356286 0.01925467
+v 0.01678343 0.03037561 -0.00721825
+v 0.01820673 0.03056985 -0.00511266
+v 0.01820673 0.02970067 -0.00723640
+v 0.01820673 0.02356286 0.01805925
+v 0.01773578 0.02463782 0.01736689
+v 0.01678343 0.02359990 0.01921577
+v 0.01678343 0.03147197 -0.00436066
+v 0.01778747 0.03066780 -0.00535122
+v 0.01820673 0.03113779 -0.00360866
+v 0.01820673 0.02441723 0.01719056
+v 0.01820673 0.02497365 0.01633743
+v 0.01820673 0.02592596 0.01482306
+v 0.01678343 0.02593337 0.01629076
+v 0.01678343 0.02584695 0.01642819
+v 0.01678343 0.03149501 -0.00429842
+v 0.01820673 0.03124891 -0.00293705
+v 0.01820673 0.02743881 0.01233369
+v 0.01678343 0.02742811 0.01372878
+v 0.01820673 0.02787587 0.01159725
+v 0.01820673 0.02868579 0.01021513
+v 0.01678343 0.03196417 -0.00145120
+v 0.01678343 0.03197076 -0.00130340
+v 0.01820673 0.03131393 -0.00130340
+v 0.01820673 0.02878703 0.01004140
+v 0.01678343 0.02931052 0.01042517
+v 0.01678343 0.03158390 0.00185240
+v 0.01820673 0.03101185 0.00114448
+v 0.01820673 0.02984389 0.00750016
+v 0.01720255 0.03034433 0.00750016
+v 0.01678343 0.03055257 0.00750016
+v 0.01691441 0.03152053 0.00186018
+v 0.01678343 0.03148596 0.00249289
+v 0.01820673 0.03058796 0.00390095
+v 0.01820673 0.03013444 0.00625807
+v 0.01678343 0.03116330 0.00456737
+v 0.01820673 0.03048425 0.00456737
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 10
+f 1 10 18
+f 1 18 17
+f 1 17 22
+f 1 22 29
+f 1 29 34
+f 1 34 39
+f 1 39 36
+f 1 36 30
+f 1 30 26
+f 1 26 25
+f 1 25 19
+f 1 19 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 6
+f 3 6 13
+f 3 13 20
+f 3 20 27
+f 3 27 31
+f 3 31 37
+f 3 37 40
+f 3 40 38
+f 3 38 32
+f 3 32 28
+f 3 28 24
+f 3 24 23
+f 3 23 21
+f 3 21 16
+f 3 16 15
+f 3 15 14
+f 3 14 8
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 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 11 19 13
+f 11 13 12
+f 13 19 20
+f 16 21 17
+f 17 21 23
+f 17 23 24
+f 17 24 22
+f 19 25 20
+f 20 25 26
+f 20 26 27
+f 22 24 28
+f 22 28 29
+f 26 30 27
+f 27 30 31
+f 28 32 33
+f 28 33 34
+f 28 34 29
+f 30 35 31
+f 30 36 35
+f 31 35 36
+f 31 36 37
+f 32 38 33
+f 33 38 34
+f 34 38 39
+f 36 39 37
+f 37 39 40
+f 38 40 39
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_349.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_349.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e9b3620ff583ef054e413ed8e82822795c52324
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_349.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.00981186 0.01730551 -0.02353702
+v -0.01043807 0.01730551 -0.02350757
+v -0.00981186 0.01849287 -0.02311494
+v -0.00981186 0.01730551 0.02660210
+v -0.01049968 0.01730551 -0.02350266
+v -0.01049968 0.01831776 -0.02314438
+v -0.01049968 0.01843860 -0.02310021
+v -0.00981186 0.02052714 -0.02227569
+v -0.00981186 0.01752004 0.02648922
+v -0.01049968 0.02007492 0.02468311
+v -0.01049968 0.01960714 0.02492851
+v -0.01049968 0.01745601 0.02561071
+v -0.01049968 0.01740717 0.02562543
+v -0.01049968 0.01730551 0.02565488
+v -0.01049968 0.02052714 -0.02222170
+v -0.00981186 0.02100107 -0.02205974
+v -0.00981186 0.02032563 0.02496777
+v -0.00981186 0.02100107 0.02434447
+v -0.01049968 0.02023302 0.02447207
+v -0.01049968 0.02100107 -0.02197630
+v -0.01049968 0.02100107 0.02343650
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 18
+f 1 18 17
+f 1 17 9
+f 1 9 4
+f 1 4 14
+f 1 14 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 4 12 13
+f 4 13 14
+f 5 14 13
+f 5 13 12
+f 5 12 11
+f 5 11 10
+f 5 10 19
+f 5 19 21
+f 5 21 20
+f 5 20 15
+f 5 15 7
+f 5 7 6
+f 7 15 8
+f 8 15 16
+f 9 17 10
+f 10 18 19
+f 10 17 18
+f 15 20 16
+f 16 20 21
+f 16 21 18
+f 18 21 19
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_35.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23c77a555b84dd4a0319062b74ef59f48f2e135a
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_35.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.02907111 0.01555991 -0.00709895
+v 0.02991168 0.01492141 -0.00709895
+v 0.02907111 0.01470193 -0.01011135
+v 0.02907111 -0.01356029 -0.00709895
+v 0.02991168 0.01489861 -0.00717302
+v 0.02991168 -0.01356029 -0.00709895
+v 0.02907111 0.01392945 -0.01232092
+v 0.02907111 -0.01356029 -0.01430544
+v 0.02991168 0.01384394 -0.01011135
+v 0.02991168 -0.01356029 -0.01430544
+v 0.02907111 0.01376413 -0.01275338
+v 0.02907111 0.01165764 -0.01430544
+v 0.02991168 0.01268381 -0.01274774
+v 0.02991168 0.01069134 -0.01430544
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 12
+f 1 12 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 10
+f 2 10 14
+f 2 14 13
+f 2 13 9
+f 2 9 5
+f 3 5 7
+f 4 8 10
+f 4 10 6
+f 5 9 7
+f 7 9 11
+f 8 12 14
+f 8 14 10
+f 9 13 11
+f 11 13 14
+f 11 14 12
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_350.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_350.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca31aa17801f81fc467182126dfd29fb122e8b9d
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_350.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01931567 0.02594737 0.00360108
+v 0.01931567 0.02594737 -0.00736635
+v 0.01820687 0.02594737 0.00360108
+v 0.01931567 0.00313831 0.00360108
+v 0.01820687 0.02594737 -0.00736635
+v 0.01931567 0.00313831 -0.00736635
+v 0.01820687 0.00313831 0.00360108
+v 0.01820687 0.00313831 -0.00736635
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 6
+f 1 6 2
+f 2 6 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_351.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_351.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d05347728e3b95da393a34b598c8cf225bb5593
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_351.obj
@@ -0,0 +1,207 @@
+# https://github.com/mikedh/trimesh
+v -0.00092832 0.01737547 -0.00559007
+v -0.00092832 0.01737547 -0.02349841
+v -0.00239890 0.01737547 -0.00559007
+v -0.00092832 -0.02265945 -0.00559007
+v -0.00092832 0.01465580 -0.02423317
+v -0.00097223 0.01737547 -0.02350230
+v -0.00239890 0.01737547 -0.02357227
+v -0.00239890 -0.02225973 -0.00559007
+v -0.00239890 -0.02198933 -0.00703044
+v -0.00092832 -0.02238513 -0.00703238
+v -0.00097223 0.01465580 -0.02423511
+v -0.00239890 0.01597253 -0.02395132
+v -0.00092832 0.01460877 -0.02424289
+v -0.00092832 -0.02205595 -0.00864963
+v -0.00239890 -0.02181690 -0.00770883
+v -0.00239890 0.01465580 -0.02429731
+v -0.00092832 0.01171666 -0.02477938
+v -0.00092832 -0.02165231 -0.01020468
+v -0.00239890 -0.02118989 -0.01015997
+v -0.00239890 0.01314312 -0.02457528
+v -0.00239890 0.01171666 -0.02483575
+v -0.00092832 0.01167355 -0.02478327
+v -0.00239890 -0.02012396 -0.01304070
+v -0.00092832 -0.02061381 -0.01300182
+v -0.00239890 0.01169315 -0.02483769
+v -0.00092832 0.00286791 -0.02544805
+v -0.00239890 -0.01950870 -0.01444608
+v -0.00092832 -0.01953221 -0.01533051
+v -0.00239890 -0.01929316 -0.01492037
+v -0.00097223 -0.01950478 -0.01536744
+v -0.00239890 0.00878536 -0.02505346
+v -0.00239890 0.00727661 -0.02516231
+v -0.00092832 -0.00002812 -0.02543250
+v -0.00239890 0.00288750 -0.02542473
+v -0.00239890 0.00290710 -0.02542473
+v -0.00239890 0.00433747 -0.02534697
+v -0.00092832 -0.01950870 -0.01538105
+v -0.00092832 -0.01868574 -0.01684474
+v -0.00239890 -0.01840750 -0.01634324
+v -0.00097223 -0.01867790 -0.01683113
+v -0.00092832 -0.01939114 -0.01559098
+v -0.00092832 -0.00007123 -0.02543056
+v -0.00097223 -0.00002812 -0.02543056
+v -0.00239890 0.00139834 -0.02541501
+v -0.00092832 -0.01725536 -0.01825206
+v -0.00239890 -0.01769427 -0.01733653
+v -0.00239890 -0.00153687 -0.02511372
+v -0.00239890 -0.00002812 -0.02532753
+v -0.00092832 -0.00300252 -0.02501069
+v -0.00092832 -0.01537040 -0.01973130
+v -0.00239890 -0.01693794 -0.01807906
+v -0.00097223 -0.01720834 -0.01827733
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+v -0.00239890 -0.00446425 -0.02454224
+v -0.00092832 -0.00593774 -0.02442366
+v -0.00239890 -0.01501378 -0.01959135
+v -0.00092832 -0.01388124 -0.02088204
+v -0.00239890 -0.00591814 -0.02425066
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+v -0.00239890 -0.01360692 -0.02067599
+v -0.00092832 -0.01164358 -0.02252067
+v -0.00239890 -0.01305436 -0.02108225
+v -0.00110251 -0.01160047 -0.02250707
+v -0.00239890 -0.00757190 -0.02388134
+v -0.00239890 -0.00861039 -0.02364031
+v -0.00092832 -0.01036603 -0.02337595
+v -0.00216741 -0.01011523 -0.02326126
+v -0.00239890 -0.01181993 -0.02198612
+v -0.00239890 -0.00984875 -0.02330014
+v -0.00239890 -0.01004861 -0.02322822
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+f 1 24 28
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+f 45 51 52
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+f 47 49 53
+f 49 54 53
+f 49 55 54
+f 50 52 56
+f 50 56 57
+f 51 56 52
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+f 55 59 58
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+f 57 63 61
+f 58 59 64
+f 59 65 64
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+f 65 66 67
+f 65 67 69
+f 67 68 70
+f 67 70 69
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_352.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_352.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2122684422f74c7b7ced909f919caee3d24e46a
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_352.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.05286895 -0.01864223 -0.00423928
+v 0.05243498 -0.01763528 -0.00423928
+v 0.05247832 -0.01763528 -0.00130625
+v 0.05285149 -0.01864223 -0.00130625
+v 0.05262189 -0.01864223 -0.00559474
+v 0.05190077 -0.01763528 -0.00717517
+v 0.05229658 -0.01738784 -0.00423928
+v 0.05235673 -0.01738784 -0.00130625
+v 0.05202624 -0.01738784 0.00162964
+v 0.05213166 -0.01763528 0.00162964
+v 0.05242658 -0.01864223 0.00163249
+v 0.05230499 -0.01864223 -0.00720934
+v 0.05167958 -0.01738784 -0.00743430
+v 0.05174943 -0.01738784 -0.00717517
+v 0.05154441 -0.01864223 -0.01000284
+v 0.05109298 -0.01759378 -0.00994304
+v 0.05097592 -0.01738784 -0.00994304
+v 0.05098756 -0.01738784 0.00453420
+v 0.05103800 -0.01780118 0.00469082
+v 0.05125854 -0.01864223 0.00465380
+v 0.05086144 -0.01864223 -0.01216703
+v 0.05078512 -0.01854449 -0.01227239
+v 0.05037250 -0.01738784 -0.01140672
+v 0.05065965 -0.01738784 0.00519769
+v 0.05057881 -0.01864223 0.00577861
+v 0.05080453 -0.01864223 -0.01231795
+v 0.04980465 -0.01864223 -0.01386705
+v 0.04914173 -0.01738784 -0.01332316
+v 0.04915661 -0.01738784 -0.01330038
+v 0.04980465 -0.01738784 0.00653607
+v 0.05020693 -0.01864223 0.00635952
+v 0.04748088 -0.01864223 -0.01728988
+v 0.04712258 -0.01738784 -0.01633593
+v 0.04928272 -0.01738784 0.00731062
+v 0.04940625 -0.01780118 0.00724513
+v 0.04778873 -0.01738784 0.00930395
+v 0.04780684 -0.01763528 0.00931819
+v 0.04938944 -0.01864223 0.00740459
+v 0.04710447 -0.01864223 -0.01776258
+v 0.04626175 -0.01738784 -0.01754331
+v 0.04626175 -0.01738784 0.01062239
+v 0.04626175 -0.01763528 0.01065371
+v 0.04783271 -0.01864223 0.00931819
+v 0.04659418 -0.01864223 -0.01820681
+v 0.04626175 -0.01814035 -0.01820396
+v 0.04626175 -0.01805010 -0.01814986
+v 0.04626175 -0.01848272 0.01061385
+v 0.04626175 -0.01864223 0.01060530
+v 0.04626175 -0.01864223 -0.01843746
+v 0.04626175 -0.01821502 -0.01824667
+f 1 2 3
+f 1 3 4
+f 1 4 11
+f 1 11 20
+f 1 20 25
+f 1 25 31
+f 1 31 38
+f 1 38 43
+f 1 43 48
+f 1 48 49
+f 1 49 44
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+f 1 39 32
+f 1 32 27
+f 1 27 26
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+f 1 21 15
+f 1 15 12
+f 1 12 5
+f 1 5 6
+f 1 6 2
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+f 6 13 14
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+f 7 13 17
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+f 7 28 33
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+f 7 36 34
+f 7 34 30
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+f 7 18 9
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+f 16 22 17
+f 17 22 23
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+f 21 26 22
+f 22 26 27
+f 22 27 28
+f 22 28 29
+f 22 29 23
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+f 27 33 28
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+f 31 34 35
+f 31 35 36
+f 31 36 37
+f 31 37 38
+f 32 39 40
+f 32 40 33
+f 34 36 35
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+f 37 43 38
+f 37 42 43
+f 39 44 45
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+f 39 46 40
+f 40 46 45
+f 40 45 50
+f 40 50 49
+f 40 49 48
+f 40 48 47
+f 40 47 42
+f 40 42 41
+f 42 47 43
+f 43 47 48
+f 44 49 50
+f 44 50 45
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_353.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_353.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aa466092ef64896cc941ff5f195899355629bdb
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_353.obj
@@ -0,0 +1,231 @@
+# https://github.com/mikedh/trimesh
+v 0.01375432 -0.02789477 0.00150104
+v 0.01375432 -0.02789477 0.00456227
+v 0.01358331 -0.02787380 0.00134891
+v 0.01370564 -0.02774935 -0.00130044
+v 0.01375432 -0.02774799 -0.00130415
+v 0.01295994 -0.02774867 0.00456227
+v 0.01077056 -0.02737869 -0.00130044
+v 0.01141574 -0.02749300 -0.00068820
+v 0.01375432 -0.02750247 0.00726357
+v 0.01077056 -0.02724680 -0.00423551
+v 0.01141574 -0.02735772 -0.00358987
+v 0.01375432 -0.02737057 -0.00423551
+v 0.01141574 -0.02684773 0.00748250
+v 0.01077056 -0.02667390 0.00749734
+v 0.01077056 -0.02713722 0.00456227
+v 0.01077056 -0.02728197 0.00162720
+v 0.01052494 -0.02730497 -0.00130044
+v 0.01052494 -0.02729753 -0.00154534
+v 0.01052494 -0.02717713 -0.00423551
+v 0.01375432 -0.02746459 0.00748250
+v 0.01077056 -0.02682947 -0.00717058
+v 0.01141574 -0.02727385 -0.00423551
+v 0.01077056 -0.02627958 -0.01010936
+v 0.01375432 -0.02679430 -0.00717058
+v 0.01370564 -0.02675372 0.01043612
+v 0.01141574 -0.02610981 0.01043612
+v 0.01077056 -0.02592786 0.01043612
+v 0.01052494 -0.02584670 0.01043612
+v 0.01052494 -0.02658598 0.00748992
+v 0.01052494 -0.02662521 0.00725615
+v 0.01052494 -0.02704929 0.00456227
+v 0.01052494 -0.02706553 0.00431737
+v 0.01052494 -0.02721568 0.00138230
+v 0.01052494 -0.02675642 -0.00717058
+v 0.01375432 -0.02676589 0.01043612
+v 0.01375432 -0.02606787 -0.01010565
+v 0.01375432 -0.02608005 -0.01006112
+v 0.01052494 -0.02620585 -0.01009080
+v 0.01052494 -0.02614565 -0.01034312
+v 0.01077056 -0.02546657 -0.01253237
+v 0.01219716 -0.02499446 0.01486655
+v 0.01103957 -0.02521361 0.01312257
+v 0.01052494 -0.02515679 0.01279604
+v 0.01375432 -0.02575336 0.01337118
+v 0.01375432 -0.02533603 -0.01222439
+v 0.01052494 -0.02543343 -0.01246186
+v 0.01375432 -0.02462448 -0.01371233
+v 0.01375432 -0.02531912 -0.01226891
+v 0.01077056 -0.02469077 -0.01399804
+v 0.01375432 -0.02349155 -0.01597578
+v 0.01375432 -0.02503369 0.01492592
+v 0.01375432 -0.02501678 0.01494818
+v 0.01375432 -0.02304920 0.01731924
+v 0.01225786 -0.02202719 0.01776451
+v 0.01052494 -0.02142454 0.01717453
+v 0.01141574 -0.02392105 0.01537119
+v 0.01052494 -0.02315810 0.01550106
+v 0.01052494 -0.02398936 0.01453260
+v 0.01052494 -0.02463327 0.01364577
+v 0.01052494 -0.02465018 -0.01391270
+v 0.01077056 -0.02361465 -0.01597949
+v 0.01375432 -0.02240258 -0.01780139
+v 0.01375432 -0.02129535 0.01884429
+v 0.01297574 -0.02129535 0.01857713
+v 0.01077056 -0.02098557 0.01769030
+v 0.01060270 -0.02098557 0.01759011
+v 0.01052494 -0.02098557 0.01754187
+v 0.01052494 -0.02340430 -0.01620584
+v 0.01077056 -0.02242964 -0.01788302
+v 0.01375432 -0.02238026 -0.01783107
+v 0.01141574 -0.02098557 0.01799086
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+f 40 50 47
+f 41 44 51
+f 41 51 52
+f 41 52 53
+f 41 53 54
+f 41 54 55
+f 41 55 56
+f 41 56 57
+f 41 57 58
+f 41 58 59
+f 41 59 43
+f 41 43 42
+f 46 60 49
+f 49 61 50
+f 49 60 61
+f 50 61 62
+f 53 63 54
+f 54 63 64
+f 54 64 65
+f 54 65 66
+f 54 66 67
+f 54 67 55
+f 55 57 56
+f 60 68 61
+f 61 68 69
+f 61 69 62
+f 62 69 70
+f 63 71 64
+f 63 72 77
+f 63 77 71
+f 64 71 65
+f 65 71 77
+f 65 77 75
+f 65 75 78
+f 65 78 73
+f 65 73 67
+f 65 67 66
+f 68 74 69
+f 69 74 75
+f 69 75 76
+f 69 76 70
+f 70 76 72
+f 72 76 77
+f 73 78 74
+f 74 78 75
+f 75 77 76
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_354.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_354.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a3dd53b4bdc4272d8fab6798d16368976a5ee7f
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_354.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.02883613 0.02285390 -0.00443927
+v -0.02883613 0.02577724 -0.00443927
+v -0.02724295 0.02285390 -0.00443927
+v -0.02883613 0.02285390 0.01756764
+v -0.02724357 0.02577724 -0.00443927
+v -0.02883613 0.03001013 -0.00443706
+v -0.02788406 0.03022442 -0.00443706
+v -0.02755609 0.03029762 -0.00443706
+v -0.02724513 0.03032584 -0.00443706
+v -0.02724295 0.02348619 -0.00443927
+v -0.02724139 0.03034788 -0.00437067
+v -0.02724139 0.02577724 -0.00346119
+v -0.02724139 0.02348619 -0.00300091
+v -0.02724139 0.02285390 -0.00287256
+v -0.02724139 0.02285390 0.01756764
+v -0.02883613 0.02577813 0.01816732
+v -0.02724466 0.02933463 -0.00443706
+v -0.02883613 0.03076412 -0.00261809
+v -0.02868440 0.03079145 -0.00272430
+v -0.02724139 0.03059568 -0.00357847
+v -0.02724139 0.02577813 0.01816732
+v -0.02883613 0.02582662 0.01816732
+v -0.02883613 0.03083114 -0.00231935
+v -0.02739249 0.03155426 0.00163503
+v -0.02758060 0.03106218 -0.00156698
+v -0.02724139 0.03097400 -0.00209806
+v -0.02724139 0.02627725 0.01816732
+v -0.02739249 0.02625609 0.01816732
+v -0.02883613 0.02633193 0.01768271
+v -0.02883613 0.03100574 -0.00102040
+v -0.02883613 0.03131704 0.00163503
+v -0.02739249 0.03185849 0.00456929
+v -0.02724139 0.03184703 0.00441660
+v -0.02724139 0.03155778 0.00163503
+v -0.02724139 0.03153485 0.00148013
+v -0.02724139 0.03107453 -0.00153821
+v -0.02724139 0.02728168 0.01720252
+v -0.02728306 0.02627196 0.01816732
+v -0.02739249 0.02727198 0.01719145
+v -0.02883613 0.02705416 0.01696131
+v -0.02883613 0.03155778 0.00454716
+v -0.02724139 0.03186202 0.00456929
+v -0.02883613 0.03151722 0.00591250
+v -0.02739249 0.03176414 0.00749912
+v -0.02724139 0.02868647 0.01573318
+v -0.02739249 0.02867942 0.01572211
+v -0.02739249 0.02748186 0.01697238
+v -0.02883613 0.02847042 0.01549419
+v -0.02724139 0.03176766 0.00749912
+v -0.02883613 0.03146783 0.00743052
+v -0.02883613 0.03122003 0.00893305
+v -0.02724139 0.03124032 0.00988016
+v -0.02724139 0.02989108 0.01366194
+v -0.02731069 0.02933463 0.01460904
+v -0.02883613 0.02976145 0.01325698
+v -0.02883613 0.03101985 0.00980271
+v -0.02724139 0.03110451 0.01047099
+v -0.02724139 0.03019003 0.01313749
+v -0.02805515 0.03067152 0.01150218
+v -0.02883613 0.03022178 0.01214170
+v -0.02883613 0.03059392 0.01116362
+v -0.02724139 0.03108687 0.01053295
+v -0.02724139 0.03022178 0.01306004
+v -0.02724139 0.03073678 0.01170798
+f 1 2 5
+f 1 5 10
+f 1 10 3
+f 1 3 14
+f 1 14 15
+f 1 15 4
+f 1 4 16
+f 1 16 22
+f 1 22 29
+f 1 29 40
+f 1 40 48
+f 1 48 55
+f 1 55 60
+f 1 60 61
+f 1 61 56
+f 1 56 51
+f 1 51 50
+f 1 50 43
+f 1 43 41
+f 1 41 31
+f 1 31 30
+f 1 30 23
+f 1 23 18
+f 1 18 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 13
+f 3 13 14
+f 4 15 21
+f 4 21 16
+f 5 9 17
+f 5 17 11
+f 5 11 10
+f 6 18 19
+f 6 19 7
+f 7 19 8
+f 8 19 9
+f 9 19 11
+f 9 11 17
+f 11 20 26
+f 11 26 36
+f 11 36 35
+f 11 35 34
+f 11 34 33
+f 11 33 42
+f 11 42 49
+f 11 49 52
+f 11 52 57
+f 11 57 62
+f 11 62 64
+f 11 64 63
+f 11 63 58
+f 11 58 53
+f 11 53 45
+f 11 45 37
+f 11 37 27
+f 11 27 21
+f 11 21 15
+f 11 15 14
+f 11 14 13
+f 11 13 12
+f 11 19 20
+f 16 21 27
+f 16 27 38
+f 16 38 28
+f 16 28 22
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 19 25 26
+f 19 26 20
+f 22 28 29
+f 23 30 24
+f 24 31 32
+f 24 32 33
+f 24 33 34
+f 24 34 35
+f 24 35 25
+f 24 30 31
+f 25 35 36
+f 25 36 26
+f 27 37 38
+f 28 38 39
+f 28 39 29
+f 29 39 40
+f 31 41 32
+f 32 42 33
+f 32 41 43
+f 32 43 44
+f 32 44 49
+f 32 49 42
+f 37 45 46
+f 37 46 47
+f 37 47 39
+f 37 39 38
+f 39 47 48
+f 39 48 40
+f 43 50 44
+f 44 51 52
+f 44 52 49
+f 44 50 51
+f 45 53 54
+f 45 54 46
+f 46 54 55
+f 46 55 48
+f 46 48 47
+f 51 56 57
+f 51 57 52
+f 53 58 55
+f 53 55 54
+f 55 58 59
+f 55 59 60
+f 56 61 59
+f 56 59 57
+f 57 59 62
+f 58 63 59
+f 59 61 60
+f 59 63 64
+f 59 64 62
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_355.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_355.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5913b31f417b05718f31fb75084595afc1d0525
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_355.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.00327946 0.03131773 0.01811740
+v 0.00327946 -0.01802790 0.01811740
+v 0.00437758 0.03113640 0.01811740
+v 0.00327946 0.03208986 0.01630678
+v 0.00437758 -0.01789336 0.01811740
+v 0.00327946 -0.01915099 0.01665781
+v 0.00437758 -0.01973593 0.01572733
+v 0.00437758 0.03187928 0.01630678
+v 0.00437758 0.03280348 0.01389478
+v 0.00327946 0.03259291 0.01499044
+v 0.00327946 -0.01970083 0.01593769
+v 0.00437758 -0.02129187 0.01339018
+v 0.00437758 0.03359900 0.01178605
+v 0.00388237 0.03368674 0.01178605
+v 0.00340457 0.03372769 0.01189574
+v 0.00327946 0.03369259 0.01204545
+v 0.00327946 -0.02129772 0.01330242
+v 0.00437758 -0.02278347 0.01051746
+v 0.00437758 0.03363995 0.01167377
+v 0.00437758 0.03415470 0.01021418
+v 0.00327946 0.03378618 0.01178605
+v 0.00327946 -0.02259044 0.01051746
+v 0.00437758 -0.02385391 0.00741502
+v 0.00327946 0.03422489 0.01047745
+v 0.00437758 0.03487418 0.00750406
+v 0.00327946 0.03502626 0.00750406
+v 0.00327946 -0.02345615 0.00745632
+v 0.00437758 -0.02426922 0.00521079
+v 0.00437758 0.03530703 0.00508948
+v 0.00369674 0.03528363 0.00576959
+v 0.00327946 0.03534213 0.00576959
+v 0.00327946 -0.02385976 0.00493462
+v 0.00403759 -0.02418148 0.00493462
+v 0.00424505 -0.02426922 0.00493462
+v 0.00437758 -0.02426922 0.00493462
+v 0.00437758 0.03533043 0.00493462
+v 0.00407500 0.03537722 0.00493462
+v 0.00327946 0.03548836 0.00493462
+f 1 2 5
+f 1 5 3
+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 21
+f 1 21 24
+f 1 24 26
+f 1 26 31
+f 1 31 38
+f 1 38 32
+f 1 32 27
+f 1 27 22
+f 1 22 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 12
+f 3 12 18
+f 3 18 23
+f 3 23 28
+f 3 28 35
+f 3 35 36
+f 3 36 29
+f 3 29 25
+f 3 25 20
+f 3 20 19
+f 3 19 13
+f 3 13 9
+f 3 9 8
+f 3 8 4
+f 4 9 10
+f 4 8 9
+f 6 11 7
+f 7 11 12
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 10 15 16
+f 11 17 12
+f 12 17 18
+f 13 19 14
+f 14 19 20
+f 14 20 15
+f 15 20 21
+f 15 21 16
+f 17 22 18
+f 18 22 23
+f 20 24 21
+f 20 25 26
+f 20 26 24
+f 22 27 23
+f 23 27 28
+f 25 29 30
+f 25 30 31
+f 25 31 26
+f 27 32 33
+f 27 33 34
+f 27 34 28
+f 28 34 35
+f 29 36 37
+f 29 37 30
+f 30 37 31
+f 31 37 38
+f 32 38 37
+f 32 37 36
+f 32 36 35
+f 32 35 34
+f 32 34 33
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_356.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_356.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc5924bd93a70ec5e41ada2b50ccc8e0b4020e81
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_356.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v -0.03032877 0.02648609 -0.01186864
+v -0.03032877 0.02632363 -0.01213416
+v -0.03036512 0.02647593 -0.01186864
+v -0.03032877 -0.00808955 -0.01186864
+v -0.03032877 0.02567720 -0.01317924
+v -0.03132697 0.02558243 -0.01280792
+v -0.03085816 0.02628302 -0.01186864
+v -0.03132697 -0.00795417 -0.01186864
+v -0.03132697 -0.00751757 -0.01266618
+v -0.03032877 -0.00787294 -0.01222799
+v -0.03032877 0.02556890 -0.01334694
+v -0.03132697 0.02527445 -0.01328505
+v -0.03132697 0.02609687 -0.01186864
+v -0.03132697 -0.00632963 -0.01434511
+v -0.03032877 -0.00682715 -0.01369730
+v -0.03107000 0.02473970 -0.01423831
+v -0.03132697 0.02481078 -0.01399775
+v -0.03032877 0.02399512 -0.01549900
+v -0.03132697 -0.00602165 -0.01473939
+v -0.03032877 -0.00536168 -0.01557187
+v -0.03132697 0.02469232 -0.01416943
+v -0.03132697 0.02215736 -0.01759317
+v -0.03032877 0.02379882 -0.01575353
+v -0.03132697 -0.00536168 -0.01558185
+v -0.03132697 -0.00490477 -0.01608093
+v -0.03132697 -0.00428203 -0.01674173
+v -0.03032877 -0.00397405 -0.01703918
+v -0.03032877 0.02376160 -0.01580145
+v -0.03032877 0.02225890 -0.01767502
+v -0.03032877 0.02052605 -0.01868118
+v -0.03132697 0.02146693 -0.01799343
+v -0.03132697 -0.00399097 -0.01704916
+v -0.03132697 -0.00349007 -0.01751731
+v -0.03132697 -0.00318208 -0.01779280
+v -0.03132697 -0.00252211 -0.01838272
+v -0.03032877 -0.00250519 -0.01835078
+v -0.03032877 0.01807232 -0.01992390
+v -0.03132697 0.01787264 -0.01989396
+v -0.03132697 0.02053959 -0.01848953
+v -0.03132697 -0.00183845 -0.01888181
+v -0.03032877 -0.00038314 -0.01981909
+v -0.03032877 0.01660347 -0.02060765
+v -0.03132697 0.01650870 -0.02056373
+v -0.03132697 -0.00043729 -0.01985103
+v -0.03032877 0.00108572 -0.02053179
+v -0.03032877 0.01465402 -0.02126345
+v -0.03132697 0.01473186 -0.02116862
+v -0.03132697 0.00103157 -0.02055075
+v -0.03132697 0.00170846 -0.02079730
+v -0.03132697 0.00253088 -0.02107779
+v -0.03032877 0.00291671 -0.02115565
+v -0.03032877 0.01171969 -0.02182542
+v -0.03132697 0.01171969 -0.02181943
+v -0.03132697 0.00291671 -0.02120855
+v -0.03032877 0.00585104 -0.02190528
+v -0.03032877 0.00878536 -0.02206598
+v -0.03132697 0.01110033 -0.02187034
+v -0.03132697 0.00585104 -0.02193223
+v -0.03132697 0.00878536 -0.02205800
+v -0.03132697 0.00978039 -0.02197814
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 8
+f 1 8 4
+f 1 4 10
+f 1 10 15
+f 1 15 20
+f 1 20 27
+f 1 27 36
+f 1 36 41
+f 1 41 45
+f 1 45 51
+f 1 51 55
+f 1 55 56
+f 1 56 52
+f 1 52 46
+f 1 46 42
+f 1 42 37
+f 1 37 30
+f 1 30 29
+f 1 29 28
+f 1 28 23
+f 1 23 18
+f 1 18 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 6 13 7
+f 6 12 17
+f 6 17 21
+f 6 21 22
+f 6 22 31
+f 6 31 39
+f 6 39 38
+f 6 38 43
+f 6 43 47
+f 6 47 53
+f 6 53 57
+f 6 57 60
+f 6 60 59
+f 6 59 58
+f 6 58 54
+f 6 54 50
+f 6 50 49
+f 6 49 48
+f 6 48 44
+f 6 44 40
+f 6 40 35
+f 6 35 34
+f 6 34 33
+f 6 33 32
+f 6 32 26
+f 6 26 25
+f 6 25 24
+f 6 24 19
+f 6 19 14
+f 6 14 9
+f 6 9 8
+f 6 8 13
+f 9 14 10
+f 10 14 15
+f 11 16 17
+f 11 17 12
+f 11 18 16
+f 14 19 15
+f 15 19 20
+f 16 21 17
+f 16 18 22
+f 16 22 21
+f 18 23 22
+f 19 24 20
+f 20 24 25
+f 20 25 26
+f 20 26 27
+f 22 23 28
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 26 32 27
+f 27 32 33
+f 27 33 34
+f 27 34 35
+f 27 35 36
+f 30 37 38
+f 30 38 39
+f 30 39 31
+f 35 40 36
+f 36 40 41
+f 37 42 43
+f 37 43 38
+f 40 44 41
+f 41 44 45
+f 42 46 47
+f 42 47 43
+f 44 48 45
+f 45 48 49
+f 45 49 50
+f 45 50 51
+f 46 52 53
+f 46 53 47
+f 50 54 51
+f 51 54 55
+f 52 56 57
+f 52 57 53
+f 54 58 55
+f 55 58 56
+f 56 59 60
+f 56 60 57
+f 56 58 59
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_357.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_357.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ad03e93bc5625cd628fea3ad3475539fc28ab97
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_357.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00191802 0.03671590 0.00019830
+v -0.00239904 0.03671590 0.00019830
+v -0.00166375 0.03671002 0.00019830
+v -0.00166375 0.03671002 -0.00056835
+v -0.00239904 0.03671590 -0.00063491
+v -0.00239904 -0.02314520 0.00019830
+v -0.00092832 0.03663362 -0.00131890
+v -0.00092832 0.03656898 0.00019830
+v -0.00239904 0.03668651 -0.00104977
+v -0.00092832 0.03662775 -0.00142174
+v -0.00211570 0.03662775 -0.00178382
+v -0.00239904 0.03668064 -0.00113126
+v -0.00239904 -0.02314520 0.00018142
+v -0.00097209 -0.02330976 0.00019830
+v -0.00092832 -0.02330976 0.00019830
+v -0.00092832 0.03662187 -0.00148228
+v -0.00239904 0.03662775 -0.00178382
+v -0.00124276 0.03658661 -0.00178382
+v -0.00239904 -0.02312170 -0.00130435
+v -0.00092832 -0.02329213 -0.00130435
+v -0.00092832 0.03656898 -0.00178382
+v -0.00239904 -0.02302179 -0.00178382
+v -0.00092832 -0.02323336 -0.00178382
+f 1 2 6
+f 1 6 14
+f 1 14 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 12
+f 2 12 17
+f 2 17 22
+f 2 22 19
+f 2 19 13
+f 2 13 6
+f 3 7 4
+f 3 8 7
+f 4 9 5
+f 4 7 10
+f 4 10 11
+f 4 11 12
+f 4 12 9
+f 6 13 14
+f 7 8 15
+f 7 15 20
+f 7 20 23
+f 7 23 21
+f 7 21 16
+f 7 16 10
+f 10 16 11
+f 11 17 12
+f 11 16 18
+f 11 18 21
+f 11 21 23
+f 11 23 22
+f 11 22 17
+f 13 19 20
+f 13 20 14
+f 14 20 15
+f 16 21 18
+f 19 22 23
+f 19 23 20
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_358.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_358.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b2399a4efce3c7da03638bb7db020d80155f41f
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_358.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.02907111 -0.01355995 -0.00709895
+v 0.02907111 0.00630791 -0.00709895
+v 0.02991168 -0.01355995 -0.00709895
+v 0.02907111 -0.01355995 0.02217740
+v 0.02907111 0.00630791 0.02140365
+v 0.02991168 0.00630791 -0.00709895
+v 0.02991168 -0.01355995 0.02205417
+v 0.02946622 -0.01355995 0.02217740
+v 0.02907111 -0.01006130 0.02217740
+v 0.02991168 0.00575559 0.02134920
+v 0.02991168 0.00630791 0.02101104
+v 0.02907111 0.00588784 0.02165010
+v 0.02991168 0.00558834 0.02144950
+v 0.02991168 -0.01302319 0.02217740
+v 0.02971330 -0.01326240 0.02217740
+v 0.02907111 0.00498352 0.02217453
+v 0.02991168 -0.01006130 0.02217740
+v 0.02985408 0.00438258 0.02217453
+v 0.02991168 0.00440981 0.02213154
+v 0.02991168 0.00433201 0.02217453
+v 0.02986741 0.00437091 0.02217453
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 12
+f 1 12 5
+f 1 5 2
+f 2 5 11
+f 2 11 6
+f 3 6 11
+f 3 11 10
+f 3 10 13
+f 3 13 19
+f 3 19 20
+f 3 20 17
+f 3 17 14
+f 3 14 7
+f 4 8 15
+f 4 15 14
+f 4 14 17
+f 4 17 9
+f 5 10 11
+f 5 12 13
+f 5 13 10
+f 7 14 15
+f 7 15 8
+f 9 17 16
+f 12 16 18
+f 12 18 13
+f 13 18 19
+f 16 17 18
+f 17 20 21
+f 17 21 18
+f 18 21 19
+f 19 21 20
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_359.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_359.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4029173cf21fc6e0a6c521ca6363176f890bf53
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_359.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.05087667 -0.01219108 -0.00423885
+v -0.05087148 -0.01219011 -0.00423885
+v -0.05087667 -0.01188653 -0.00130533
+v -0.05165085 -0.01189168 -0.00210870
+v -0.05165085 -0.01211253 -0.00423885
+v -0.05087667 -0.01208291 -0.00717372
+v -0.05087148 -0.01208259 -0.00717372
+v -0.05087148 -0.01188525 -0.00130533
+v -0.05087148 -0.01186496 -0.00123230
+v -0.05147529 -0.01047810 0.00349730
+v -0.05165085 -0.01047810 0.00349730
+v -0.05165085 -0.01177643 -0.00130533
+v -0.05165085 -0.01188814 -0.00207760
+v -0.05165085 -0.01198504 -0.00717372
+v -0.05087667 -0.01201305 -0.00783779
+v -0.05087148 -0.01127745 -0.00783779
+v -0.05087148 -0.01081709 0.00232471
+v -0.05087148 -0.01041436 0.00335664
+v -0.05087148 -0.00993534 0.00423846
+v -0.05087148 -0.00890260 0.00597774
+v -0.05087774 -0.00890260 0.00597909
+v -0.05165085 -0.00890260 0.00578839
+v -0.05165085 -0.01185498 -0.00783779
+v -0.05087148 -0.00890260 -0.00783779
+v -0.05165085 -0.00890260 -0.00783779
+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 16
+f 2 16 24
+f 2 24 20
+f 2 20 19
+f 2 19 18
+f 2 18 17
+f 2 17 9
+f 2 9 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 4
+f 4 13 12
+f 4 12 11
+f 4 11 22
+f 4 22 25
+f 4 25 23
+f 4 23 14
+f 4 14 5
+f 5 14 6
+f 6 15 7
+f 6 14 15
+f 7 15 16
+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 14 23 15
+f 15 23 25
+f 15 25 24
+f 15 24 16
+f 20 24 25
+f 20 25 22
+f 20 22 21
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_36.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a8ab447ae487e6fc95c29bff9a3632ef40bb406
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_36.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.04823964 -0.01187619 -0.00717398
+v -0.04823964 -0.01172923 -0.01011063
+v -0.04794102 -0.01172445 -0.01011063
+v -0.04794102 -0.01185285 -0.00717398
+v -0.04823964 -0.01180934 -0.00424181
+v -0.04823964 -0.01128516 -0.01304952
+v -0.04794102 -0.01131275 -0.01304504
+v -0.04660926 -0.01121937 -0.01011063
+v -0.04660926 -0.01128967 -0.00871841
+v -0.04660926 -0.01135731 -0.00717398
+v -0.04660926 -0.01084904 -0.01304504
+v -0.04660926 -0.01135943 -0.00589367
+v -0.04660926 -0.01130877 -0.00417914
+v -0.04794102 -0.01176610 -0.00424181
+v -0.04823964 -0.01135095 -0.00130516
+v -0.04823964 -0.01120000 -0.01349718
+v -0.04823964 -0.01054716 -0.01632639
+v -0.04804604 -0.01059677 -0.01606227
+v -0.04713771 -0.01020495 -0.01709413
+v -0.04660926 -0.01033282 -0.01593245
+v -0.04660926 -0.01045617 -0.01532363
+v -0.04660926 -0.01113501 -0.00293240
+v -0.04794102 -0.01129046 -0.00130516
+v -0.04823964 -0.01065035 0.00102267
+v -0.04823964 -0.00916640 -0.01847740
+v -0.04792298 -0.00916640 -0.01848411
+v -0.04660974 -0.00916640 -0.01743659
+v -0.04660926 -0.01000812 -0.01681658
+v -0.04660926 -0.01089335 -0.00144169
+v -0.04660926 -0.01016702 0.00114578
+v -0.04794102 -0.01061428 0.00091300
+v -0.04823964 -0.01008213 0.00250667
+v -0.04823964 -0.00916640 0.00438236
+v -0.04660926 -0.00916640 -0.01516024
+v -0.04660926 -0.00987389 0.00189113
+v -0.04660926 -0.00925394 0.00340870
+v -0.04660926 -0.00916640 0.00359000
+v -0.04823964 -0.00922582 0.00427716
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 15
+f 1 15 24
+f 1 24 32
+f 1 32 38
+f 1 38 33
+f 1 33 25
+f 1 25 17
+f 1 17 16
+f 1 16 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 3 7 11
+f 3 11 8
+f 4 10 12
+f 4 12 13
+f 4 13 14
+f 4 14 5
+f 5 14 15
+f 6 16 7
+f 7 16 17
+f 7 17 18
+f 7 18 19
+f 7 19 20
+f 7 20 21
+f 7 21 11
+f 8 11 21
+f 8 21 20
+f 8 20 28
+f 8 28 34
+f 8 34 37
+f 8 37 36
+f 8 36 35
+f 8 35 30
+f 8 30 29
+f 8 29 22
+f 8 22 13
+f 8 13 12
+f 8 12 10
+f 8 10 9
+f 13 22 14
+f 14 22 23
+f 14 23 15
+f 15 23 24
+f 17 25 19
+f 17 19 18
+f 19 25 26
+f 19 26 27
+f 19 27 28
+f 19 28 20
+f 22 29 23
+f 23 29 30
+f 23 30 31
+f 23 31 24
+f 24 31 32
+f 25 33 37
+f 25 37 34
+f 25 34 27
+f 25 27 26
+f 27 34 28
+f 30 35 32
+f 30 32 31
+f 32 36 37
+f 32 37 38
+f 32 35 36
+f 33 38 37
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_360.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_360.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e72bf1a16048a53bd0ea01cbdd5a3fc5376551d5
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_360.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.02003354 0.02603717 -0.01400926
+v -0.01998497 0.02603642 -0.01400926
+v -0.02003354 0.02601483 -0.01404248
+v -0.02003354 0.01842978 -0.01400926
+v -0.01858550 0.02601185 -0.01400926
+v -0.02003354 0.02532812 -0.01504970
+v -0.02003354 0.01842978 -0.01989585
+v -0.01858266 0.01842978 -0.01400926
+v -0.01858266 0.02587034 -0.01400926
+v -0.01858266 0.02531621 -0.01501334
+v -0.01858550 0.02531769 -0.01501146
+v -0.02003354 0.02381841 -0.01651758
+v -0.01858266 0.01842978 -0.02041105
+v -0.02003354 0.02046532 -0.01892311
+v -0.01858266 0.02379085 -0.01648123
+v -0.02003354 0.02307510 -0.01716064
+v -0.01858266 0.02047202 -0.01917382
+v -0.02003354 0.02137993 -0.01844739
+v -0.02003354 0.02141419 -0.01842922
+v -0.01858266 0.02232211 -0.01774980
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 16
+f 1 16 19
+f 1 19 18
+f 1 18 14
+f 1 14 7
+f 1 7 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 13
+f 4 13 8
+f 5 9 10
+f 5 10 11
+f 5 11 6
+f 6 11 10
+f 6 10 12
+f 7 14 13
+f 8 13 17
+f 8 17 20
+f 8 20 15
+f 8 15 10
+f 8 10 9
+f 10 15 12
+f 12 15 16
+f 13 14 18
+f 13 18 19
+f 13 19 17
+f 15 20 16
+f 16 20 17
+f 16 17 19
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_361.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_361.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49590650f2053a506ee44659617baa1d306a586b
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_361.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00602317 -0.00865916 -0.02464619
+v 0.00602317 -0.00701668 -0.02505492
+v 0.00674551 -0.00886693 -0.02464619
+v 0.00602317 0.00024255 -0.02464619
+v 0.00602317 -0.00589226 -0.02533288
+v 0.00761700 -0.00589226 -0.02544318
+v 0.00761700 -0.00886693 -0.02470760
+v 0.00756255 -0.00886693 -0.02470380
+v 0.00761700 -0.00886693 -0.02464619
+v 0.00761700 0.00024255 -0.02464619
+v 0.00602317 0.00024255 -0.02588993
+v 0.00602317 -0.00417220 -0.02564596
+v 0.00761700 -0.00567469 -0.02548272
+v 0.00761700 0.00024255 -0.02592127
+v 0.00602317 -0.00002229 -0.02590750
+v 0.00602317 -0.00408213 -0.02566226
+v 0.00761700 -0.00295772 -0.02590699
+v 0.00761700 -0.00002229 -0.02593681
+v 0.00761700 -0.00274015 -0.02591419
+v 0.00602317 -0.00114670 -0.02589802
+v 0.00602317 -0.00295772 -0.02583775
+v 0.00602317 -0.00123676 -0.02589512
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 11
+f 1 11 15
+f 1 15 20
+f 1 20 22
+f 1 22 21
+f 1 21 16
+f 1 16 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 7
+f 3 7 9
+f 4 10 14
+f 4 14 11
+f 5 12 6
+f 6 12 13
+f 6 13 17
+f 6 17 19
+f 6 19 18
+f 6 18 14
+f 6 14 10
+f 6 10 9
+f 6 9 7
+f 11 14 15
+f 12 16 13
+f 13 16 17
+f 14 18 15
+f 15 18 19
+f 15 19 20
+f 16 21 17
+f 17 21 22
+f 17 22 19
+f 19 22 20
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_362.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_362.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6436f480e84f09cc8da40091b346816c3210fcde
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_362.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.03132698 0.03019026 0.01036027
+v -0.03132698 0.03069089 0.00829792
+v -0.03214218 0.02995187 0.01036027
+v -0.03132698 -0.00864846 0.01036027
+v -0.03132698 0.03071473 0.00817072
+v -0.03141005 0.03067897 0.00824284
+v -0.03214218 0.03025383 0.00910991
+v -0.03214218 -0.00788162 0.01036027
+v -0.03204992 -0.00796903 0.01036027
+v -0.03214218 -0.00854913 0.00881407
+v -0.03132698 -0.00891070 0.00975212
+v -0.03132698 0.03095711 0.00669834
+v -0.03191074 0.03084188 0.00628610
+v -0.03214218 0.03048428 0.00784592
+v -0.03214218 -0.00913717 0.00600786
+v -0.03132698 -0.00940338 0.00705551
+v -0.03132698 0.03099286 0.00552010
+v -0.03191074 0.03084188 0.00546332
+v -0.03214218 0.03074652 0.00592326
+v -0.03214218 0.03071871 0.00650642
+v -0.03214218 -0.00924842 0.00455933
+v -0.03212518 -0.00925637 0.00455933
+v -0.03132698 -0.00959013 0.00456728
+v -0.03132698 0.03099286 0.00505334
+v -0.03181298 0.03081009 0.00455933
+v -0.03214218 0.03069487 0.00455933
+v -0.03214218 0.03074652 0.00526912
+v -0.03132698 0.03096108 0.00455933
+v -0.03132698 -0.00959013 0.00455933
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 11
+f 1 11 16
+f 1 16 23
+f 1 23 29
+f 1 29 28
+f 1 28 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 2 7 3
+f 3 7 14
+f 3 14 20
+f 3 20 19
+f 3 19 27
+f 3 27 26
+f 3 26 21
+f 3 21 15
+f 3 15 10
+f 3 10 8
+f 4 9 10
+f 4 10 11
+f 5 12 6
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 8 10 9
+f 10 15 11
+f 11 15 16
+f 12 17 13
+f 13 17 24
+f 13 24 18
+f 13 18 27
+f 13 27 19
+f 13 19 20
+f 13 20 14
+f 15 21 22
+f 15 22 16
+f 16 22 23
+f 18 25 26
+f 18 26 27
+f 18 24 28
+f 18 28 25
+f 21 26 25
+f 21 25 28
+f 21 28 29
+f 21 29 22
+f 22 29 23
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_363.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_363.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd028b32040cf2acd4d73fcca5719670e447c7c6
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_363.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.01858266 0.02952947 -0.00770968
+v -0.01807033 0.02952496 -0.00770968
+v -0.01692599 0.02904140 -0.00889729
+v -0.01858266 0.02861660 -0.00994806
+v -0.01858266 -0.01620921 -0.00770968
+v -0.01692599 0.02945717 -0.00770968
+v -0.01692599 0.02854881 -0.01010265
+v -0.01692599 0.02853074 -0.01014548
+v -0.01692599 0.02742806 -0.01244235
+v -0.01858266 0.02775344 -0.01141508
+v -0.01858266 -0.01610979 -0.00824133
+v -0.01692599 -0.01663853 -0.00770968
+v -0.01692599 0.02703037 -0.01304503
+v -0.01857179 0.02668239 -0.01304503
+v -0.01858266 0.02667787 -0.01304503
+v -0.01746054 -0.01625440 -0.00892914
+v -0.01692599 -0.01649844 -0.00841107
+v -0.01858266 -0.01565787 -0.00977990
+v -0.01692599 -0.01478115 -0.01304503
+v -0.01858266 -0.01426144 -0.01304503
+v -0.01858266 -0.01559460 -0.00999245
+v -0.01849752 -0.01562171 -0.00998880
+v -0.01692599 -0.01601940 -0.01010422
+v -0.01692599 -0.01630863 -0.00921116
+v -0.01692599 -0.01479019 -0.01303250
+v -0.01701990 -0.01475403 -0.01304503
+v -0.01852817 -0.01427952 -0.01304503
+v -0.01858266 -0.01556749 -0.01005721
+v -0.01692599 -0.01584316 -0.01062961
+v -0.01711282 -0.01472692 -0.01304503
+v -0.01692599 -0.01491672 -0.01274996
+v -0.01790653 -0.01447836 -0.01304503
+v -0.01692599 -0.01546806 -0.01149237
+v -0.01692599 -0.01544999 -0.01153363
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 15
+f 1 15 20
+f 1 20 28
+f 1 28 21
+f 1 21 18
+f 1 18 11
+f 1 11 5
+f 1 5 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
+f 3 6 12
+f 3 12 17
+f 3 17 24
+f 3 24 23
+f 3 23 29
+f 3 29 33
+f 3 33 34
+f 3 34 31
+f 3 31 25
+f 3 25 19
+f 3 19 13
+f 3 13 9
+f 3 9 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 9 13 14
+f 9 14 10
+f 10 14 15
+f 11 16 17
+f 11 17 12
+f 11 18 16
+f 13 19 26
+f 13 26 30
+f 13 30 32
+f 13 32 27
+f 13 27 20
+f 13 20 15
+f 13 15 14
+f 16 18 21
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 17
+f 19 25 26
+f 20 27 28
+f 21 28 29
+f 21 29 22
+f 22 29 23
+f 25 30 26
+f 25 31 30
+f 27 32 28
+f 28 33 29
+f 28 32 33
+f 30 31 32
+f 31 34 32
+f 32 34 33
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_364.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_364.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41006700a57b6030e5381136789f6438db94221b
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_364.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01141571 -0.00007820 -0.02572646
+v 0.01141571 0.00226928 -0.02567085
+v 0.01270595 0.00097873 -0.02558996
+v 0.01270595 -0.00002123 -0.02561019
+v 0.01270595 -0.00007820 -0.02561019
+v 0.01141571 -0.00007820 0.02592099
+v 0.01141571 0.00520505 -0.02552930
+v 0.01270595 0.00556829 -0.02534730
+v 0.01270595 -0.00007820 0.02592099
+v 0.01141571 0.01447248 0.02592099
+v 0.01141571 0.00585033 -0.02549391
+v 0.01270595 0.00585033 -0.02533213
+v 0.01270595 0.01447248 0.02592099
+v 0.01141571 0.01447248 -0.02371436
+v 0.01141571 0.00878468 -0.02503386
+v 0.01270595 0.00878468 -0.02490241
+v 0.01270595 0.01447248 -0.02359303
+v 0.01141571 0.01172045 -0.02435641
+v 0.01270595 0.01172045 -0.02423002
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 6
+f 1 6 10
+f 1 10 14
+f 1 14 18
+f 1 18 15
+f 1 15 11
+f 1 11 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 12
+f 3 12 16
+f 3 16 19
+f 3 19 17
+f 3 17 13
+f 3 13 9
+f 3 9 5
+f 3 5 4
+f 6 9 13
+f 6 13 10
+f 7 11 12
+f 7 12 8
+f 10 13 17
+f 10 17 14
+f 11 15 16
+f 11 16 12
+f 14 17 18
+f 15 18 19
+f 15 19 16
+f 17 19 18
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_365.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_365.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d1de252ba18bc07f4c6f45d85a40d1018a2e98b
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_365.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.03132698 0.03096232 0.00455933
+v -0.03132698 0.03090851 0.00383674
+v -0.03169902 0.03077014 0.00350565
+v -0.03181298 0.03080857 0.00455933
+v -0.03132698 -0.00830468 0.00455933
+v -0.03132698 0.03069711 0.00163074
+v -0.03140829 0.03067020 0.00163074
+v -0.03214218 0.03040499 0.00163074
+v -0.03214218 0.03064329 0.00383980
+v -0.03214218 0.03069711 0.00455933
+v -0.03214218 -0.00830468 0.00455933
+v -0.03132698 -0.00830468 -0.00325228
+v -0.03132698 0.03065482 0.00137994
+v -0.03132698 0.03032811 -0.00051103
+v -0.03214218 0.03018974 0.00039125
+v -0.03214218 -0.00830468 -0.00325228
+v -0.03132698 0.02963625 -0.00325228
+v -0.03132698 0.03013593 -0.00148213
+v -0.03214218 0.02983997 -0.00140719
+v -0.03214218 0.02932876 -0.00325228
+v -0.03132698 0.02998218 -0.00203191
+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 21
+f 1 21 18
+f 1 18 14
+f 1 14 13
+f 1 13 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 12
+f 6 13 7
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 8 15 19
+f 8 19 20
+f 8 20 16
+f 8 16 11
+f 8 11 10
+f 8 10 9
+f 12 16 20
+f 12 20 17
+f 14 18 19
+f 14 19 15
+f 17 20 21
+f 18 21 20
+f 18 20 19
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_366.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_366.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04e281f30bfcfdfee87d4fd639b2517b7e0dc7f4
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_366.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.04326851 -0.00442304 0.01467493
+v 0.04326851 -0.00331398 0.01435873
+v 0.04320794 -0.00442304 0.01474721
+v 0.04326851 -0.00442304 -0.01491288
+v 0.04326851 -0.00331398 -0.01406364
+v 0.04233378 -0.00331398 0.01546093
+v 0.04251313 -0.00442304 0.01556483
+v 0.04326851 -0.00400606 -0.01461022
+v 0.04271741 -0.00442304 -0.01554529
+v 0.04251669 -0.00331398 -0.01496708
+v 0.04054152 -0.00331398 0.01692903
+v 0.03654606 -0.00331398 0.02010012
+v 0.04065436 -0.00442304 0.01703292
+v 0.04225302 -0.00331398 -0.01526974
+v 0.04120902 -0.00442304 -0.01717600
+v 0.03577286 -0.00331398 0.02069639
+v 0.03589876 -0.00387187 0.02069639
+v 0.03580968 -0.00394765 0.02077318
+v 0.03583106 -0.00442304 0.02078673
+v 0.04061991 -0.00331398 -0.01691852
+v 0.04088596 -0.00442304 -0.01742897
+v 0.03496284 -0.00331398 0.02131977
+v 0.03201138 -0.00331398 0.02325766
+v 0.03437611 -0.00442304 0.02167663
+v 0.03934668 -0.00331398 -0.01790779
+v 0.03661495 -0.00442304 -0.02044196
+v 0.03606979 -0.00390585 -0.02059102
+v 0.03583462 -0.00331398 -0.02045551
+v 0.03894762 -0.00331398 -0.01820141
+v 0.03113722 -0.00331398 0.02371841
+v 0.03171801 -0.00442304 0.02323055
+v 0.03623369 -0.00442304 -0.02067233
+v 0.03427278 -0.00442304 -0.02145833
+v 0.03564102 -0.00367277 -0.02068589
+v 0.03564102 -0.00331398 -0.02054134
+v 0.03113722 -0.00442304 0.02352417
+v 0.03113722 -0.00331398 -0.02206816
+v 0.03129994 -0.00442304 -0.02238888
+v 0.03170614 -0.00331398 -0.02191005
+v 0.03428585 -0.00331398 -0.02109695
+v 0.03497947 -0.00331398 -0.02082592
+v 0.03113722 -0.00442304 -0.02125506
+v 0.03131776 -0.00331398 -0.02202750
+v 0.03113960 -0.00442304 -0.02242953
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 19
+f 1 19 24
+f 1 24 31
+f 1 31 36
+f 1 36 42
+f 1 42 44
+f 1 44 38
+f 1 38 33
+f 1 33 32
+f 1 32 26
+f 1 26 21
+f 1 21 15
+f 1 15 9
+f 1 9 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 10
+f 2 10 14
+f 2 14 20
+f 2 20 25
+f 2 25 29
+f 2 29 28
+f 2 28 35
+f 2 35 41
+f 2 41 40
+f 2 40 39
+f 2 39 43
+f 2 43 37
+f 2 37 30
+f 2 30 23
+f 2 23 22
+f 2 22 16
+f 2 16 12
+f 2 12 11
+f 2 11 6
+f 2 6 3
+f 3 6 7
+f 4 9 8
+f 5 8 10
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 8 9 14
+f 8 14 10
+f 9 15 14
+f 12 16 17
+f 12 17 13
+f 13 17 18
+f 13 18 19
+f 14 15 20
+f 15 21 20
+f 16 22 17
+f 17 22 18
+f 18 22 19
+f 19 22 23
+f 19 23 24
+f 20 21 25
+f 21 26 27
+f 21 27 28
+f 21 28 29
+f 21 29 25
+f 23 30 31
+f 23 31 24
+f 26 32 27
+f 27 32 33
+f 27 33 34
+f 27 34 35
+f 27 35 28
+f 30 36 31
+f 30 37 42
+f 30 42 36
+f 33 38 39
+f 33 39 40
+f 33 40 34
+f 34 40 41
+f 34 41 35
+f 37 43 44
+f 37 44 42
+f 38 44 43
+f 38 43 39
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_37.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b2b9f8a0a33e9ec1be4ab4dfd4c42a5476becc8
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_37.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01931578 0.02974943 0.00552457
+v 0.01937935 0.02972071 0.00552457
+v 0.01931578 0.02989880 0.00488928
+v 0.01931578 -0.02739139 0.00552457
+v 0.02020655 0.02954835 0.00452498
+v 0.01957704 0.02984710 0.00456635
+v 0.02020655 0.02931280 0.00552457
+v 0.02020655 0.02937026 0.00528607
+v 0.01931578 0.02996774 0.00456635
+v 0.01931578 -0.02778205 0.00121214
+v 0.02020655 -0.02821868 0.00121214
+v 0.02020655 -0.02793717 0.00268536
+v 0.02020655 -0.02734543 0.00552457
+v 0.02020655 0.02964602 0.00393696
+v 0.01931578 0.03036990 0.00197703
+v 0.01931578 0.03047331 0.00121214
+v 0.02020655 0.03006541 0.00121214
+v 0.01931578 0.03040437 0.00174908
+v 0.01961009 0.03034118 0.00121214
+v 0.02008377 0.03012286 0.00121214
+f 1 2 3
+f 1 3 9
+f 1 9 15
+f 1 15 18
+f 1 18 16
+f 1 16 10
+f 1 10 4
+f 1 4 13
+f 1 13 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 8
+f 2 8 5
+f 3 6 9
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 5 14 6
+f 5 8 7
+f 5 7 13
+f 5 13 12
+f 5 12 11
+f 5 11 17
+f 5 17 14
+f 6 14 15
+f 6 15 9
+f 10 16 19
+f 10 19 20
+f 10 20 17
+f 10 17 11
+f 14 17 15
+f 15 17 18
+f 16 18 19
+f 17 20 18
+f 18 20 19
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_38.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f92de565d221cfb3d8ac5151c7ff72c4d3c95ae5
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_38.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v -0.04230459 0.00878580 0.01896296
+v -0.04369644 0.00878580 0.01815761
+v -0.04369644 0.00676230 0.01800518
+v -0.04230459 0.00849435 0.01894074
+v -0.04230459 0.01135889 0.01894506
+v -0.04369644 0.00921604 0.01815453
+v -0.04369644 0.00570475 0.01787250
+v -0.04230459 0.00570198 0.01849086
+v -0.04230459 0.01171973 0.01891729
+v -0.04369644 0.01170030 0.01796322
+v -0.04369644 0.00434465 0.01754419
+v -0.04230459 0.00291516 0.01765897
+v -0.04369644 0.01171973 0.01796137
+v -0.04230459 0.01433169 0.01862663
+v -0.04369644 0.01186130 0.01794594
+v -0.04369644 0.00291516 0.01711405
+v -0.04369644 0.00190479 0.01663517
+v -0.04369644 0.00030043 0.01577675
+v -0.04230459 0.00010335 0.01609518
+v -0.04230459 0.01446492 0.01860317
+v -0.04369644 0.01504227 0.01743804
+v -0.04369644 0.01317144 0.01774229
+v -0.04369644 0.01315200 0.01774537
+v -0.04369644 0.00020050 0.01570825
+v -0.04230459 -0.00010482 0.01595324
+v -0.04230459 0.01661333 0.01817427
+v -0.04369644 0.01633853 0.01714121
+v -0.04369644 -0.00055449 0.01518986
+v -0.04369644 -0.00073214 0.01503928
+v -0.04369644 -0.00122066 0.01462211
+v -0.04306496 -0.00133447 0.01469493
+v -0.04230459 -0.00046567 0.01564345
+v -0.04230459 0.01759038 0.01792742
+v -0.04369644 0.01754319 0.01677834
+v -0.04369644 -0.00173417 0.01414445
+v -0.04230459 -0.00257521 0.01353473
+v -0.04230459 -0.00229209 0.01383342
+v -0.04230459 0.01835092 0.01761948
+v -0.04369644 0.01901987 0.01608593
+v -0.04369644 -0.00256689 0.01326135
+v -0.04332518 -0.00319420 0.01265904
+v -0.04230459 -0.00268624 0.01341316
+v -0.04230459 0.02078245 0.01641362
+v -0.04369644 0.02011628 0.01555088
+v -0.04369644 0.01905040 0.01607111
+v -0.04369644 -0.00312203 0.01265904
+v -0.04230459 -0.00329968 0.01265904
+v -0.04230459 0.02081021 0.01639881
+v -0.04349003 0.02192883 0.01480354
+v -0.04369644 0.02114607 0.01502571
+v -0.04369644 0.02395232 0.01265904
+v -0.04230459 0.02505428 0.01265904
+v -0.04230459 0.02237016 0.01524972
+v -0.04369644 0.02178171 0.01464556
+v -0.04230459 0.02353319 0.01417593
+v -0.04233497 0.02356650 0.01412224
+v -0.04369644 0.02349155 0.01310954
+v -0.04230459 0.02377745 0.01393710
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 19
+f 1 19 25
+f 1 25 32
+f 1 32 37
+f 1 37 36
+f 1 36 42
+f 1 42 47
+f 1 47 52
+f 1 52 58
+f 1 58 55
+f 1 55 53
+f 1 53 48
+f 1 48 43
+f 1 43 38
+f 1 38 33
+f 1 33 26
+f 1 26 20
+f 1 20 14
+f 1 14 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 10
+f 2 10 13
+f 2 13 15
+f 2 15 23
+f 2 23 22
+f 2 22 21
+f 2 21 27
+f 2 27 34
+f 2 34 39
+f 2 39 45
+f 2 45 44
+f 2 44 50
+f 2 50 54
+f 2 54 57
+f 2 57 51
+f 2 51 46
+f 2 46 40
+f 2 40 35
+f 2 35 30
+f 2 30 29
+f 2 29 28
+f 2 28 24
+f 2 24 18
+f 2 18 17
+f 2 17 16
+f 2 16 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 9 13 10
+f 9 14 15
+f 9 15 13
+f 11 16 12
+f 12 16 17
+f 12 17 18
+f 12 18 19
+f 14 20 21
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 18 24 25
+f 18 25 19
+f 20 26 21
+f 21 26 27
+f 24 28 25
+f 25 28 29
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 26 33 27
+f 27 33 34
+f 30 35 31
+f 31 35 36
+f 31 36 37
+f 31 37 32
+f 33 38 34
+f 34 38 39
+f 35 40 36
+f 36 40 41
+f 36 41 42
+f 38 43 44
+f 38 44 45
+f 38 45 39
+f 40 46 41
+f 41 47 42
+f 41 46 51
+f 41 51 52
+f 41 52 47
+f 43 48 49
+f 43 49 50
+f 43 50 44
+f 48 53 49
+f 49 54 50
+f 49 53 55
+f 49 55 56
+f 49 56 51
+f 49 51 57
+f 49 57 54
+f 51 56 58
+f 51 58 52
+f 55 58 56
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_39.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e515d19e68d4de59e1c93b567ce6d77833fc10c
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_39.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.00386193 0.01975788 -0.02295810
+v -0.00239919 0.01953939 -0.02295810
+v -0.00239919 0.01870088 -0.02322915
+v -0.00386193 0.01882783 -0.02325838
+v -0.00386193 -0.00971722 -0.02295810
+v -0.00239919 -0.01040516 -0.02295810
+v -0.00386193 0.01880717 -0.02326418
+v -0.00239919 0.01597274 -0.02395509
+v -0.00386193 0.01732205 -0.02366593
+v -0.00386193 -0.00962865 -0.02301826
+v -0.00239919 -0.01005086 -0.02323012
+v -0.00239919 0.01465591 -0.02429717
+v -0.00386193 0.01465591 -0.02435901
+v -0.00239919 -0.00985304 -0.02330356
+v -0.00386193 -0.00819962 -0.02354538
+v -0.00239919 0.01314717 -0.02457691
+v -0.00386193 0.01171814 -0.02489700
+v -0.00239919 -0.00861298 -0.02364128
+v -0.00386193 -0.00816124 -0.02355552
+v -0.00239919 0.01171814 -0.02483830
+v -0.00239919 0.01169748 -0.02483999
+v -0.00386193 0.01167386 -0.02490039
+v -0.00239919 -0.00757074 -0.02388359
+v -0.00386193 -0.00594094 -0.02407105
+v -0.00239919 0.00878333 -0.02505475
+v -0.00386193 0.00878333 -0.02511587
+v -0.00239919 -0.00591732 -0.02425175
+v -0.00386193 -0.00589075 -0.02408216
+v -0.00239919 0.00875971 -0.02505644
+v -0.00239919 0.00727459 -0.02516225
+v -0.00386193 0.00873904 -0.02511901
+v -0.00239919 -0.00589075 -0.02425731
+v -0.00386193 -0.00295593 -0.02466968
+v -0.00239919 -0.00446467 -0.02454285
+v -0.00239919 0.00434272 -0.02534972
+v -0.00239919 0.00291665 -0.02542557
+v -0.00386193 0.00291665 -0.02540625
+v -0.00386193 -0.00006540 -0.02521685
+v -0.00239919 -0.00152986 -0.02511418
+v -0.00239919 -0.00295593 -0.02484410
+v -0.00239919 -0.00297955 -0.02483951
+v -0.00239919 0.00289303 -0.02542557
+v -0.00239919 0.00140791 -0.02541857
+v -0.00386193 0.00286941 -0.02540601
+v -0.00386193 -0.00002112 -0.02522337
+v -0.00239919 -0.00002112 -0.02532846
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 9
+f 1 9 13
+f 1 13 17
+f 1 17 22
+f 1 22 26
+f 1 26 31
+f 1 31 37
+f 1 37 44
+f 1 44 45
+f 1 45 38
+f 1 38 33
+f 1 33 28
+f 1 28 24
+f 1 24 19
+f 1 19 15
+f 1 15 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
+f 2 11 14
+f 2 14 18
+f 2 18 23
+f 2 23 27
+f 2 27 32
+f 2 32 34
+f 2 34 41
+f 2 41 40
+f 2 40 39
+f 2 39 46
+f 2 46 43
+f 2 43 42
+f 2 42 36
+f 2 36 35
+f 2 35 30
+f 2 30 29
+f 2 29 25
+f 2 25 21
+f 2 21 20
+f 2 20 16
+f 2 16 12
+f 2 12 8
+f 2 8 3
+f 3 7 4
+f 3 8 9
+f 3 9 7
+f 5 10 11
+f 5 11 6
+f 8 12 13
+f 8 13 9
+f 10 14 11
+f 10 15 14
+f 12 16 13
+f 13 16 17
+f 14 15 18
+f 15 19 18
+f 16 20 17
+f 17 20 21
+f 17 21 22
+f 18 19 23
+f 19 24 23
+f 21 25 26
+f 21 26 22
+f 23 24 27
+f 24 28 27
+f 25 29 26
+f 26 29 30
+f 26 30 31
+f 27 28 32
+f 28 33 34
+f 28 34 32
+f 30 35 31
+f 31 35 36
+f 31 36 37
+f 33 38 39
+f 33 39 40
+f 33 40 41
+f 33 41 34
+f 36 42 37
+f 37 42 43
+f 37 43 44
+f 38 45 39
+f 39 45 46
+f 43 46 44
+f 44 46 45
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_4.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ec64db77467da8a238d288857b754ec32ca57e3
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,468 @@
+# https://github.com/mikedh/trimesh
+v 0.03113603 -0.00009510 -0.02091372
+v 0.03113603 0.00007196 -0.02085277
+v 0.03213423 0.00111645 -0.02023894
+v 0.03287788 -0.00009510 -0.02047402
+v 0.03113603 -0.00009510 0.02356092
+v 0.03113603 0.00136469 -0.02034342
+v 0.03429048 0.00007352 -0.01965123
+v 0.03411499 -0.00009510 -0.01982972
+v 0.03113603 0.00280887 -0.01959463
+v 0.03113603 0.00562540 -0.01799692
+v 0.03113603 0.00563945 -0.01798822
+v 0.03410283 0.00275578 -0.01812753
+v 0.03191530 -0.00009510 0.02309075
+v 0.03191009 -0.00002172 0.02308640
+v 0.03113603 -0.00002172 0.02355221
+v 0.03437475 -0.00009510 -0.01969041
+v 0.03589246 0.00167070 -0.01758770
+v 0.03113603 0.00688066 -0.01709141
+v 0.03302210 0.00455749 -0.01760512
+v 0.03497940 0.00362697 -0.01696951
+v 0.03390736 -0.00009510 0.02161929
+v 0.03389259 -0.00002172 0.02161929
+v 0.03328012 0.00291503 0.02110123
+v 0.03286225 0.00447630 0.02076602
+v 0.03113603 0.00272924 0.02246821
+v 0.03655966 -0.00002172 -0.01810576
+v 0.03658138 -0.00009510 -0.01813188
+v 0.03627819 0.00512579 -0.01501047
+v 0.03706354 0.00278076 -0.01591598
+v 0.03802786 -0.00002172 -0.01696081
+v 0.03113603 0.00846847 -0.01562866
+v 0.03541204 0.00708362 -0.01429651
+v 0.03745796 -0.00009510 0.01873297
+v 0.03739019 -0.00004670 0.01877650
+v 0.03850220 0.00091505 0.01763155
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_40.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77c6ac2c406ccaef1db9f0883aeb82bcad376568
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_40.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.02774370 0.01975210 0.00593661
+v 0.02907111 0.01719723 0.00593661
+v 0.02774370 0.02001903 0.00500776
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_41.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f80a99b1db1d87015c7d2dadf7c52023fee6541
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_41.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.02991168 0.00561014 -0.01849943
+v 0.02991168 0.00743649 -0.01755169
+v 0.02997352 0.00741578 -0.01753954
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_42.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8571f54183abbff660142d029ae5e0f3f78b0c46
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_42.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_43.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d549866a753aca0b553cac33d8bfa7d407773242
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_43.obj
@@ -0,0 +1,285 @@
+# https://github.com/mikedh/trimesh
+v 0.01931578 0.00878656 0.02617314
+v 0.02141066 -0.00002429 0.02567391
+v 0.02141066 0.01172351 0.02422875
+v 0.01931578 0.01143262 0.02583964
+v 0.01931578 -0.00589259 0.02600942
+v 0.01957703 -0.00589259 0.02603772
+v 0.02141066 -0.00589259 0.02593262
+v 0.02141066 -0.00406329 0.02594070
+v 0.02141066 -0.00296124 0.02592656
+v 0.02141066 -0.00112634 0.02580730
+v 0.02141066 0.01308850 0.02393163
+v 0.01931578 0.01166757 0.02580326
+v 0.01931578 -0.00615552 0.02596900
+v 0.01931578 -0.00882954 0.02547785
+v 0.01957703 -0.00882954 0.02549806
+v 0.02141066 -0.00882954 0.02545359
+v 0.02141066 0.01366470 0.02376185
+v 0.02134791 0.01361435 0.02386291
+v 0.01931578 0.01182421 0.02575677
+v 0.01931578 -0.00909247 0.02542328
+v 0.01931578 -0.01176090 0.02472798
+v 0.01957703 -0.01176090 0.02473405
+v 0.02141066 -0.00993160 0.02516860
+v 0.02141066 0.01657368 0.02179523
+v 0.02064600 0.01557232 0.02328687
+v 0.01963157 0.01462131 0.02456023
+v 0.01931578 0.01428565 0.02490585
+v 0.01931578 -0.01428388 0.02399833
+v 0.01957703 -0.01430066 0.02399833
+v 0.02141066 -0.01271751 0.02436619
+v 0.02141066 -0.01176090 0.02464309
+v 0.02141066 0.01951622 0.01939808
+v 0.02082112 0.01883933 0.02052996
+v 0.01931578 0.01530380 0.02440257
+v 0.01931578 0.01730652 0.02303220
+v 0.01931578 0.01462690 0.02476234
+v 0.01931578 -0.01574956 0.02348090
+v 0.01957703 -0.01577193 0.02349708
+v 0.02141066 -0.01458037 0.02373153
+v 0.02141066 0.02173712 0.01752443
+v 0.02102474 0.02197207 0.01775889
+v 0.01931578 0.02077491 0.02000040
+v 0.01931578 -0.01762921 0.02242584
+v 0.01957703 -0.01762921 0.02246020
+v 0.02141066 -0.01762921 0.02231265
+v 0.02141066 -0.01549782 0.02336974
+v 0.02141066 0.02231332 0.01679882
+v 0.01931578 0.02215109 0.01872907
+v 0.02141066 0.02519992 0.01268568
+v 0.02058858 0.02462931 0.01439966
+v 0.01931578 0.02389088 0.01677457
+v 0.01931578 0.02299581 0.01782963
+v 0.01931578 -0.01778584 0.02232680
+v 0.01931578 -0.01964871 0.02112419
+v 0.01957703 -0.01966549 0.02113834
+v 0.02141066 -0.01972703 0.02112217
+v 0.02141066 0.02742081 0.00931432
+v 0.02108052 0.02788513 0.00900306
+v 0.01931578 0.02572577 0.01398936
+v 0.01931578 -0.01977738 0.02103323
+v 0.02141066 -0.02329612 0.01868056
+v 0.02141066 -0.02119271 0.02014795
+v 0.02141066 0.02804736 0.00805512
+v 0.02141066 0.02824316 0.00750535
+v 0.01957703 0.02916061 0.00750535
+v 0.01931578 0.02928927 0.00750535
+v 0.01931578 0.02837742 0.00974888
+v 0.01931578 0.02820400 0.01004600
+v 0.01931578 0.02737047 0.01138605
+v 0.01931578 -0.02313948 0.01857748
+v 0.01957703 -0.02317305 0.01858354
+v 0.01957703 -0.02463873 0.01740114
+v 0.02141066 -0.02476739 0.01749209
+v 0.02141066 0.02872985 0.00552458
+v 0.01931578 0.02975359 0.00552458
+v 0.01931578 -0.02461076 0.01734455
+v 0.01931578 -0.02470026 0.01721721
+v 0.01957703 -0.02561771 0.01593577
+v 0.02141066 -0.02512542 0.01694233
+v 0.02141066 0.00464127 0.00552458
+v 0.01931578 0.00464127 0.00552458
+v 0.01931578 -0.02558974 0.01587918
+v 0.01931578 -0.02568484 0.01571344
+v 0.01957703 -0.02677571 0.01337895
+v 0.02141066 -0.02556736 0.01602470
+v 0.02141066 -0.02735751 0.00552660
+v 0.01931578 -0.02739666 0.00552660
+v 0.01931578 -0.02674214 0.01337895
+v 0.02141066 -0.02638971 0.01337895
+v 0.02141066 -0.02599812 0.01507070
+v 0.01931578 -0.02683165 0.01311620
+v 0.01931578 -0.02727359 0.01044215
+v 0.01957703 -0.02725681 0.01044215
+v 0.02141066 -0.02716730 0.00736993
+v 0.01931578 -0.02730716 0.01017535
+v 0.02141066 -0.02656872 0.01227740
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 19
+f 1 19 27
+f 1 27 36
+f 1 36 34
+f 1 34 35
+f 1 35 42
+f 1 42 48
+f 1 48 52
+f 1 52 51
+f 1 51 59
+f 1 59 69
+f 1 69 68
+f 1 68 67
+f 1 67 66
+f 1 66 75
+f 1 75 81
+f 1 81 87
+f 1 87 95
+f 1 95 92
+f 1 92 91
+f 1 91 88
+f 1 88 83
+f 1 83 82
+f 1 82 77
+f 1 77 76
+f 1 76 70
+f 1 70 60
+f 1 60 54
+f 1 54 53
+f 1 53 43
+f 1 43 37
+f 1 37 28
+f 1 28 21
+f 1 21 20
+f 1 20 14
+f 1 14 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 9
+f 2 9 8
+f 2 8 7
+f 2 7 16
+f 2 16 23
+f 2 23 31
+f 2 31 30
+f 2 30 39
+f 2 39 46
+f 2 46 45
+f 2 45 56
+f 2 56 62
+f 2 62 61
+f 2 61 73
+f 2 73 79
+f 2 79 85
+f 2 85 90
+f 2 90 89
+f 2 89 96
+f 2 96 94
+f 2 94 86
+f 2 86 80
+f 2 80 74
+f 2 74 64
+f 2 64 63
+f 2 63 57
+f 2 57 49
+f 2 49 47
+f 2 47 40
+f 2 40 32
+f 2 32 24
+f 2 24 17
+f 2 17 11
+f 2 11 3
+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 11 17 18
+f 11 18 12
+f 12 18 19
+f 14 20 15
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 19
+f 21 28 22
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 23
+f 24 32 33
+f 24 33 25
+f 25 34 26
+f 25 33 35
+f 25 35 34
+f 26 34 36
+f 26 36 27
+f 28 37 38
+f 28 38 29
+f 29 38 39
+f 29 39 30
+f 32 40 41
+f 32 41 33
+f 33 41 35
+f 35 41 42
+f 37 43 44
+f 37 44 38
+f 38 44 45
+f 38 45 46
+f 38 46 39
+f 40 47 41
+f 41 48 42
+f 41 47 49
+f 41 49 50
+f 41 50 51
+f 41 51 52
+f 41 52 48
+f 43 53 44
+f 44 53 54
+f 44 54 55
+f 44 55 56
+f 44 56 45
+f 49 57 58
+f 49 58 50
+f 50 58 51
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+f 54 60 55
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+f 55 62 56
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+f 58 63 64
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+f 58 67 68
+f 58 68 69
+f 58 69 59
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+f 65 74 66
+f 66 74 75
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+f 70 72 71
+f 72 76 77
+f 72 77 78
+f 72 78 73
+f 73 78 79
+f 74 80 81
+f 74 81 75
+f 77 82 78
+f 78 83 88
+f 78 88 84
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+f 78 85 79
+f 78 82 83
+f 80 86 87
+f 80 87 81
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+f 84 90 85
+f 84 88 91
+f 84 91 92
+f 84 92 93
+f 84 93 89
+f 86 94 93
+f 86 93 95
+f 86 95 87
+f 89 93 96
+f 92 95 93
+f 93 94 96
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_44.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f1ffe6171c950d75f6f32ccb1baa62b9b3d08ef
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_44.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.01678343 0.01175248 -0.00723640
+v 0.01678343 0.02356204 -0.00723640
+v 0.01820673 0.01175248 -0.00723640
+v 0.01678343 0.01175248 0.02738741
+v 0.01820673 0.02356204 -0.00723640
+v 0.01678343 0.02356204 0.01925339
+v 0.01820673 0.01175248 0.02648250
+v 0.01679723 0.01175248 0.02738063
+v 0.01678343 0.01465660 0.02633676
+v 0.01820673 0.02356204 0.01805701
+v 0.01678343 0.02352042 0.01930084
+v 0.01820673 0.02299671 0.01875857
+v 0.01820673 0.02323024 0.01847049
+v 0.01820673 0.01255828 0.02630965
+v 0.01789281 0.01276522 0.02646555
+v 0.01681868 0.01175248 0.02736707
+v 0.01723181 0.01465660 0.02609613
+v 0.01678343 0.01612253 0.02552675
+v 0.01678343 0.02055849 0.02209013
+v 0.01820673 0.02068219 0.02091408
+v 0.01820673 0.01310049 0.02612325
+v 0.01820673 0.01464273 0.02547253
+v 0.01820673 0.01600461 0.02475402
+v 0.01820673 0.01653295 0.02445577
+v 0.01678343 0.01726823 0.02487264
+v 0.01678343 0.02029028 0.02233415
+v 0.01759338 0.01862780 0.02324922
+v 0.01820673 0.01913996 0.02230703
+v 0.01820673 0.01682313 0.02428970
+v 0.01678343 0.01778963 0.02445577
+v 0.01820673 0.01838040 0.02297809
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 25
+f 1 25 30
+f 1 30 26
+f 1 26 19
+f 1 19 11
+f 1 11 6
+f 1 6 2
+f 2 6 10
+f 2 10 5
+f 3 5 10
+f 3 10 13
+f 3 13 12
+f 3 12 20
+f 3 20 28
+f 3 28 31
+f 3 31 29
+f 3 29 24
+f 3 24 23
+f 3 23 22
+f 3 22 21
+f 3 21 14
+f 3 14 7
+f 4 8 9
+f 6 11 12
+f 6 12 13
+f 6 13 10
+f 7 14 15
+f 7 15 16
+f 8 16 15
+f 8 15 9
+f 9 15 17
+f 9 17 18
+f 11 19 12
+f 12 19 20
+f 14 21 15
+f 15 21 17
+f 17 21 22
+f 17 22 23
+f 17 23 24
+f 17 24 18
+f 18 24 25
+f 19 26 27
+f 19 27 20
+f 20 27 28
+f 24 29 25
+f 25 29 30
+f 26 30 27
+f 27 31 28
+f 27 30 29
+f 27 29 31
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_45.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e54b4bb2a9cf02e08092ad15cb3105d3ff924e2
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_45.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.01375447 0.00004632 -0.02443850
+v 0.01375447 0.00004745 -0.02551568
+v 0.01529470 0.00004632 -0.02443850
+v 0.01375447 0.00004632 0.01336961
+v 0.01375447 0.00580145 -0.02520737
+v 0.01529470 0.00426239 -0.02509699
+v 0.01529470 0.00004745 -0.02532156
+v 0.01529470 0.00004632 0.01336961
+v 0.01375447 0.01155658 0.01336961
+v 0.01375447 0.00584877 -0.02520357
+v 0.01529470 0.00584877 -0.02497899
+v 0.01529470 0.01155658 0.01336961
+v 0.01375447 0.01155658 -0.02415683
+v 0.01375447 0.00873535 -0.02480390
+v 0.01529470 0.00719517 -0.02479248
+v 0.01529470 0.01155658 -0.02388277
+v 0.01375447 0.01034313 -0.02443850
+v 0.01386996 0.01155658 -0.02413780
+v 0.01375447 0.00878380 -0.02479629
+v 0.01529470 0.00876126 -0.02453366
+v 0.01529470 0.01013019 -0.02421773
+v 0.01529470 0.00918828 -0.02443850
+v 0.01529470 0.00878380 -0.02452985
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 13
+f 1 13 17
+f 1 17 19
+f 1 19 14
+f 1 14 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 11
+f 3 11 15
+f 3 15 20
+f 3 20 23
+f 3 23 22
+f 3 22 21
+f 3 21 16
+f 3 16 12
+f 3 12 8
+f 4 8 12
+f 4 12 9
+f 5 10 11
+f 5 11 6
+f 9 12 16
+f 9 16 18
+f 9 18 13
+f 10 14 11
+f 11 14 15
+f 13 18 17
+f 14 19 15
+f 15 19 20
+f 16 21 18
+f 17 18 22
+f 17 22 19
+f 18 21 22
+f 19 23 20
+f 19 22 23
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_46.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd71d43e76b490b9a523c6a817163a0326ab6f54
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_46.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.02174861 -0.03069796 -0.00717488
+v 0.02020664 -0.02948727 -0.00717883
+v 0.02174861 -0.03066608 -0.00759757
+v 0.02174861 -0.03069129 -0.00472174
+v 0.02020664 -0.02956668 -0.00424178
+v 0.02020664 -0.02900206 -0.01010996
+v 0.02174861 -0.03032869 -0.01010996
+v 0.02174861 -0.03066289 -0.00763904
+v 0.02174861 -0.03067448 -0.00424178
+v 0.02020664 -0.02903655 -0.00143312
+v 0.02020664 -0.02831020 -0.01212462
+v 0.02174861 -0.03029478 -0.01022649
+v 0.02174861 -0.03005189 -0.00132053
+v 0.02020664 -0.02773717 0.00356797
+v 0.02045314 -0.02841048 -0.01241299
+v 0.02174861 -0.02924872 -0.01313787
+v 0.02020664 -0.02807049 -0.01263421
+v 0.02174861 -0.02908959 0.00155331
+v 0.02020664 -0.02773717 -0.01328403
+v 0.02036559 -0.02773717 0.00372993
+v 0.02020664 -0.02775920 -0.01325440
+v 0.02174861 -0.02919017 -0.01325440
+v 0.02174861 -0.02815165 0.00373981
+v 0.02174861 -0.02773717 -0.01566014
+v 0.02174861 -0.02773717 0.00451802
+v 0.02174861 -0.02828063 -0.01479897
+v 0.02174861 -0.02829425 -0.01477724
+f 1 2 3
+f 1 3 8
+f 1 8 7
+f 1 7 12
+f 1 12 16
+f 1 16 22
+f 1 22 27
+f 1 27 26
+f 1 26 24
+f 1 24 25
+f 1 25 23
+f 1 23 18
+f 1 18 13
+f 1 13 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 2 5 10
+f 2 10 14
+f 2 14 19
+f 2 19 21
+f 2 21 17
+f 2 17 11
+f 2 11 6
+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 11 15 16
+f 11 16 12
+f 11 17 15
+f 13 18 14
+f 14 18 20
+f 14 20 25
+f 14 25 24
+f 14 24 19
+f 15 17 21
+f 15 21 16
+f 16 21 22
+f 18 23 20
+f 19 24 21
+f 20 23 25
+f 21 24 26
+f 21 26 27
+f 21 27 22
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_47.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8f4616f8c365c46242cb0dcea864dde5ec8d504
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_47.obj
@@ -0,0 +1,267 @@
+# https://github.com/mikedh/trimesh
+v -0.00642753 0.03248619 0.01341828
+v -0.00642753 0.03280056 0.01293571
+v -0.00652384 0.03245708 0.01341828
+v -0.00642753 -0.02047330 0.01341828
+v -0.00686454 0.03233483 0.01341828
+v -0.00642753 0.03354573 0.01158271
+v -0.00743217 0.03332451 0.01116778
+v -0.00684321 -0.02035687 0.01341828
+v -0.00642753 -0.02049659 0.01338220
+v -0.00690838 0.03230572 0.01341828
+v -0.00642753 0.03404639 0.01057246
+v -0.00655210 0.03409297 0.01037402
+v -0.00744080 0.03398818 0.00979674
+v -0.00744080 0.03331869 0.01116327
+v -0.00744080 0.03204957 0.01321082
+v -0.00684321 -0.02038016 0.01337318
+v -0.00744080 -0.02014147 0.01341828
+v -0.00642753 -0.02051405 0.01333936
+v -0.00744080 0.03186328 0.01341828
+v -0.00642753 0.03411625 0.01037402
+v -0.00684321 0.03495457 0.00749888
+v -0.00744080 0.03454123 0.00814156
+v -0.00744080 -0.02017640 0.01333710
+v -0.00744080 -0.02135237 0.01042589
+v -0.00685740 -0.02085171 0.01219156
+v -0.00642753 -0.02161435 0.01062207
+v -0.00642753 0.03502443 0.00749888
+v -0.00642753 0.03640416 0.00119162
+v -0.00673500 0.03628191 0.00150281
+v -0.00684321 0.03558913 0.00456061
+v -0.00744080 0.03509429 0.00552801
+v -0.00687822 -0.02155613 0.01042138
+v -0.00744080 -0.02174824 0.00938633
+v -0.00642753 -0.02170749 0.01037402
+v -0.00642753 0.03651477 -0.00080181
+v -0.00744080 0.03601993 -0.00130918
+v -0.00744080 0.03585110 0.00154115
+v -0.00744080 0.03568810 0.00247021
+v -0.00673500 0.03642163 -0.00131369
+v -0.00687832 -0.02157359 0.01037402
+v -0.00744080 -0.02217904 0.00813254
+v -0.00642753 -0.02185303 0.00995459
+v -0.00642753 0.03651477 -0.00102731
+v -0.00744080 0.03567063 -0.00423619
+v -0.00684321 0.03593261 -0.00423619
+v -0.00744080 -0.02244102 0.00728466
+v -0.00687832 -0.02252834 0.00755977
+v -0.00642753 -0.02237116 0.00844148
+v -0.00642753 0.03597336 -0.00423619
+v -0.00744080 0.03507682 -0.00717446
+v -0.00684321 0.03558913 -0.00576057
+v -0.00744080 -0.02266806 0.00456061
+v -0.00684321 -0.02286018 0.00456061
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_48.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df2fc483e00fa719fef4fefbaf8b81383b39b1e7
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_48.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.00554852 0.03279048 0.01341828
+v -0.00554852 0.03368545 0.01205348
+v -0.00642744 0.03248829 0.01341828
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+v -0.00642744 -0.02161064 0.01062226
+v -0.00554852 0.03428984 0.01034587
+v -0.00642744 0.03413293 0.01029766
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_49.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..710deebd1c0005ffc606b6c8defd61e5c2d4587b
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_49.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.03463228 0.02838604 0.00717945
+v -0.03463228 0.02838604 -0.00310436
+v -0.03619045 0.02838604 0.00717945
+v -0.03463228 0.02181800 0.00717945
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_5.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b92238017e852de763a18d8a1687126275cb8773
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,312 @@
+# https://github.com/mikedh/trimesh
+v 0.05426203 -0.02930728 -0.00130750
+v 0.05425463 -0.02937764 -0.00130750
+v 0.05425956 -0.02930728 -0.00137472
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_50.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb946dfcd052707809bcc86b8029a0d673ce81ac
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_50.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.05034656 -0.01356030 -0.00130294
+v 0.05028827 -0.01210015 -0.00130294
+v 0.05025066 -0.01210015 0.00148602
+v 0.05028639 -0.01356030 0.00154135
+v 0.05032964 -0.01356030 -0.00151599
+v 0.05007202 -0.01210015 -0.00417214
+v 0.05020177 -0.01210015 0.00202278
+v 0.05028075 -0.01356030 0.00163266
+v 0.05008142 -0.01356030 -0.00423301
+v 0.04983133 -0.01356030 -0.00624173
+v 0.04965644 -0.01210015 -0.00624173
+v 0.05016792 -0.01210015 0.00230500
+v 0.05009083 -0.01356030 0.00361370
+v 0.03113603 -0.01356030 -0.00624173
+v 0.03113603 -0.01210015 -0.00624173
+v 0.04987646 -0.01210015 0.00458209
+v 0.04995731 -0.01356030 0.00464850
+v 0.03113603 -0.01356030 0.00924143
+v 0.03113603 -0.01210015 0.00924143
+v 0.04852818 -0.01210015 0.00776118
+v 0.04846425 -0.01356030 0.00776118
+v 0.03113791 -0.01356030 0.02173088
+v 0.03113791 -0.01210015 0.02202416
+v 0.04695614 -0.01210015 0.01054460
+v 0.04670792 -0.01356030 0.01037859
+v 0.03132219 -0.01356030 0.02168384
+v 0.03132219 -0.01210015 0.02197436
+v 0.04535025 -0.01210015 0.01291854
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+v 0.03335871 -0.01356030 0.02093956
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+v 0.04409411 -0.01210015 0.01440432
+v 0.04390795 -0.01210015 0.01460907
+v 0.04257472 -0.01356030 0.01524821
+v 0.03392848 -0.01356030 0.02070992
+v 0.03482733 -0.01356030 0.02033916
+v 0.03509435 -0.01210015 0.02045537
+v 0.04265934 -0.01210015 0.01578220
+v 0.04228137 -0.01356030 0.01552489
+v 0.03561711 -0.01356030 0.02000714
+v 0.03689769 -0.01210015 0.01969726
+v 0.04076575 -0.01210015 0.01742570
+v 0.03963560 -0.01356030 0.01793479
+v 0.03721924 -0.01210015 0.01953955
+v 0.03929524 -0.01356030 0.01818657
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_51.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..404c34ca96013fbe7f9aba3a88d3f603db01dffe
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_51.obj
@@ -0,0 +1,282 @@
+# https://github.com/mikedh/trimesh
+v -0.00097225 0.00878214 0.03214187
+v -0.00239914 0.00735771 0.03208852
+v -0.00097225 0.00585456 0.03209536
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+v -0.00092861 0.00585456 0.03208920
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+v -0.00097225 0.00291948 0.03179645
+v -0.00092861 0.00291948 0.03179235
+v -0.00092861 0.01171722 0.03205979
+v -0.00092861 0.01176220 0.03205363
+v -0.00092861 0.01465229 0.03152696
+v -0.00097225 0.01465229 0.03152833
+v -0.00239914 0.01465229 0.03134434
+v -0.00386193 0.01465229 0.03115419
+v -0.00239914 0.01171722 0.03187238
+v -0.00239914 0.01028904 0.03197156
+v -0.00386193 0.00882712 0.03187648
+v -0.00386193 0.00296446 0.03175336
+v -0.00386193 0.00291573 0.03174858
+v -0.00239914 0.00291573 0.03177320
+v -0.00097225 -0.00001560 0.03104749
+v -0.00092861 -0.00001560 0.03104680
+v -0.00092861 0.01469728 0.03151534
+v -0.00092861 0.01763610 0.03058443
+v -0.00097225 0.01759112 0.03059537
+v -0.00386193 0.01469728 0.03114051
+v -0.00386193 0.01171722 0.03167539
+v -0.00386193 -0.00001935 0.03090932
+v -0.00239914 -0.00001935 0.03097909
+v -0.00261135 -0.00447631 0.02953793
+v -0.00239914 -0.00428139 0.02960633
+v -0.00092861 -0.00295442 0.03006255
+v -0.00092861 0.01997517 0.02980879
+v -0.00239886 0.01887686 0.02996542
+v -0.00239914 0.01768858 0.03036008
+v -0.00097225 0.01993393 0.02981631
+v -0.00386193 0.01792848 0.03007212
+v -0.00386193 -0.00075030 0.03066309
+v -0.00386193 -0.00537596 0.02896612
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+v -0.00097225 0.02346128 0.02797707
+v -0.00239914 0.02358872 0.02773152
+v -0.00386193 0.02371992 0.02747913
+v -0.00239886 0.02096852 0.02921167
+v -0.00386193 0.02026380 0.02921509
+v -0.00239886 0.02012886 0.02953588
+v -0.00315322 0.01945412 0.02965763
+v -0.00386193 0.01926295 0.02958718
+v -0.00386193 -0.00834102 0.02731497
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+v -0.00386193 0.02606649 0.02528626
+v -0.00239886 -0.01156848 0.02515562
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+f 77 88 78
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_52.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad6edcb899a419284d1dd0d5a8f37321628723ea
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_52.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v -0.04792298 -0.00916640 -0.01848155
+v -0.04823964 -0.00916640 -0.01847469
+v -0.04823964 -0.00894570 -0.01881741
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+v -0.04660926 -0.00841272 -0.01881741
+v -0.04660974 -0.00916640 -0.01743627
+v -0.04823964 -0.00916640 0.00438094
+v -0.04823964 -0.00732950 -0.02041103
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+v -0.04660926 -0.00724542 -0.02051385
+v -0.04660926 -0.00916490 -0.01743627
+v -0.04660926 -0.00916640 -0.01516065
+v -0.04816718 -0.00916640 0.00434667
+v -0.04660926 -0.00863642 0.00468253
+v -0.04660926 -0.00816425 0.00550847
+v -0.04823964 -0.00906431 0.00455915
+v -0.04823964 -0.00621399 -0.02067835
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+v -0.04661197 -0.00149749 -0.02116843
+v -0.04660926 -0.00150049 -0.02116843
+v -0.04660926 -0.00733025 0.00694444
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+v -0.04823964 -0.00295756 -0.02104162
+v -0.04801636 -0.00149749 -0.02105533
+v -0.04737920 -0.00149749 -0.02110674
+v -0.04660926 -0.00149749 -0.01864262
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+v -0.04823964 -0.00415639 0.01129349
+v -0.04660926 -0.00332689 0.01214342
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+f 25 41 37
+f 25 37 32
+f 25 32 26
+f 27 33 28
+f 27 34 33
+f 29 35 36
+f 29 36 30
+f 33 34 38
+f 34 39 38
+f 34 40 39
+f 37 41 42
+f 37 42 43
+f 39 40 44
+f 40 45 46
+f 40 46 44
+f 42 47 43
+f 43 47 48
+f 43 48 49
+f 45 49 48
+f 45 48 46
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_53.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33560bfb589a5ae1118bb0c6d10cbc5244f0cae8
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_53.obj
@@ -0,0 +1,225 @@
+# https://github.com/mikedh/trimesh
+v -0.04369644 0.01340692 -0.01849731
+v -0.04462094 0.01340692 -0.01810762
+v -0.04369644 0.01409679 -0.01810407
+v -0.04369644 0.01340692 0.01769504
+v -0.04444457 0.01380419 -0.01794820
+v -0.04500875 0.01340692 -0.01781711
+v -0.04500875 0.01444886 -0.01705543
+v -0.04369644 0.01546106 -0.01697749
+v -0.04369644 0.01504476 0.01743642
+v -0.04500875 0.01340692 0.01691919
+v -0.04500875 0.01484732 -0.01671179
+v -0.04500875 0.01664812 -0.01502900
+v -0.04369644 0.01605221 -0.01642483
+v -0.04369644 0.01634005 0.01713884
+v -0.04500875 0.01422287 0.01677039
+v -0.04500875 0.01403850 0.01680582
+v -0.04500875 0.01812896 -0.01305571
+v -0.04369644 0.01852741 -0.01370402
+v -0.04369644 0.01707750 -0.01545058
+v -0.04369644 0.01754494 0.01677748
+v -0.04500875 0.01445124 0.01669954
+v -0.04402246 0.01935764 -0.01208500
+v -0.04369644 0.01945874 -0.01224443
+v -0.04500875 0.01989526 -0.01010463
+v -0.04369644 0.01905195 0.01606894
+v -0.04500875 0.01744503 0.01573592
+v -0.04500875 0.01742481 0.01574301
+v -0.04369644 0.02064103 -0.01022154
+v -0.04500875 0.02132139 -0.00729171
+v -0.04369644 0.02137372 -0.00877965
+v -0.04369644 0.02012601 0.01554461
+v -0.04400474 0.01997376 0.01535685
+v -0.04369644 0.02114535 0.01502384
+v -0.04500875 0.01913640 0.01480065
+v -0.04369644 0.02172222 -0.00808528
+v -0.04500875 0.02133209 -0.00726691
+v -0.04405098 0.02229553 -0.00636706
+v -0.04369644 0.02242874 -0.00654420
+v -0.04369644 0.02178288 0.01464477
+v -0.04500875 0.02084323 0.01363509
+v -0.04500875 0.02257148 -0.00404659
+v -0.04369644 0.02330654 -0.00417058
+v -0.04369644 0.02505382 0.01205859
+v -0.04372084 0.02504906 0.01205150
+v -0.04421630 0.02346236 0.01272107
+v -0.04500875 0.02107636 0.01346504
+v -0.04500875 0.02258099 -0.00401825
+v -0.04369644 0.02330892 -0.00416350
+v -0.04369644 0.02506452 0.01202670
+v -0.04500875 0.02271064 0.01220738
+v -0.04369644 0.02537378 0.01043602
+v -0.04402593 0.02522628 0.01043602
+v -0.04500875 0.02404994 0.01043957
+v -0.04500875 0.02389293 0.01090720
+v -0.04369644 0.02367051 -0.00307943
+v -0.04500875 0.02328276 -0.00191387
+v -0.04369644 0.02541303 0.00994004
+v -0.04419819 0.02531906 0.00749911
+v -0.04500875 0.02458518 0.00867529
+v -0.04369644 0.02382038 -0.00262950
+v -0.04500875 0.02348496 -0.00130098
+v -0.04500541 0.02348734 -0.00130098
+v -0.04369644 0.02555694 0.00749911
+v -0.04369644 0.02555575 0.00680829
+v -0.04369644 0.02547250 0.00456575
+v -0.04410326 0.02525959 0.00456575
+v -0.04500875 0.02462443 0.00456575
+v -0.04500875 0.02467558 0.00576673
+v -0.04500875 0.02467677 0.00749911
+v -0.04369644 0.02425690 -0.00130098
+v -0.04500875 0.02420932 0.00141628
+v -0.04491665 0.02427236 0.00140919
+v -0.04369644 0.02480879 0.00044557
+v -0.04369644 0.02520606 0.00213899
+v -0.04387910 0.02512875 0.00223819
+v -0.04369644 0.02502408 0.00133125
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 19
+f 1 19 18
+f 1 18 23
+f 1 23 28
+f 1 28 30
+f 1 30 35
+f 1 35 38
+f 1 38 42
+f 1 42 48
+f 1 48 55
+f 1 55 60
+f 1 60 70
+f 1 70 73
+f 1 73 76
+f 1 76 74
+f 1 74 65
+f 1 65 64
+f 1 64 63
+f 1 63 57
+f 1 57 51
+f 1 51 49
+f 1 49 43
+f 1 43 39
+f 1 39 33
+f 1 33 31
+f 1 31 25
+f 1 25 20
+f 1 20 14
+f 1 14 9
+f 1 9 4
+f 1 4 10
+f 1 10 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 8
+f 6 10 16
+f 6 16 15
+f 6 15 21
+f 6 21 27
+f 6 27 26
+f 6 26 34
+f 6 34 40
+f 6 40 46
+f 6 46 50
+f 6 50 54
+f 6 54 53
+f 6 53 59
+f 6 59 69
+f 6 69 68
+f 6 68 67
+f 6 67 71
+f 6 71 61
+f 6 61 56
+f 6 56 47
+f 6 47 41
+f 6 41 36
+f 6 36 29
+f 6 29 24
+f 6 24 17
+f 6 17 12
+f 6 12 11
+f 6 11 7
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 14 20 15
+f 15 20 21
+f 17 22 23
+f 17 23 18
+f 17 24 22
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 22 24 28
+f 22 28 23
+f 24 29 30
+f 24 30 28
+f 25 31 32
+f 25 32 26
+f 26 32 33
+f 26 33 34
+f 29 35 30
+f 29 36 37
+f 29 37 38
+f 29 38 35
+f 31 33 32
+f 33 39 34
+f 34 39 40
+f 36 41 37
+f 37 41 42
+f 37 42 38
+f 39 43 44
+f 39 44 45
+f 39 45 46
+f 39 46 40
+f 41 47 48
+f 41 48 42
+f 43 49 44
+f 44 50 45
+f 44 49 51
+f 44 51 52
+f 44 52 53
+f 44 53 54
+f 44 54 50
+f 45 50 46
+f 47 55 48
+f 47 56 55
+f 51 57 52
+f 52 57 58
+f 52 58 59
+f 52 59 53
+f 55 56 60
+f 56 61 62
+f 56 62 60
+f 57 63 58
+f 58 63 64
+f 58 64 65
+f 58 65 66
+f 58 66 67
+f 58 67 68
+f 58 68 69
+f 58 69 59
+f 60 62 70
+f 61 71 62
+f 62 71 72
+f 62 72 73
+f 62 73 70
+f 65 74 75
+f 65 75 66
+f 66 75 67
+f 67 75 71
+f 71 75 72
+f 72 76 73
+f 72 75 76
+f 74 76 75
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_54.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2692ab28ab5a661384d25c9685651de8416a88d7
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_54.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.02020655 -0.02956680 -0.00424063
+v 0.01931578 -0.02896647 -0.00424063
+v 0.02020655 -0.02948618 -0.00718289
+v 0.02020655 -0.02903508 -0.00143420
+v 0.01931578 -0.02851193 -0.00161855
+v 0.01931578 -0.02881210 -0.00716106
+v 0.01931578 -0.02881038 -0.00718532
+v 0.02020655 -0.02900077 -0.01011303
+v 0.02020655 -0.02821863 0.00121214
+v 0.01931578 -0.02778296 0.00121214
+v 0.01931578 -0.02814831 -0.00018986
+v 0.01931578 -0.02843132 -0.00939747
+v 0.01931578 -0.02827352 -0.01011303
+v 0.01931578 -0.02794591 -0.01108570
+v 0.02020655 -0.02830954 -0.01212628
+v 0.02020655 -0.01204403 0.00121214
+v 0.01931578 -0.01204403 0.00121214
+v 0.01931578 -0.02698881 -0.01321781
+v 0.02020655 -0.02806940 -0.01263566
+v 0.02020655 -0.01204403 -0.02356788
+v 0.01931578 -0.01204403 -0.02346600
+v 0.02020655 -0.02775895 -0.01325419
+v 0.01931578 -0.02544682 -0.01574772
+v 0.02020655 -0.01208348 -0.02356060
+v 0.01931578 -0.01446593 -0.02283777
+v 0.02020655 -0.02614492 -0.01581078
+v 0.01931578 -0.02457548 -0.01685865
+v 0.02020655 -0.02498885 -0.01736075
+v 0.02020655 -0.01480554 -0.02284019
+v 0.02020655 -0.01783292 -0.02187965
+v 0.02020655 -0.01877801 -0.02153764
+v 0.01931578 -0.01791182 -0.02150611
+v 0.01931578 -0.02328049 -0.01821699
+v 0.02020655 -0.02428733 -0.01799868
+v 0.01931578 -0.01792211 -0.02150126
+v 0.02020655 -0.01999754 -0.02094337
+v 0.01931578 -0.01959789 -0.02068868
+v 0.01931578 -0.02300605 -0.01844014
+v 0.02020655 -0.02386710 -0.01836495
+v 0.02020655 -0.02014334 -0.02085362
+v 0.02010932 -0.01996152 -0.02091184
+v 0.02020655 -0.02176937 -0.01985184
+v 0.01931578 -0.02079684 -0.01990521
+v 0.02020655 -0.02179510 -0.01983487
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 19
+f 1 19 22
+f 1 22 26
+f 1 26 28
+f 1 28 34
+f 1 34 39
+f 1 39 44
+f 1 44 42
+f 1 42 40
+f 1 40 36
+f 1 36 31
+f 1 31 30
+f 1 30 29
+f 1 29 24
+f 1 24 20
+f 1 20 16
+f 1 16 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 11
+f 2 11 10
+f 2 10 17
+f 2 17 21
+f 2 21 25
+f 2 25 32
+f 2 32 35
+f 2 35 37
+f 2 37 43
+f 2 43 38
+f 2 38 33
+f 2 33 27
+f 2 27 23
+f 2 23 18
+f 2 18 14
+f 2 14 13
+f 2 13 12
+f 2 12 7
+f 2 7 6
+f 3 6 7
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 7 12 8
+f 8 12 13
+f 8 13 14
+f 8 14 15
+f 9 16 17
+f 9 17 10
+f 14 18 15
+f 15 18 19
+f 16 20 21
+f 16 21 17
+f 18 22 19
+f 18 23 22
+f 20 24 21
+f 21 24 25
+f 22 23 26
+f 23 27 28
+f 23 28 26
+f 24 29 25
+f 25 29 30
+f 25 30 31
+f 25 31 32
+f 27 33 28
+f 28 33 34
+f 31 35 32
+f 31 36 37
+f 31 37 35
+f 33 38 39
+f 33 39 34
+f 36 40 41
+f 36 41 37
+f 37 42 43
+f 37 41 42
+f 38 43 44
+f 38 44 39
+f 40 42 41
+f 42 44 43
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_55.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f19601842b06ce7577de2504d333870a2349a8a8
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_55.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.02141083 0.00651901 0.02452263
+v 0.02141083 0.00651901 0.00552458
+v 0.02215646 0.00651901 0.02409677
+v 0.02141083 0.01142640 0.02425856
+v 0.02312167 0.00651901 0.00552458
+v 0.02141083 0.02873164 0.00552458
+v 0.02311933 0.00651901 0.02328411
+v 0.02157262 0.01172210 0.02410793
+v 0.02141083 0.01172645 0.02422880
+v 0.02312167 0.02781844 0.00552458
+v 0.02312167 0.00651901 0.01099191
+v 0.02141083 0.02824460 0.00750509
+v 0.02160243 0.02814893 0.00750509
+v 0.02225863 0.02830766 0.00552458
+v 0.02312167 0.00779749 0.02290846
+v 0.02312167 0.01172210 0.02232639
+v 0.02303994 0.01172210 0.02242496
+v 0.02141083 0.01308974 0.02393312
+v 0.02312167 0.02722920 0.00731727
+v 0.02141083 0.02805109 0.00805368
+v 0.02306975 0.02718789 0.00750509
+v 0.02312167 0.01185474 0.02229292
+v 0.02141083 0.01366810 0.02376203
+v 0.02312167 0.02714006 0.00750509
+v 0.02141083 0.02742707 0.00931452
+v 0.02312167 0.02576372 0.00977013
+v 0.02312167 0.01400294 0.02153977
+v 0.02312167 0.01494441 0.02103209
+v 0.02164966 0.01688606 0.02132963
+v 0.02141083 0.01657296 0.02179640
+v 0.02152740 0.02528538 0.01244242
+v 0.02228224 0.02621598 0.01013648
+v 0.02141083 0.02520276 0.01268604
+v 0.02312167 0.02496358 0.01092682
+v 0.02312167 0.01669472 0.01980101
+v 0.02312167 0.01818629 0.01872986
+v 0.02184026 0.02001923 0.01857179
+v 0.02141083 0.01952131 0.01939747
+v 0.02141083 0.02231964 0.01679769
+v 0.02181128 0.02267405 0.01580093
+v 0.02312167 0.02404386 0.01222113
+v 0.02312167 0.02020839 0.01696320
+v 0.02141083 0.02173692 0.01752481
+v 0.02312167 0.02116291 0.01596086
+v 0.02312167 0.02278276 0.01390224
+v 0.02280396 0.02088025 0.01668054
+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 18
+f 1 18 23
+f 1 23 30
+f 1 30 38
+f 1 38 43
+f 1 43 39
+f 1 39 33
+f 1 33 25
+f 1 25 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 14
+f 2 14 10
+f 2 10 5
+f 3 7 8
+f 3 8 4
+f 4 8 9
+f 5 10 19
+f 5 19 24
+f 5 24 26
+f 5 26 34
+f 5 34 41
+f 5 41 45
+f 5 45 44
+f 5 44 42
+f 5 42 36
+f 5 36 35
+f 5 35 28
+f 5 28 27
+f 5 27 22
+f 5 22 16
+f 5 16 15
+f 5 15 11
+f 6 12 13
+f 6 13 14
+f 7 11 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 9
+f 10 14 13
+f 10 13 19
+f 12 20 13
+f 13 20 21
+f 13 21 19
+f 16 22 17
+f 17 22 18
+f 18 22 23
+f 19 21 24
+f 20 25 21
+f 21 25 26
+f 21 26 24
+f 22 27 23
+f 23 27 28
+f 23 28 29
+f 23 29 30
+f 25 31 32
+f 25 32 26
+f 25 33 31
+f 26 32 31
+f 26 31 34
+f 28 35 29
+f 29 36 37
+f 29 37 38
+f 29 38 30
+f 29 35 36
+f 31 33 39
+f 31 39 40
+f 31 40 34
+f 34 40 41
+f 36 42 37
+f 37 42 43
+f 37 43 38
+f 39 43 44
+f 39 44 45
+f 39 45 40
+f 40 45 41
+f 42 46 43
+f 42 44 46
+f 43 46 44
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_56.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a109a6e9213199646495fa3b57cddcfc4679a357
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_56.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.02511616 -0.01139503 -0.02417983
+v 0.02657131 -0.01139503 -0.02417649
+v 0.02511187 -0.01139503 -0.02413964
+v 0.02511187 -0.00882731 -0.02390517
+v 0.02657131 -0.00995132 -0.02402576
+v 0.02657131 -0.01139503 0.01003872
+v 0.02511187 -0.01139503 0.01003872
+v 0.02511187 -0.00844929 -0.02386163
+v 0.02657131 -0.00882731 -0.02388508
+v 0.02657131 -0.00465100 0.01003872
+v 0.02511187 0.00914672 0.01003872
+v 0.02511187 -0.00437552 -0.02326207
+v 0.02657131 -0.00744392 -0.02368076
+v 0.02657117 0.00914672 0.01003872
+v 0.02657131 -0.00465100 -0.02322523
+v 0.02511187 0.00914672 -0.02029106
+v 0.02657131 -0.00531655 -0.02336256
+v 0.02511187 -0.00253569 -0.02296061
+v 0.02657117 0.00914672 -0.01828805
+v 0.02657117 -0.00370796 -0.02305440
+v 0.02657117 -0.00114426 -0.02235100
+v 0.02657117 0.00195228 -0.02131601
+v 0.02657117 0.00833840 -0.01889766
+v 0.02657117 0.00874256 -0.01867995
+v 0.02511187 0.00784778 -0.02064611
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 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 3 7 11
+f 3 11 16
+f 3 16 25
+f 3 25 18
+f 3 18 12
+f 3 12 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 6 10 14
+f 6 14 11
+f 6 11 7
+f 8 12 9
+f 9 12 13
+f 10 15 19
+f 10 19 14
+f 11 14 19
+f 11 19 16
+f 12 17 13
+f 12 18 17
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 19
+f 15 17 20
+f 16 24 23
+f 16 23 22
+f 16 22 21
+f 16 21 20
+f 16 20 25
+f 16 19 24
+f 17 18 20
+f 18 25 20
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_57.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b7ab199daf3f8ee574e6fdf39d06d5f193cdc96
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_57.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.02657131 -0.03726626 -0.01285472
+v 0.02657131 -0.03726120 -0.01304317
+v 0.02657131 -0.03693960 -0.01010535
+v 0.02511187 -0.03394902 -0.00513159
+v 0.02511187 -0.03415160 -0.00706321
+v 0.02511187 -0.03427567 -0.00869870
+v 0.02511187 -0.03426808 -0.01010535
+v 0.02511187 -0.03424529 -0.01162642
+v 0.02657131 -0.03704596 -0.01564783
+v 0.02657131 -0.03684844 -0.00941212
+v 0.02657131 -0.03623310 -0.00619499
+v 0.02511187 -0.03373124 -0.00424318
+v 0.02657131 -0.03648126 -0.00740646
+v 0.02511187 -0.03371858 -0.01417387
+v 0.02657131 -0.03646860 -0.01766022
+v 0.02657131 -0.03557472 -0.00424318
+v 0.02511187 -0.03266516 -0.00108326
+v 0.02511187 -0.03275886 -0.01644202
+v 0.02657131 -0.03568361 -0.01933272
+v 0.02657131 -0.03439722 -0.00176639
+v 0.02511187 -0.03152059 0.00125219
+v 0.02511187 -0.03157123 -0.01799338
+v 0.02657131 -0.03433645 -0.02044324
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diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_58.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14146eb04776bb72e0f64ebe8e422bc1d5bdc835
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_58.obj
@@ -0,0 +1,504 @@
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_59.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c679adad3828b43eecbbf8f4207f99558f36d17d
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_59.obj
@@ -0,0 +1,330 @@
+# https://github.com/mikedh/trimesh
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diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_6.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d739540a0ed48f353d161873601e7c96197aad2
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,276 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_60.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2d40e8143074b24eb89797d9042f3dbaed3fcc1
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_60.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
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+v 0.03498841 -0.00632971 -0.02175593
+v 0.03425687 -0.00589306 -0.02193751
+v 0.03425856 -0.00567432 -0.02186034
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+v 0.03114194 -0.00567432 -0.02283178
+v 0.03113604 -0.00575093 -0.02285448
+v 0.03478278 -0.00632971 -0.02184218
+v 0.03203107 -0.00567432 -0.02256849
+v 0.03424170 -0.00632971 -0.02206461
+v 0.03150012 -0.00632971 -0.02293165
+v 0.03130122 -0.00591847 -0.02287263
+v 0.03114109 -0.00632971 0.02321189
+v 0.03113604 -0.00632971 0.02275794
+v 0.03130291 -0.00567432 -0.02279546
+v 0.03113604 -0.00608427 -0.02296796
+v 0.03113604 -0.00632971 -0.02304060
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+f 26 40 49
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+f 26 50 47
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+f 26 37 30
+f 27 34 29
+f 27 29 28
+f 29 34 35
+f 29 35 36
+f 30 37 31
+f 31 37 32
+f 32 37 38
+f 33 39 40
+f 34 41 35
+f 35 42 36
+f 35 41 43
+f 35 43 44
+f 35 44 45
+f 35 45 42
+f 37 46 38
+f 37 47 46
+f 39 48 49
+f 39 49 40
+f 42 45 48
+f 44 50 45
+f 45 50 49
+f 45 49 48
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_61.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1f469daf88d21ed9e7d856764247349ca61c1bb
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_61.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v -0.00554852 0.01120795 -0.00835937
+v -0.00554852 0.01120795 -0.02491923
+v -0.00642744 0.01120795 -0.00835937
+v -0.00554852 -0.02068378 -0.00835937
+v -0.00554852 0.00878236 -0.02515920
+v -0.00642744 0.00878236 -0.02518253
+v -0.00642744 0.01120795 -0.02491423
+v -0.00642744 -0.02042468 -0.00835937
+v -0.00587820 -0.02058701 -0.00835937
+v -0.00554852 -0.02015933 -0.01016417
+v -0.00554852 0.00455239 -0.02537084
+v -0.00642744 0.00543273 -0.02535084
+v -0.00642744 -0.01985652 -0.01019250
+v -0.00642744 -0.01930085 -0.01192065
+v -0.00554852 -0.01970356 -0.01154902
+v -0.00554852 0.00291036 -0.02538251
+v -0.00642744 0.00490515 -0.02535585
+v -0.00611591 -0.01935704 -0.01204897
+v -0.00642744 -0.01905736 -0.01239726
+v -0.00554852 -0.01943509 -0.01229061
+v -0.00642744 0.00249516 -0.02534251
+v -0.00642744 0.00291036 -0.02536918
+v -0.00554852 0.00161483 -0.02529919
+v -0.00642744 -0.01873269 -0.01302219
+v -0.00555058 -0.01905111 -0.01302219
+v -0.00554852 -0.01904799 -0.01302553
+v -0.00554852 -0.00002408 -0.02510754
+v -0.00642744 -0.00002408 -0.02504755
+v -0.00642744 -0.01859222 -0.01327716
+v -0.00554852 -0.01741532 -0.01599187
+v -0.00554852 -0.00131649 -0.02486257
+v -0.00642744 -0.00043928 -0.02496922
+v -0.00642744 -0.01704695 -0.01605686
+v -0.00642744 -0.01617287 -0.01744171
+v -0.00554852 -0.01652562 -0.01738838
+v -0.00554852 -0.00425405 -0.02424263
+v -0.00554852 -0.00602720 -0.02386601
+v -0.00642744 -0.00609900 -0.02375269
+v -0.00642744 -0.01536745 -0.01810830
+v -0.00578339 -0.01630710 -0.01759503
+v -0.00554852 -0.01643509 -0.01751504
+v -0.00554852 -0.00711356 -0.02361270
+v -0.00642744 -0.00656101 -0.02364603
+v -0.00642744 -0.01479618 -0.01854492
+v -0.00554852 -0.01299181 -0.02020974
+v -0.00554852 -0.01635080 -0.01762836
+v -0.00554852 -0.00776913 -0.02345772
+v -0.00642744 -0.00757870 -0.02340606
+v -0.00642744 -0.01279826 -0.02006642
+v -0.00642744 -0.01167131 -0.02090300
+v -0.00554852 -0.01258286 -0.02051137
+v -0.00554852 -0.00820930 -0.02329440
+v -0.00554852 -0.00913021 -0.02284945
+v -0.00642744 -0.00887111 -0.02276446
+v -0.00642744 -0.01134977 -0.02113631
+v -0.00554852 -0.01157766 -0.02124296
+v -0.00642744 -0.00937995 -0.02243117
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 15
+f 1 15 20
+f 1 20 26
+f 1 26 30
+f 1 30 35
+f 1 35 41
+f 1 41 46
+f 1 46 45
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+f 1 52 47
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+f 14 19 18
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+f 16 22 17
+f 16 23 21
+f 18 19 24
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+f 21 23 27
+f 21 27 28
+f 24 29 25
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+f 25 30 26
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+f 30 33 34
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+f 31 36 32
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+f 32 37 38
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+f 34 40 35
+f 35 40 41
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+f 39 44 45
+f 39 45 40
+f 40 46 41
+f 40 45 46
+f 42 47 48
+f 42 48 43
+f 44 49 45
+f 45 49 50
+f 45 50 51
+f 47 52 48
+f 48 52 53
+f 48 53 54
+f 50 55 56
+f 50 56 51
+f 53 57 54
+f 53 56 57
+f 55 57 56
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_62.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..115b18d822299d612f46b81e154748524f557d77
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_62.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v 0.01678343 -0.00049821 0.02629976
+v 0.01931578 -0.00049821 0.02571668
+v 0.01678343 -0.00049821 0.00238197
+v 0.01678343 -0.00285913 0.02613350
+v 0.01931578 -0.00589308 0.02601173
+v 0.01931578 -0.00294994 0.02601173
+v 0.01931578 -0.00049821 0.00238197
+v 0.01678343 -0.02761676 0.00238197
+v 0.01678343 -0.00288317 0.02613116
+v 0.01678343 -0.00589308 0.02576117
+v 0.01678343 -0.00590910 0.02575883
+v 0.01931578 -0.00615481 0.02597192
+v 0.01931578 -0.02755266 0.00238197
+v 0.01678343 -0.02776899 0.00456675
+v 0.01678343 -0.00868666 0.02532562
+v 0.01678343 -0.00884423 0.02529752
+v 0.01931578 -0.00883087 0.02548017
+v 0.01931578 -0.02749123 0.00438410
+v 0.01678343 -0.02778234 0.00759687
+v 0.01678343 -0.01162445 0.02471445
+v 0.01931578 -0.00908993 0.02542631
+v 0.01931578 -0.02730962 0.01017270
+v 0.01931578 -0.02728024 0.01043965
+v 0.01678343 -0.02746452 0.01042560
+v 0.01931578 -0.01176600 0.02473084
+v 0.01678343 -0.01177668 0.02467464
+v 0.01931578 -0.02683957 0.01311383
+v 0.01678343 -0.02743782 0.01058015
+v 0.01931578 -0.01428717 0.02400024
+v 0.01678343 -0.01410289 0.02399556
+v 0.01931578 -0.02674610 0.01337376
+v 0.01678343 -0.02643630 0.01335971
+v 0.01931578 -0.01575606 0.02348273
+v 0.01678343 -0.01556911 0.02331413
+v 0.01931578 -0.02569116 0.01570606
+v 0.01678343 -0.02637487 0.01349787
+v 0.01678343 -0.02643095 0.01337376
+v 0.01931578 -0.01763358 0.02242898
+v 0.01678343 -0.01557713 0.02330945
+v 0.01931578 -0.02559235 0.01587934
+v 0.01678343 -0.02531192 0.01533842
+v 0.01678343 -0.01764160 0.02210115
+v 0.01678343 -0.01935086 0.02103335
+v 0.01931578 -0.01779383 0.02232829
+v 0.01931578 -0.02470566 0.01721643
+v 0.01678343 -0.02526652 0.01540867
+v 0.01678343 -0.01945769 0.02096544
+v 0.01931578 -0.01965265 0.02112467
+v 0.01931578 -0.02461486 0.01734757
+v 0.01678343 -0.02429705 0.01679962
+v 0.01678343 -0.02084647 0.02002409
+v 0.01931578 -0.01978085 0.02103569
+v 0.01931578 -0.02314596 0.01857928
+v 0.01678343 -0.02282280 0.01850435
+v 0.01678343 -0.02092659 0.01996555
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 14
+f 1 14 19
+f 1 19 24
+f 1 24 28
+f 1 28 32
+f 1 32 37
+f 1 37 36
+f 1 36 41
+f 1 41 46
+f 1 46 50
+f 1 50 54
+f 1 54 55
+f 1 55 51
+f 1 51 47
+f 1 47 43
+f 1 43 42
+f 1 42 39
+f 1 39 34
+f 1 34 30
+f 1 30 26
+f 1 26 20
+f 1 20 16
+f 1 16 15
+f 1 15 11
+f 1 11 10
+f 1 10 9
+f 1 9 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 5
+f 2 5 12
+f 2 12 17
+f 2 17 21
+f 2 21 25
+f 2 25 29
+f 2 29 33
+f 2 33 38
+f 2 38 44
+f 2 44 48
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+f 5 11 12
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+f 8 13 14
+f 11 15 12
+f 12 15 16
+f 12 16 17
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+f 19 22 23
+f 19 23 24
+f 20 25 21
+f 20 26 25
+f 23 27 24
+f 24 27 28
+f 25 26 29
+f 26 30 29
+f 27 31 28
+f 28 31 32
+f 29 30 33
+f 30 34 33
+f 31 35 36
+f 31 36 37
+f 31 37 32
+f 33 34 38
+f 34 39 38
+f 35 40 36
+f 36 40 41
+f 38 39 42
+f 38 42 43
+f 38 43 44
+f 40 45 46
+f 40 46 41
+f 43 47 44
+f 44 47 48
+f 45 49 46
+f 46 49 50
+f 47 51 48
+f 48 51 52
+f 49 53 54
+f 49 54 50
+f 51 55 53
+f 51 53 52
+f 53 55 54
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_63.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32a7d3c3c733ae96b9e631d979cb0728c6fdd369
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_63.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.03463213 0.02888778 0.01128548
+v -0.03518375 0.02869245 0.01128548
+v -0.03463213 0.02838682 0.01128548
+v -0.03463213 0.02910070 0.01050104
+v -0.03604644 0.02838682 0.01128548
+v -0.03619045 0.02852885 0.01057427
+v -0.03463213 0.02838682 -0.00310214
+v -0.03463213 0.02911896 0.01040245
+v -0.03619045 0.02856855 0.01036020
+v -0.03619045 0.02838682 0.01109677
+v -0.03589922 0.02838682 -0.00106427
+v -0.03463213 0.02889080 -0.00117975
+v -0.03463213 0.02940069 0.00887581
+v -0.03463213 0.02961361 0.00755901
+v -0.03619045 0.02903036 0.00750127
+v -0.03619045 0.02838682 -0.00049389
+v -0.03598664 0.02838682 -0.00089386
+v -0.03619045 0.02884025 0.00163130
+v -0.03463213 0.02915619 0.00006522
+v -0.03463213 0.02963421 0.00743085
+v -0.03619045 0.02903078 0.00749423
+v -0.03619045 0.02920083 0.00455783
+v -0.03463213 0.02963009 0.00300021
+v -0.03463213 0.02946374 0.00165101
+v -0.03463213 0.02946127 0.00163130
+v -0.03463213 0.02978998 0.00454093
+v -0.03619045 0.02920165 0.00456628
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 12
+f 1 12 19
+f 1 19 25
+f 1 25 24
+f 1 24 23
+f 1 23 26
+f 1 26 20
+f 1 20 14
+f 1 14 13
+f 1 13 8
+f 1 8 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 5 10
+f 3 10 16
+f 3 16 17
+f 3 17 11
+f 3 11 7
+f 4 8 9
+f 4 9 6
+f 5 6 10
+f 6 9 15
+f 6 15 21
+f 6 21 27
+f 6 27 22
+f 6 22 18
+f 6 18 16
+f 6 16 10
+f 7 11 12
+f 8 13 9
+f 9 13 14
+f 9 14 15
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 14 20 15
+f 15 20 21
+f 16 18 17
+f 18 22 23
+f 18 23 24
+f 18 24 25
+f 18 25 19
+f 20 26 27
+f 20 27 21
+f 22 27 26
+f 22 26 23
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_64.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e88194567d8b5cbc1f7de93889fdb2b40ed44800
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_64.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.00981162 -0.00520143 0.00644506
+v -0.00857183 -0.00520143 0.00644506
+v -0.00981162 -0.00520143 0.02708543
+v -0.00981162 -0.00520014 -0.02327100
+v -0.00980919 -0.00520014 -0.02359065
+v -0.00857183 -0.00520014 -0.02372689
+v -0.00857183 -0.00520143 0.02766707
+v -0.00956864 -0.00520143 0.02722691
+v -0.00960723 -0.00292450 0.02823824
+v -0.00966391 -0.00284980 0.02823824
+v -0.00981162 -0.00299919 0.02808104
+v -0.00981162 -0.00304555 -0.02409368
+v -0.00981162 -0.00295798 -0.02411465
+v -0.00857183 -0.00438492 -0.02391553
+v -0.00857183 -0.00483954 0.02784000
+v -0.00904444 -0.00520143 0.02746271
+v -0.00857183 -0.00397152 0.02823824
+v -0.00951548 -0.00304169 0.02823824
+v -0.00973042 -0.00272230 0.02823824
+v -0.00981162 -0.00273260 0.02817535
+v -0.00981162 -0.00003197 -0.02478537
+v -0.00977836 -0.00002038 -0.02479061
+v -0.00857183 -0.00122710 -0.02461768
+v -0.00857183 0.00795532 0.02823824
+v -0.00981162 -0.00254587 0.02823824
+v -0.00981162 0.00290177 -0.02522029
+v -0.00971841 0.00005174 -0.02480633
+v -0.00857183 0.00005045 -0.02489541
+v -0.00977836 0.00291336 -0.02522553
+v -0.00981162 0.00795532 0.02823824
+v -0.00857183 0.00795532 -0.02511025
+v -0.00981162 0.00294684 -0.02522553
+v -0.00857183 0.00139755 -0.02509453
+v -0.00857183 0.00170664 -0.02513645
+v -0.00857183 0.00291336 -0.02528317
+v -0.00981162 0.00795532 -0.02504737
+v -0.00857183 0.00584838 -0.02528317
+v -0.00977836 0.00584838 -0.02524124
+v -0.00978795 0.00795532 -0.02505261
+v -0.00981162 0.00574664 -0.02523601
+v -0.00857183 0.00464166 -0.02529365
+v -0.00981162 0.00584838 -0.02523601
+f 1 2 7
+f 1 7 16
+f 1 16 8
+f 1 8 3
+f 1 3 11
+f 1 11 20
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+f 1 25 30
+f 1 30 36
+f 1 36 42
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+f 1 40 32
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+f 1 26 21
+f 1 21 13
+f 1 13 12
+f 1 12 4
+f 1 4 5
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+f 8 16 17
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+f 9 18 17
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+f 10 19 11
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+f 14 21 22
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+f 21 26 29
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+f 22 28 23
+f 22 29 27
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+f 26 32 29
+f 27 29 28
+f 28 29 33
+f 29 34 33
+f 29 32 35
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+f 31 37 38
+f 31 38 39
+f 32 40 38
+f 32 38 41
+f 32 41 35
+f 36 39 42
+f 37 41 38
+f 38 40 42
+f 38 42 39
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_65.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0314190ff22790f1c6421aa36df088b0cdcb3706
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_65.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.00327946 0.03603271 -0.00256354
+v 0.00437758 0.03589105 -0.00256354
+v 0.00437758 0.03561362 -0.00424115
+v 0.00327946 0.03574938 -0.00424115
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+v 0.00437758 -0.02426922 -0.00256354
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+v 0.00344531 -0.02426922 -0.00508836
+v 0.00327946 -0.02392097 -0.00717729
+v 0.00437758 -0.02426332 -0.00788610
+v 0.00411337 -0.02426922 -0.00524875
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+v 0.00437758 0.03140500 -0.01376744
+v 0.00414239 0.03121611 -0.01408045
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+v 0.00437758 -0.02386784 -0.00999185
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+v 0.00437758 0.02985259 -0.01545669
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_66.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9f8f2ec4fa738a3eabb5514fff78b8f0968a919
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_66.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01052485 0.02695048 0.01328015
+v 0.00908136 0.02695048 0.01328015
+v 0.01052485 -0.00988024 0.01328015
+v 0.01052485 0.02695048 -0.00005372
+v 0.00908136 0.02695048 -0.00005372
+v 0.00908136 -0.00988024 0.01328015
+v 0.01052485 -0.00988024 -0.00005372
+v 0.00908136 -0.00988024 -0.00005372
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+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_croissant/new_croissant_1/collision/model_normalized_collision_67.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bc845060693fa4354a24f0dbcc2931b74bd7647
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_67.obj
@@ -0,0 +1,258 @@
+# https://github.com/mikedh/trimesh
+v 0.02774370 -0.02619050 -0.02358513
+v 0.02761497 -0.02619050 -0.02351214
+v 0.02657159 -0.02121590 -0.02368246
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+v 0.02774370 -0.02619050 0.01183184
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+v 0.02657159 -0.02283660 -0.02341481
+v 0.02657159 -0.01581591 -0.02433454
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+v 0.02657159 -0.02552956 0.01317981
+v 0.02657159 -0.02619050 0.01131115
+v 0.02774370 -0.02394402 0.01633804
+v 0.02657159 -0.02425691 0.01640130
+v 0.02694229 -0.02619050 -0.02310823
+v 0.02657159 -0.02551902 -0.02295738
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+v 0.02774370 -0.01699012 -0.02448053
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+v 0.02774370 -0.02307215 0.01805584
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+v 0.02774370 -0.01405106 -0.02443674
+v 0.02657159 -0.01175888 -0.02420802
+v 0.02657159 -0.02311785 0.01844515
+v 0.02774370 -0.02276629 0.01857167
+v 0.02657159 -0.00995185 -0.02401823
+v 0.02774370 -0.01112255 -0.02414476
+v 0.02657159 -0.02296668 0.01869820
+v 0.02657159 -0.02111043 0.02004130
+v 0.02774370 -0.02060418 0.02012889
+v 0.02657159 -0.02087488 0.02021162
+v 0.02774370 -0.00882685 -0.02386251
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+v 0.02774370 -0.00823974 -0.02377492
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+v 0.02774370 0.00672273 -0.01894754
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+v 0.02657159 0.00972508 -0.01777476
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_68.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..139912995e5edd0e6fbbd758ceff2119bb86f321
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_68.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v -0.00684321 0.02913428 -0.01743860
+v -0.00730333 0.02907426 -0.01743860
+v -0.00642753 0.02913112 -0.01743860
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+v -0.00684321 0.02851199 -0.01818167
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+v -0.00744080 0.02905531 -0.01743860
+v -0.00642753 -0.00313610 -0.01743860
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+v -0.00684321 0.02668936 -0.01964996
+v -0.00744080 0.02703999 -0.01932151
+v -0.00744080 -0.00313610 -0.01743860
+v -0.00642753 -0.00313610 -0.02437936
+v -0.00642753 0.02672411 -0.01964840
+v -0.00642753 0.02651562 -0.01980059
+v -0.00642753 0.02625344 -0.01995821
+v -0.00684321 0.02522052 -0.02052580
+v -0.00744080 0.02515418 -0.02049396
+v -0.00744080 0.02541952 -0.02033557
+v -0.00744080 0.02657564 -0.01964452
+v -0.00744080 -0.00313610 -0.02428463
+v -0.00642753 -0.00043532 -0.02496947
+v -0.00744080 -0.00235903 -0.02445933
+v -0.00744080 -0.00002151 -0.02497412
+v -0.00642753 0.02525526 -0.02055297
+v -0.00642753 0.02497097 -0.02068342
+v -0.00744080 0.02398542 -0.02099789
+v -0.00684321 -0.00002151 -0.02501994
+v -0.00642753 -0.00002151 -0.02504789
+v -0.00744080 0.00057866 -0.02506264
+v -0.00642753 0.02346106 -0.02133331
+v -0.00744080 0.02349896 -0.02120598
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+v -0.00744080 0.00291618 -0.02533673
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+v -0.00744080 0.02052653 -0.02243821
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+v -0.00642753 0.00291618 -0.02537012
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+v -0.00744080 0.01465431 -0.02430948
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+f 1 6 2
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_69.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b4c66d6c25040f8bd7e4cfef4ff6e61354cdd73
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_69.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v -0.02724139 0.02657234 -0.01274066
+v -0.02724139 0.02629668 -0.01314912
+v -0.02739218 0.02655802 -0.01274066
+v -0.02724139 -0.01000064 -0.01274066
+v -0.02724139 0.02512961 -0.01478933
+v -0.02739218 0.02635038 -0.01304700
+v -0.02883613 0.02501505 -0.01463069
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_7.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..889e6f6453f6975e510d96ff5a60673573fedcdf
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.02312203 0.00799440 0.02285807
+v 0.02312203 0.00799440 0.00777726
+v 0.02511187 0.00799440 0.02185278
+v 0.02312203 0.01172065 0.02232664
+v 0.02511187 0.00799440 0.00777726
+v 0.02312203 0.02696169 0.00777726
+v 0.02511187 0.00941100 0.02126821
+v 0.02403679 0.01334891 0.02081502
+v 0.02312203 0.01400244 0.02154130
+v 0.02312203 0.01185432 0.02229416
+v 0.02511187 0.02478387 0.00777726
+v 0.02312203 0.02576416 0.00976865
+v 0.02417763 0.02519232 0.00930955
+v 0.02454677 0.02564163 0.00777726
+v 0.02511187 0.01305742 0.01927092
+v 0.02432567 0.01682637 0.01830991
+v 0.02360649 0.01530579 0.02026735
+v 0.02312203 0.01494375 0.02103349
+v 0.02511187 0.02343410 0.00971994
+v 0.02312203 0.02496396 0.01092599
+v 0.02348435 0.02442182 0.01126699
+v 0.02376817 0.02174271 0.01449395
+v 0.02433386 0.02246494 0.01253652
+v 0.02480935 0.02345081 0.01034880
+v 0.02511187 0.01714571 0.01643367
+v 0.02488785 0.01771755 0.01647500
+v 0.02446417 0.01978583 0.01560700
+v 0.02379719 0.01878139 0.01756296
+v 0.02312203 0.01818542 0.01873063
+v 0.02312203 0.01669269 0.01980235
+v 0.02499538 0.02066958 0.01345914
+v 0.02511187 0.02065102 0.01319933
+v 0.02312203 0.02404307 0.01222061
+v 0.02312203 0.02278428 0.01390200
+v 0.02312203 0.02116530 0.01596129
+v 0.02312203 0.02020914 0.01696510
+v 0.02511187 0.01769713 0.01594210
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+f 26 37 27
+f 27 32 31
+f 27 37 32
+f 28 36 29
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_70.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37010725625eefaf751b74e8a8e5ed611360895c
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_70.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v -0.01197764 0.00584977 0.02821171
+v -0.01472174 0.00585388 0.02756743
+v -0.01197764 0.00280847 0.02806619
+v -0.01197764 0.00878407 0.02800065
+v -0.01472174 0.00877996 0.02746967
+v -0.01472174 0.00273027 0.02707200
+v -0.01197764 -0.00001883 0.02752522
+v -0.01197764 0.00970593 0.02786513
+v -0.01472174 0.01171837 0.02696647
+v -0.01472174 0.00006759 0.02626665
+v -0.01197764 -0.00129462 0.02712865
+v -0.01197764 0.01171426 0.02747412
+v -0.01472174 0.01330693 0.02663211
+v -0.01472174 -0.00295313 0.02510472
+v -0.01197764 -0.00295313 0.02655769
+v -0.01197764 0.01359912 0.02696758
+v -0.01472174 0.01477202 0.02604893
+v -0.01472174 -0.00481742 0.02406388
+v -0.01197764 -0.00507258 0.02548463
+v -0.01197764 0.01825779 0.02474148
+v -0.01472174 0.01758286 0.02474148
+v -0.01472174 -0.00586686 0.02337628
+v -0.01197764 -0.00940613 0.02280309
+v -0.01197764 -0.00675579 0.02447155
+v -0.01197764 0.01953357 0.02408165
+v -0.01472174 0.01811375 0.02446600
+v -0.01472174 -0.00834846 0.02162673
+v -0.01197764 -0.01094118 0.02165005
+v -0.01197764 0.02142255 0.02265424
+v -0.01472174 0.02279299 0.02144344
+v -0.01472174 0.02080112 0.02290751
+v -0.01472174 0.01933192 0.02380617
+v -0.01472174 -0.00935674 0.02065031
+v -0.01197764 -0.01175192 0.02095690
+v -0.01197764 0.02284649 0.02155119
+v -0.01472174 0.02425808 0.02000270
+v -0.01472174 -0.01116753 0.01872858
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+v -0.01197764 -0.01343102 0.01924400
+v -0.01197764 0.02462436 0.01964279
+v -0.01472174 0.02564910 0.01853530
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+v -0.01249444 -0.01458334 0.01720564
+v -0.01197764 -0.01495784 0.01720564
+v -0.01197764 0.02565322 0.01852752
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+v -0.01472174 -0.01258324 0.01686350
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_71.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9648e5c7288d5689525702717ff6680505107f0e
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_71.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.02416044 -0.02567287 -0.02041090
+v 0.02416044 -0.02464477 -0.02115655
+v 0.02416044 -0.00628293 0.00777408
+v 0.02416034 -0.02520555 0.00777720
+v 0.02312205 -0.02520555 0.00777720
+v 0.02312205 -0.02520555 -0.01971517
+v 0.02312205 -0.02451341 -0.02019875
+v 0.02312194 -0.02339690 -0.02087888
+v 0.02312194 -0.02154026 -0.02185229
+v 0.02416044 -0.02246984 -0.02215491
+v 0.02416044 0.00001956 0.00777408
+v 0.02416034 -0.00628293 0.00777720
+v 0.02312205 -0.00628293 0.00777720
+v 0.02312194 -0.00628293 0.00777408
+v 0.02312194 -0.02416482 -0.02041090
+v 0.02312194 -0.01835238 -0.02290680
+v 0.02416044 -0.01980234 -0.02295984
+v 0.02312194 0.00001956 0.00777408
+v 0.02416044 0.00001956 -0.02040778
+v 0.02312194 0.00013323 -0.02285689
+v 0.02312194 -0.01626334 -0.02334047
+v 0.02312194 -0.01501548 -0.02359630
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+v 0.02312194 -0.01237576 -0.02396756
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+v 0.02416044 -0.00883424 -0.02392076
+v 0.02312194 -0.00944049 -0.02399876
+v 0.02416044 -0.01047869 -0.02409548
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+f 26 31 30
+f 27 32 28
+f 28 32 33
+f 30 31 32
+f 31 33 32
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_72.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e350e8e68c156aad25d28eab2e5c4de3e5a146c3
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_72.obj
@@ -0,0 +1,351 @@
+# https://github.com/mikedh/trimesh
+v -0.04937782 -0.00638636 -0.02040798
+v -0.04936915 -0.00638636 -0.02040798
+v -0.05030311 -0.00638636 -0.01973530
+v -0.05087148 -0.00593921 -0.01945057
+v -0.04962209 -0.00523461 -0.02049695
+v -0.04936915 -0.00537553 -0.02053255
+v -0.04936915 -0.00638636 0.00911149
+v -0.05087148 -0.00638636 -0.01920143
+v -0.05087148 -0.00606929 -0.01940074
+v -0.05087148 -0.00335115 -0.01989546
+v -0.04966561 -0.00295549 -0.02051475
+v -0.04936915 -0.00295549 -0.02063220
+v -0.05087148 -0.00295549 -0.01990258
+v -0.04938665 -0.00638636 0.00911861
+v -0.04936915 -0.00564653 0.00992653
+v -0.05087148 -0.00638636 0.00947808
+v -0.04936915 -0.00107204 -0.02050407
+v -0.05087148 0.00004720 -0.01978869
+v -0.04953900 -0.00122651 -0.02044713
+v -0.04936915 -0.00488231 0.01076293
+v -0.05087148 -0.00584978 0.01006178
+v -0.04936915 -0.00021568 -0.02041865
+v -0.05087148 0.00291438 -0.01944345
+v -0.04936915 -0.00328069 0.01222217
+v -0.05087148 -0.00410996 0.01163491
+v -0.04936915 -0.00015876 -0.02041154
+v -0.05087148 0.00584119 -0.01898432
+v -0.04936915 0.00584932 -0.01947904
+v -0.04936915 -0.00265197 0.01263859
+v -0.05087148 -0.00264384 0.01259588
+v -0.04936915 0.00702818 -0.01922278
+v -0.05087148 0.00877613 -0.01834012
+v -0.04936915 -0.00118044 0.01356396
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+v -0.05087148 -0.00107204 0.01337889
+v -0.04936915 0.00865418 -0.01884552
+v -0.05087148 0.00945092 -0.01811945
+v -0.04936915 0.00884659 -0.01878501
+v -0.04936915 -0.00000971 0.01414410
+v -0.05087148 -0.00002055 0.01389496
+v -0.05087148 0.01067043 -0.01771371
+v -0.04936915 0.00945092 -0.01858570
+v -0.04936915 0.00005533 0.01417258
+v -0.05024149 0.00060275 0.01425444
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+v -0.05087148 0.00268403 0.01467086
+v -0.04936915 0.01242380 -0.01681325
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+v -0.04936915 0.00146453 0.01474916
+v -0.04936915 0.00319894 0.01527947
+v -0.05010370 0.00351059 0.01513354
+v -0.05087148 0.00280327 0.01470289
+v -0.04936915 0.01251865 -0.01673139
+v -0.05087148 0.01379236 -0.01508707
+v -0.04936915 0.01422054 -0.01524011
+v -0.04936915 0.00430462 0.01551081
+v -0.04936915 0.00568672 0.01569945
+v -0.05053016 0.00584932 0.01528659
+v -0.05087148 0.00584932 0.01515134
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diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_73.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10720fc9a3dd8f94b2ee43fa23d2c690c5e4abab
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_73.obj
@@ -0,0 +1,249 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_74.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8826403193cbbfc553a34ec8a819db31dac3c766
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_74.obj
@@ -0,0 +1,381 @@
+# https://github.com/mikedh/trimesh
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+f 112 117 113
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+f 116 122 123
+f 116 123 124
+f 116 124 117
+f 119 125 121
+f 119 121 120
+f 121 125 126
+f 121 126 127
+f 121 127 128
+f 121 128 122
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_75.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7588404307e213a0a3eae0892955f1fa814e87c1
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_75.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.01858550 0.00544971 -0.02442950
+v -0.01858266 0.00584673 -0.02447324
+v -0.01858266 0.00544971 -0.02417190
+v -0.02003354 0.00544971 -0.02394832
+v -0.02003354 0.00584934 -0.02399206
+v -0.01858550 0.00766951 -0.02429827
+v -0.01858365 0.00766951 -0.02426911
+v -0.01858266 0.00766951 -0.02418162
+v -0.01858266 0.00544971 0.02518042
+v -0.02003354 0.00544971 0.02518042
+v -0.02003354 0.00766951 -0.02379765
+v -0.01858266 0.00766951 0.02518042
+v -0.02003354 0.00766951 0.02518042
+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 7
+f 2 7 8
+f 2 8 12
+f 2 12 9
+f 2 9 3
+f 2 5 6
+f 4 10 13
+f 4 13 11
+f 4 11 5
+f 5 11 6
+f 6 11 13
+f 6 13 12
+f 6 12 8
+f 6 8 7
+f 9 12 13
+f 9 13 10
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_76.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a62d3c5da75b97a7d0b4144187840e5c025cb5a
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_76.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.01375462 -0.00451868 -0.02558485
+v 0.01375462 -0.00295739 -0.02567021
+v 0.01526740 -0.00451868 -0.02541948
+v 0.01375462 -0.00451868 0.02642292
+v 0.01375462 0.00004632 -0.02551550
+v 0.01664140 0.00004632 -0.02515274
+v 0.01664140 -0.00295739 -0.02528078
+v 0.01664140 -0.00451868 -0.02523810
+v 0.01678314 -0.00451868 0.02591613
+v 0.01375462 -0.00295203 0.02743651
+v 0.01375462 0.00004632 0.02882886
+v 0.01678314 0.00004632 -0.02511540
+v 0.01678314 -0.00002205 -0.02512074
+v 0.01678314 -0.00295739 -0.02523810
+v 0.01678314 -0.00451868 -0.02519542
+v 0.01678314 -0.00288098 0.02612951
+v 0.01404223 0.00004632 0.02861014
+v 0.01375462 -0.00027317 0.02875418
+v 0.01375462 -0.00254540 0.02768190
+v 0.01678314 0.00004632 0.02647093
+f 1 2 3
+f 1 3 8
+f 1 8 15
+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 18
+f 1 18 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 4 9 10
+f 5 11 17
+f 5 17 20
+f 5 20 12
+f 5 12 6
+f 6 12 13
+f 6 13 7
+f 7 14 15
+f 7 15 8
+f 7 13 14
+f 9 16 17
+f 9 17 11
+f 9 11 18
+f 9 18 19
+f 9 19 10
+f 9 15 14
+f 9 14 13
+f 9 13 12
+f 9 12 20
+f 9 20 16
+f 16 20 17
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_77.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19fe85b5530d42459fa2e002c9dad52353f8f9a8
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_77.obj
@@ -0,0 +1,219 @@
+# https://github.com/mikedh/trimesh
+v -0.01049982 0.00584438 0.02907136
+v -0.01049982 0.00314758 0.02906342
+v -0.01049982 0.00614959 0.02904753
+v -0.01197750 0.00878134 0.02800120
+v -0.01197750 0.00584438 0.02820967
+v -0.01197750 0.00280735 0.02806474
+v -0.01049982 0.00292243 0.02904952
+v -0.01049982 0.00878134 0.02876957
+v -0.01049982 0.00884639 0.02876163
+v -0.01197750 0.00970196 0.02786420
+v -0.01197750 -0.00001454 0.02752469
+v -0.01049982 -0.00001454 0.02855713
+v -0.01049982 0.01155820 0.02834270
+v -0.01197750 0.01171331 0.02747307
+v -0.01049982 -0.00024969 0.02848565
+v -0.01197750 -0.00129039 0.02712760
+v -0.01159926 -0.00295150 0.02687743
+v -0.01049982 0.01171331 0.02831093
+v -0.01197750 0.01360457 0.02696678
+v -0.01049982 -0.00068999 0.02834866
+v -0.01197750 -0.00295150 0.02655778
+v -0.01049982 -0.00281641 0.02767757
+v -0.01125385 -0.00443749 0.02658954
+v -0.01049982 0.01423999 0.02761602
+v -0.01197750 0.01825768 0.02474108
+v -0.01197750 -0.00507792 0.02548364
+v -0.01049982 -0.00368199 0.02737181
+v -0.01049982 -0.00650888 0.02590456
+v -0.01049982 -0.00496284 0.02679206
+v -0.01103037 -0.01004624 0.02350017
+v -0.01049982 0.01960358 0.02492772
+v -0.01197750 0.01953353 0.02408191
+v -0.01197750 -0.00675404 0.02446908
+v -0.01049982 -0.00951088 0.02412559
+v -0.01049982 -0.01087179 0.02313088
+v -0.01197750 -0.00940581 0.02280129
+v -0.01129536 -0.01327840 0.02077216
+v -0.01049982 0.02006889 0.02468549
+v -0.01197750 0.02142480 0.02265238
+v -0.01049982 -0.01236779 0.02193166
+v -0.01197750 -0.01094184 0.02164973
+v -0.01197750 -0.01175238 0.02095482
+v -0.01197750 -0.01343351 0.01924336
+v -0.01197750 -0.01412897 0.01851072
+v -0.01197750 -0.01656560 0.01574896
+v -0.01186164 -0.01680576 0.01565365
+v -0.01093780 -0.01599522 0.01761131
+v -0.01049982 -0.01567000 0.01826254
+v -0.01049982 -0.01346853 0.02097666
+v -0.01049982 0.02329605 0.02199718
+v -0.01197750 0.02285075 0.02154847
+v -0.01197750 -0.01691583 0.01525458
+v -0.01140225 -0.01918735 0.01213146
+v -0.01049982 -0.01879709 0.01393822
+v -0.01049982 -0.01872204 0.01405338
+v -0.01049982 -0.01656560 0.01713480
+v -0.01049982 0.02606290 0.01889789
+v -0.01197750 0.02565762 0.01852859
+v -0.01197750 -0.01839182 0.01258017
+v -0.01197750 -0.01944252 0.01043985
+v -0.01190286 -0.01950256 0.01043985
+v -0.01049982 -0.02017301 0.01043985
+v -0.01049982 -0.01932745 0.01266951
+v -0.01197750 0.02715863 0.01622745
+v -0.01049982 0.02932508 0.01378534
+v -0.01197750 -0.01956260 0.01008247
+v -0.01049982 -0.02068335 0.00878993
+v -0.01197750 0.02874469 0.01368408
+v -0.01049982 0.03043082 0.00992760
+v -0.01197750 0.02988545 0.01043985
+v -0.01197750 -0.01991284 0.00878993
+v -0.01049982 0.03043082 0.00878993
+v -0.01075150 0.03043082 0.00878993
+v -0.01197750 0.03018065 0.00878993
+f 1 2 7
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+f 1 29 28
+f 1 28 34
+f 1 34 35
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+f 1 13 9
+f 1 9 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 4
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+f 4 32 39
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+f 37 49 40
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+f 46 54 55
+f 46 55 47
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+f 69 72 73
+f 69 73 74
+f 69 74 70
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_78.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85b07c65a777a9f63dda7866713d152e36ce9303
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_78.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.04823965 0.00888237 -0.01912655
+v -0.04823965 0.00856197 -0.01923186
+v -0.04855176 0.00858767 -0.01912655
+v -0.04823965 -0.00862104 -0.01912655
+v -0.04823965 0.00584805 -0.01988402
+v -0.04936915 0.00745173 -0.01912655
+v -0.04831825 -0.00860390 -0.01912655
+v -0.04920651 -0.00719383 -0.02035240
+v -0.04823965 -0.00732919 -0.02041285
+v -0.04823965 0.00547626 -0.01996062
+v -0.04936915 0.00584805 -0.01948248
+v -0.04936915 0.00702683 -0.01922416
+v -0.04936915 0.00736607 -0.01914626
+v -0.04936915 -0.00767014 -0.01912655
+v -0.04936915 -0.00707390 -0.02026267
+v -0.04936915 -0.00642626 -0.02041154
+v -0.04823965 -0.00621381 -0.02067905
+v -0.04823965 0.00291312 -0.02045715
+v -0.04936915 -0.00015718 -0.02042017
+v -0.04936915 -0.00537770 -0.02053957
+v -0.04823965 -0.00601506 -0.02070326
+v -0.04823965 -0.00015718 -0.02090507
+v -0.04936915 -0.00021714 -0.02042618
+v -0.04936915 -0.00295676 -0.02063212
+v -0.04823965 -0.00295676 -0.02104417
+v -0.04823965 -0.00027026 -0.02091633
+v -0.04936915 -0.00110294 -0.02051310
+f 1 2 3
+f 1 3 6
+f 1 6 14
+f 1 14 7
+f 1 7 4
+f 1 4 9
+f 1 9 17
+f 1 17 21
+f 1 21 25
+f 1 25 26
+f 1 26 22
+f 1 22 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+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 12
+f 6 12 11
+f 6 11 19
+f 6 19 23
+f 6 23 27
+f 6 27 24
+f 6 24 20
+f 6 20 16
+f 6 16 15
+f 6 15 14
+f 7 14 8
+f 8 15 16
+f 8 16 17
+f 8 17 9
+f 8 14 15
+f 10 18 11
+f 11 18 19
+f 16 20 17
+f 17 20 21
+f 18 22 19
+f 19 22 23
+f 20 24 25
+f 20 25 21
+f 22 26 23
+f 23 26 27
+f 24 27 26
+f 24 26 25
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_79.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f3c52e0906a0a071dd5f3e6b29bebcb5d3951be
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_79.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v -0.01197764 0.02641605 0.01720493
+v -0.01197764 0.02714970 0.01622372
+v -0.01271122 0.02710807 0.01625769
+v -0.01271122 0.02634321 0.01720493
+v -0.01197764 -0.01494925 0.01720493
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+v -0.01263207 -0.02010040 0.00561029
+v -0.01251786 -0.02000154 0.00750076
+v -0.01210521 -0.01966854 0.00947317
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+v -0.01197764 -0.02015243 -0.00079254
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+f 36 47 48
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+f 46 58 54
+f 47 55 56
+f 47 56 48
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+f 48 56 57
+f 48 57 50
+f 54 58 55
+f 55 58 59
+f 55 59 60
+f 55 60 57
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_8.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79ad8d382afb88c57d95ffca824f980c87bb023c
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v 0.04001122 -0.00009510 -0.01526191
+v 0.04001122 0.00123778 -0.01429667
+v 0.04120149 -0.00009510 -0.01401113
+v 0.04001122 -0.00009510 0.01644526
+v 0.04098436 0.00054697 -0.01373490
+v 0.04001122 0.00272625 -0.01281932
+v 0.04174610 0.00163240 -0.01177959
+v 0.04195964 -0.00009510 -0.01305520
+v 0.04019396 -0.00009510 0.01628076
+v 0.04001122 0.00000707 0.01641733
+v 0.04001122 0.00281343 -0.01272311
+v 0.04171242 0.00452592 -0.00880006
+v 0.04217892 -0.00009510 -0.01277276
+v 0.04223052 0.00273188 -0.00991117
+v 0.04390018 -0.00009510 -0.01039845
+v 0.04253005 -0.00009510 0.01361781
+v 0.04135484 0.00098283 0.01450856
+v 0.04001122 0.00019548 0.01630559
+v 0.04001122 0.00407507 -0.01129541
+v 0.04199762 0.00485305 -0.00717373
+v 0.04655014 -0.00009510 -0.00433386
+v 0.04654799 -0.00009510 -0.00434007
+v 0.04434160 0.00115717 -0.00800862
+v 0.04474217 -0.00009510 -0.00890868
+v 0.04408291 -0.00009510 -0.01009429
+v 0.04383998 0.00009893 -0.01028051
+v 0.04001122 0.00548293 -0.00969081
+v 0.04001122 0.00670333 -0.00772929
+v 0.04001122 0.00702389 -0.00717373
+v 0.04001122 0.00818055 -0.00423765
+v 0.04264184 -0.00009510 0.01346573
+v 0.04259884 -0.00000605 0.01346883
+v 0.04517500 -0.00002105 0.00986546
+v 0.04469488 0.00172800 0.00920438
+v 0.04205065 0.00223885 0.01255325
+v 0.04147809 0.00419598 0.01175560
+v 0.04084964 0.00309556 0.01346883
+v 0.04001122 0.00299902 0.01458305
+v 0.04178049 0.00750380 -0.00035805
+v 0.04452935 0.00438251 0.00016336
+v 0.04423483 0.00401039 -0.00179195
+v 0.04718003 -0.00009510 -0.00214267
+v 0.04556482 -0.00009510 -0.00690681
+v 0.04001122 0.00829772 -0.00389004
+v 0.04514275 -0.00009510 0.00996167
+v 0.04519865 -0.00009510 0.00988098
+v 0.04594892 -0.00009510 0.00845639
+v 0.04217677 0.00508550 0.00980028
+v 0.04309186 0.00296152 0.01047999
+v 0.04645698 -0.00009510 0.00746632
+v 0.04403776 0.00358297 0.00750046
+v 0.04089048 0.00597784 0.01064138
+v 0.04001122 0.00578475 0.01208769
+v 0.04001122 0.00449874 0.01332296
+v 0.04001122 0.00876357 -0.00226992
+v 0.04001122 0.00896509 -0.00154987
+v 0.04001122 0.00901102 -0.00136985
+v 0.04001122 0.00938970 0.00102308
+v 0.04001122 0.00948062 0.00162830
+v 0.04179268 0.00752536 0.00162830
+v 0.04731403 -0.00009510 -0.00130157
+v 0.04452935 0.00438251 0.00016647
+v 0.04733194 -0.00009510 0.00026579
+v 0.04257090 0.00557104 0.00750046
+v 0.04134337 0.00703889 0.00750046
+v 0.04001122 0.00715418 0.01052654
+v 0.04712915 -0.00009510 0.00456438
+v 0.04423769 0.00395790 0.00456438
+v 0.04001122 0.00914131 0.00455196
+v 0.04167300 0.00740726 0.00355258
+v 0.04258308 0.00608469 0.00454576
+v 0.04732693 -0.00009510 0.00162830
+v 0.04001122 0.00853205 0.00730182
+f 1 2 3
+f 1 3 8
+f 1 8 13
+f 1 13 15
+f 1 15 25
+f 1 25 24
+f 1 24 43
+f 1 43 22
+f 1 22 21
+f 1 21 42
+f 1 42 61
+f 1 61 63
+f 1 63 72
+f 1 72 67
+f 1 67 50
+f 1 50 47
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+f 1 10 18
+f 1 18 38
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+f 1 54 53
+f 1 53 66
+f 1 66 73
+f 1 73 69
+f 1 69 59
+f 1 59 58
+f 1 58 57
+f 1 57 56
+f 1 56 55
+f 1 55 44
+f 1 44 30
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+f 1 28 27
+f 1 27 19
+f 1 19 11
+f 1 11 6
+f 1 6 2
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+f 2 6 7
+f 2 7 5
+f 3 5 8
+f 4 9 10
+f 5 7 8
+f 6 11 12
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+f 7 13 8
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+f 10 17 18
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+f 17 34 35
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+f 17 37 38
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+f 20 30 39
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+f 31 45 32
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+f 33 46 47
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+f 34 50 51
+f 34 51 48
+f 35 49 36
+f 36 49 48
+f 36 48 52
+f 36 52 53
+f 36 53 54
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+f 37 54 38
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+f 39 55 56
+f 39 56 57
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+f 39 59 60
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+f 40 61 42
+f 40 60 62
+f 40 62 63
+f 40 63 61
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+f 48 65 66
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+f 51 67 68
+f 51 68 64
+f 52 66 53
+f 59 69 60
+f 60 69 70
+f 60 70 62
+f 62 70 71
+f 62 71 64
+f 62 64 68
+f 62 68 67
+f 62 67 72
+f 62 72 63
+f 64 71 70
+f 64 70 65
+f 65 70 69
+f 65 69 73
+f 65 73 66
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_80.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4531af7c2b884d52b5989aa2dd7c510aca1729e7
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_80.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.01052494 0.02397470 -0.01936421
+v 0.01052494 0.02407186 -0.01927104
+v 0.01067092 0.02397470 -0.01932065
+v 0.01052494 0.02397470 -0.00700364
+v 0.01052494 0.02836559 -0.01500444
+v 0.01141571 0.02397470 -0.01907743
+v 0.01141571 0.02397470 -0.00700364
+v 0.01052494 0.03299762 -0.00700364
+v 0.01052494 0.02848660 -0.01487738
+v 0.01077033 0.02832496 -0.01496329
+v 0.01141571 0.02788243 -0.01518836
+v 0.01141571 0.03264784 -0.00700364
+v 0.01052494 0.03298879 -0.00702905
+v 0.01059069 0.03297554 -0.00700364
+v 0.01141571 0.02821543 -0.01485560
+v 0.01052494 0.02998027 -0.01311556
+v 0.01065016 0.03295257 -0.00700364
+v 0.01141571 0.03115417 -0.01076082
+v 0.01052494 0.03183078 -0.00989080
+v 0.01060752 0.03296936 -0.00700364
+v 0.01091595 0.03154106 -0.01025986
+v 0.01141571 0.02937874 -0.01347373
+v 0.01052494 0.03013220 -0.01292922
+v 0.01141571 0.03081587 -0.01152799
+v 0.01052494 0.03170094 -0.01021146
+v 0.01141571 0.02973029 -0.01303570
+v 0.01052494 0.03044312 -0.01254684
+v 0.01052494 0.03098370 -0.01182203
+f 1 2 3
+f 1 3 6
+f 1 6 7
+f 1 7 4
+f 1 4 8
+f 1 8 13
+f 1 13 19
+f 1 19 25
+f 1 25 28
+f 1 28 27
+f 1 27 23
+f 1 23 16
+f 1 16 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 12
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+f 4 17 20
+f 4 20 14
+f 4 14 8
+f 5 9 10
+f 5 10 6
+f 6 10 11
+f 6 11 15
+f 6 15 22
+f 6 22 26
+f 6 26 24
+f 6 24 18
+f 6 18 12
+f 6 12 7
+f 8 14 13
+f 9 15 10
+f 9 16 15
+f 10 15 11
+f 12 18 17
+f 13 14 19
+f 14 20 21
+f 14 21 19
+f 15 16 22
+f 16 23 22
+f 17 18 20
+f 18 24 25
+f 18 25 21
+f 18 21 20
+f 19 21 25
+f 22 23 27
+f 22 27 26
+f 24 28 25
+f 24 26 28
+f 26 27 28
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_81.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67e0c9e73ca5f7b4d6af242d5ba456d5a21b0b59
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_81.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.02907111 0.01451693 0.00152132
+v 0.02907111 0.01451693 -0.01051752
+v 0.02774370 0.01451693 0.00152132
+v 0.02907111 -0.03504655 0.00152132
+v 0.02857749 0.01451693 -0.01276757
+v 0.02907111 0.01392631 -0.01231721
+v 0.02774370 0.01451693 -0.01494753
+v 0.02774370 -0.03357271 0.00152132
+v 0.02906774 -0.03505739 0.00152132
+v 0.02907111 -0.03507907 0.00150205
+v 0.02854150 0.01451693 -0.01288323
+v 0.02907111 0.01375834 -0.01275180
+v 0.02907111 0.01055055 -0.01584124
+v 0.02774370 0.01394799 -0.01548376
+v 0.02865818 -0.03460223 0.00152132
+v 0.02774370 -0.03552881 -0.00106869
+v 0.02907111 -0.03780460 -0.00134907
+v 0.02907098 -0.03513325 0.00145473
+v 0.02907111 -0.03508990 0.00149328
+v 0.02904864 -0.03504113 0.00152132
+v 0.02907111 0.00919050 -0.01638098
+v 0.02774370 0.01214361 -0.01627408
+v 0.02774370 -0.03556132 -0.00111250
+v 0.02907111 -0.03981488 -0.00424225
+v 0.02907111 -0.03513325 0.00145473
+v 0.02774370 0.01120620 -0.01638098
+v 0.02907111 -0.04009122 -0.01638098
+v 0.02774370 -0.03609775 -0.00194839
+v 0.02907111 -0.04057348 -0.00655189
+v 0.02812298 -0.03817847 -0.00424225
+v 0.02774370 -0.03810262 -0.00563890
+v 0.02774370 -0.03859028 -0.00694792
+v 0.02774370 -0.03876910 -0.01638098
+v 0.02907111 -0.04017792 -0.01613039
+v 0.02903928 -0.04019959 -0.01597968
+v 0.02774370 -0.03890998 -0.01597968
+v 0.02774370 -0.03747407 -0.00424225
+v 0.02899471 -0.04064934 -0.00717748
+v 0.02907111 -0.04068727 -0.00708461
+v 0.02774370 -0.03920258 -0.01011097
+v 0.02907111 -0.04022669 -0.01594113
+v 0.02879370 -0.04051387 -0.01304445
+v 0.02774370 -0.03933804 -0.01304445
+v 0.02882593 -0.04068727 -0.01011097
+v 0.02907111 -0.04069810 -0.00718274
+v 0.02907111 -0.04067101 -0.01304620
+v 0.02907111 -0.04082815 -0.01008994
+v 0.02907111 -0.04082815 -0.00985512
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 20
+f 1 20 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 25
+f 1 25 17
+f 1 17 24
+f 1 24 29
+f 1 29 39
+f 1 39 45
+f 1 45 48
+f 1 48 47
+f 1 47 46
+f 1 46 41
+f 1 41 34
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+f 1 27 21
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+f 1 13 12
+f 1 12 6
+f 1 6 2
+f 2 6 5
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+f 3 22 26
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+f 3 36 43
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+f 3 32 31
+f 3 31 37
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+f 3 16 8
+f 4 9 10
+f 5 6 12
+f 5 12 11
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 8 16 17
+f 8 17 18
+f 8 18 15
+f 9 19 10
+f 9 20 18
+f 9 18 19
+f 13 21 22
+f 13 22 14
+f 15 18 20
+f 16 23 17
+f 17 23 24
+f 17 25 18
+f 18 25 19
+f 21 26 22
+f 21 27 33
+f 21 33 26
+f 23 28 24
+f 24 28 30
+f 24 30 31
+f 24 31 32
+f 24 32 29
+f 27 34 35
+f 27 35 36
+f 27 36 33
+f 28 37 30
+f 29 32 38
+f 29 38 39
+f 30 37 31
+f 32 40 38
+f 34 41 35
+f 35 41 42
+f 35 42 36
+f 36 42 43
+f 38 44 45
+f 38 45 39
+f 38 40 44
+f 40 43 44
+f 41 46 42
+f 42 46 47
+f 42 47 44
+f 42 44 43
+f 44 47 48
+f 44 48 45
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_82.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7ba232f6ff7c7e34aaeeb3a395231431626d94f
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_82.obj
@@ -0,0 +1,231 @@
+# https://github.com/mikedh/trimesh
+v 0.02141083 -0.00406006 0.02594411
+v 0.02141083 -0.00589692 0.02593412
+v 0.02251237 -0.00589692 0.02587416
+v 0.02251237 -0.00296267 0.02588415
+v 0.02141083 -0.00296267 0.02592812
+v 0.02141083 -0.00883455 0.02545443
+v 0.02251237 -0.00883455 0.02543044
+v 0.02312167 -0.00589692 0.02577222
+v 0.02312167 -0.00528576 0.02579021
+v 0.02312167 -0.00304033 0.02580021
+v 0.02312167 -0.00883455 0.02534050
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+v 0.02312167 -0.00235151 0.02579221
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_83.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66415fb02e9257a6820a045a62b34914fe58b747
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_83.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v 0.00437769 0.00291740 0.03141808
+v 0.00437769 -0.00002008 0.03111449
+v 0.00489929 -0.00002008 0.03113732
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+v 0.00489929 -0.00295756 0.03033225
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+v 0.00761700 0.00878023 0.03108658
+v 0.00437769 0.01172175 0.03123542
+v 0.00761700 0.00563265 0.03118383
+v 0.00437769 -0.00325656 0.03020117
+v 0.00602303 -0.00301817 0.03031364
+v 0.00437769 -0.00509905 0.02958383
+v 0.00489929 -0.00488086 0.02968616
+v 0.00602303 -0.00414548 0.02993394
+v 0.00761700 -0.00309494 0.03028743
+v 0.00761700 0.01171771 0.03064852
+v 0.00437769 0.01465519 0.03076945
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+v 0.00489929 -0.00634758 0.02910772
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+v 0.00761700 -0.00473944 0.02965064
+v 0.00761700 0.01472388 0.02991871
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+v 0.00437769 0.01949981 0.02982907
+v 0.00437769 -0.00679204 0.02887263
+v 0.00437769 -0.00969315 0.02714324
+v 0.00485902 -0.00898202 0.02751787
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+v 0.00761700 0.01757651 0.02918891
+v 0.00761700 0.01768560 0.02915846
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_84.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e912f380a9b3f49eab575779d69ff99ca3ed40b
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_84.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.02511187 -0.00856083 0.00777726
+v 0.02511187 -0.00003744 0.00777413
+v 0.02416055 -0.00856083 0.00777726
+v 0.02511187 -0.02765551 0.00777726
+v 0.02511187 -0.00003744 -0.02229688
+v 0.02416055 -0.00003744 0.00777413
+v 0.02416055 -0.02736056 0.00777726
+v 0.02511187 -0.02966319 0.00450799
+v 0.02416055 -0.00003744 -0.02257219
+v 0.02511187 -0.00254116 -0.02296012
+v 0.02416055 -0.03033353 0.00219604
+v 0.02511187 -0.03120833 0.00183939
+v 0.02416055 -0.00135466 -0.02291319
+v 0.02511187 -0.00437790 -0.02326359
+v 0.02416055 -0.03112118 0.00064431
+v 0.02511187 -0.03152004 0.00125124
+v 0.02511187 -0.00845693 -0.02385487
+v 0.02511187 -0.00883232 -0.02390805
+v 0.02416055 -0.00741790 -0.02375476
+v 0.02416055 -0.03189878 -0.00121401
+v 0.02511187 -0.03266297 -0.00109200
+v 0.02416055 -0.00912392 -0.02395185
+v 0.02416055 -0.00883232 -0.02392057
+v 0.02416055 -0.00856083 -0.02388928
+v 0.02511187 -0.01142989 -0.02418336
+v 0.02416055 -0.03273000 -0.00424551
+v 0.02511187 -0.03373216 -0.00424551
+v 0.02416055 -0.01047801 -0.02409264
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+v 0.02416055 -0.03292775 -0.00717691
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_85.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bef327876e25b09e8a3b54fe9bf2a54391a6972
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_85.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.04661197 -0.00149648 -0.02116615
+v -0.04801636 -0.00149648 -0.02105784
+v -0.04660926 -0.00009265 -0.02134169
+v -0.04660926 -0.00149648 -0.01864139
+v -0.04816878 -0.00149648 -0.02099808
+v -0.04823964 -0.00027117 -0.02091592
+v -0.04808546 -0.00015757 -0.02096821
+v -0.04660926 0.00291380 -0.02118856
+v -0.04660926 -0.00149648 0.01375099
+v -0.04823964 -0.00149648 -0.02096821
+v -0.04823964 -0.00015757 -0.02090471
+v -0.04741910 0.00291380 -0.02094953
+v -0.04660926 0.00584926 -0.02072544
+v -0.04660926 0.00023903 0.01490132
+v -0.04823964 -0.00149648 0.01340738
+v -0.04823964 0.00291380 -0.02045653
+v -0.04823964 0.00547700 -0.01995979
+v -0.04689080 0.00584926 -0.02063954
+v -0.04660926 0.00693255 -0.02046400
+v -0.04660926 0.00083647 0.01520384
+v -0.04823964 -0.00000136 0.01433736
+v -0.04823964 -0.00008048 0.01429627
+v -0.04823964 0.00584926 -0.01988136
+v -0.04823964 0.00856257 -0.01923150
+v -0.04660926 0.00746609 -0.02030340
+v -0.04732350 0.00099166 0.01508433
+v -0.04660926 0.00158402 0.01555865
+v -0.04823964 0.00260139 0.01547275
+v -0.04823964 0.00886383 -0.01913066
+v -0.04660926 0.00886383 -0.01969462
+v -0.04660926 0.00279716 0.01606659
+v -0.04823964 0.00268761 0.01550263
+v -0.04823964 0.00886383 0.01612635
+v -0.04660926 0.00886383 0.01680610
+v -0.04660926 0.00411476 0.01638779
+v -0.04823964 0.00271905 0.01551010
+v -0.04823964 0.00878471 0.01614129
+v -0.04786760 0.00886383 0.01628322
+v -0.04660926 0.00878471 0.01681357
+v -0.04660926 0.00578637 0.01672766
+v -0.04823964 0.00552569 0.01609647
+v -0.04823964 0.00844592 0.01614876
+v -0.04660926 0.00741436 0.01680610
+v -0.04823964 0.00584926 0.01614129
+v -0.04794102 0.00584926 0.01625334
+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 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
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+f 3 8 13
+f 3 13 19
+f 3 19 25
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+f 3 14 9
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+f 6 11 12
+f 6 12 7
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+f 6 15 22
+f 6 22 21
+f 6 21 28
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+f 6 32 36
+f 6 36 41
+f 6 41 44
+f 6 44 42
+f 6 42 37
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+f 6 16 11
+f 7 12 8
+f 8 12 13
+f 9 14 15
+f 11 16 12
+f 12 16 17
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+f 12 18 13
+f 13 18 19
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+f 14 21 22
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+f 17 23 18
+f 18 23 24
+f 18 24 19
+f 19 24 25
+f 20 26 21
+f 20 27 26
+f 21 26 28
+f 24 29 25
+f 25 29 30
+f 26 27 28
+f 27 31 28
+f 28 31 32
+f 29 33 38
+f 29 38 34
+f 29 34 30
+f 31 35 32
+f 32 35 36
+f 33 37 38
+f 34 38 37
+f 34 37 39
+f 35 40 41
+f 35 41 36
+f 37 42 39
+f 39 42 44
+f 39 44 43
+f 40 43 45
+f 40 45 41
+f 41 45 44
+f 43 44 45
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_86.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4391f27720c5ce1901c04649730644f20bd3d899
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_86.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.01370579 -0.00974873 -0.02482578
+v 0.01370579 -0.00882837 -0.02500286
+v 0.01375432 -0.00882837 -0.02499780
+v 0.01375432 -0.00974873 -0.02481566
+v 0.01141571 -0.00974873 -0.02473977
+v 0.01141571 -0.00653881 -0.02540256
+v 0.01370579 -0.00589325 -0.02551387
+v 0.01375432 -0.00594153 -0.02550375
+v 0.01375432 -0.00974873 0.02472188
+v 0.01141571 -0.00974873 0.02462575
+v 0.01141571 -0.00589325 -0.02551387
+v 0.01375432 -0.00589325 -0.02550881
+v 0.01141571 -0.00365912 -0.02576684
+v 0.01371724 -0.00365912 -0.02563530
+v 0.01375432 -0.00580265 0.02587039
+v 0.01362315 -0.00575973 0.02592099
+v 0.01141571 -0.00710688 0.02592099
+v 0.01141571 -0.00865968 0.02526831
+v 0.01375432 -0.00365912 -0.02563024
+v 0.01141571 -0.00365912 0.02592099
+v 0.01375432 -0.00560177 0.02591593
+v 0.01375089 -0.00559938 0.02592099
+v 0.01375432 -0.00365912 0.02522277
+v 0.01375226 -0.00365912 0.02592099
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 3 8 12
+f 3 12 19
+f 3 19 23
+f 3 23 21
+f 3 21 15
+f 3 15 9
+f 3 9 4
+f 5 10 18
+f 5 18 17
+f 5 17 20
+f 5 20 13
+f 5 13 11
+f 5 11 6
+f 6 11 7
+f 7 12 8
+f 7 11 13
+f 7 13 14
+f 7 14 12
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 12 14 19
+f 13 20 24
+f 13 24 23
+f 13 23 19
+f 13 19 14
+f 15 21 22
+f 15 22 16
+f 16 22 24
+f 16 24 20
+f 16 20 17
+f 21 24 22
+f 21 23 24
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_87.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63bd8e7582279fac535c1a366bf536621fdfd0e3
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_87.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.01931541 -0.00049821 0.00237963
+v 0.01931541 -0.00049821 -0.02447613
+v 0.01678381 -0.00049821 0.00237963
+v 0.01931541 -0.02755177 0.00237963
+v 0.01678381 -0.00296447 -0.02523849
+v 0.01678381 -0.00049821 -0.02513036
+v 0.01931541 -0.00563415 -0.02442477
+v 0.01808828 -0.00440799 -0.02481946
+v 0.01678381 -0.02761586 0.00237963
+v 0.01931541 -0.02851040 -0.00162143
+v 0.01678381 -0.00312052 -0.02523579
+v 0.01931541 -0.00589610 -0.02441936
+v 0.01808803 -0.00441078 -0.02481946
+v 0.01678381 -0.02767996 -0.00155114
+v 0.01931541 -0.02896742 -0.00424374
+v 0.01808803 -0.00589889 -0.02477621
+v 0.01678381 -0.00589889 -0.02515469
+v 0.01808828 -0.00734799 -0.02468159
+v 0.01678381 -0.00604101 -0.02514928
+v 0.01931541 -0.00856858 -0.02423823
+v 0.01678381 -0.02769110 -0.00424374
+v 0.01931541 -0.02880858 -0.00719047
+v 0.01678381 -0.02766602 -0.00483849
+v 0.01931541 -0.00883053 -0.02420038
+v 0.01808803 -0.00883610 -0.02443017
+v 0.01678381 -0.00883610 -0.02467348
+v 0.01931541 -0.02842959 -0.00939916
+v 0.01678381 -0.02725358 -0.00718777
+v 0.01931541 -0.01125498 -0.02375702
+v 0.01808828 -0.01014029 -0.02419227
+v 0.01678381 -0.00896150 -0.02465185
+v 0.01931541 -0.02827074 -0.01011287
+v 0.01678381 -0.02650953 -0.01011287
+v 0.01931541 -0.01175659 -0.02361915
+v 0.01808828 -0.01041339 -0.02411657
+v 0.01678381 -0.01175938 -0.02387597
+v 0.01931541 -0.02794470 -0.01108069
+v 0.01678381 -0.02541713 -0.01276762
+v 0.01931541 -0.01446808 -0.02283245
+v 0.01678381 -0.01469380 -0.02298384
+v 0.01931541 -0.02698606 -0.01321369
+v 0.01678381 -0.02376739 -0.01575490
+v 0.01931541 -0.01790969 -0.02150237
+v 0.01808828 -0.01777592 -0.02159158
+v 0.01678381 -0.01763659 -0.02168350
+v 0.01931541 -0.02544221 -0.01574409
+v 0.01678381 -0.02373673 -0.01580627
+v 0.01931541 -0.01902159 -0.02096439
+v 0.01931541 -0.01959844 -0.02068323
+v 0.01931541 -0.02079674 -0.01990194
+v 0.01931541 -0.02300383 -0.01843669
+v 0.01931541 -0.02327692 -0.01821231
+v 0.01808803 -0.02283941 -0.01797981
+v 0.01678381 -0.02028955 -0.01946940
+v 0.01678381 -0.02245205 -0.01762567
+v 0.01678381 -0.02237403 -0.01772840
+v 0.01931541 -0.02457275 -0.01685249
+f 1 2 6
+f 1 6 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 15
+f 1 15 22
+f 1 22 27
+f 1 27 32
+f 1 32 37
+f 1 37 41
+f 1 41 46
+f 1 46 57
+f 1 57 52
+f 1 52 51
+f 1 51 50
+f 1 50 49
+f 1 49 48
+f 1 48 43
+f 1 43 39
+f 1 39 34
+f 1 34 29
+f 1 29 24
+f 1 24 20
+f 1 20 12
+f 1 12 7
+f 1 7 2
+f 2 5 6
+f 2 7 8
+f 2 8 5
+f 3 6 5
+f 3 5 11
+f 3 11 17
+f 3 17 19
+f 3 19 26
+f 3 26 31
+f 3 31 36
+f 3 36 40
+f 3 40 45
+f 3 45 54
+f 3 54 56
+f 3 56 55
+f 3 55 47
+f 3 47 42
+f 3 42 38
+f 3 38 33
+f 3 33 28
+f 3 28 23
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+f 3 21 14
+f 3 14 9
+f 4 9 10
+f 5 8 11
+f 7 12 8
+f 8 12 13
+f 8 13 11
+f 9 14 15
+f 9 15 10
+f 11 13 16
+f 11 16 17
+f 12 18 19
+f 12 19 16
+f 12 16 13
+f 12 20 18
+f 14 21 15
+f 15 21 23
+f 15 23 22
+f 16 19 17
+f 18 20 24
+f 18 24 19
+f 19 24 25
+f 19 25 26
+f 22 23 27
+f 23 28 27
+f 24 29 30
+f 24 30 25
+f 25 30 31
+f 25 31 26
+f 27 28 32
+f 28 33 32
+f 29 34 30
+f 30 34 35
+f 30 35 31
+f 31 35 36
+f 32 33 37
+f 33 38 37
+f 34 39 36
+f 34 36 35
+f 36 39 40
+f 37 38 41
+f 38 42 41
+f 39 43 40
+f 40 43 44
+f 40 44 45
+f 41 42 47
+f 41 47 46
+f 43 48 44
+f 44 48 45
+f 45 48 49
+f 45 49 50
+f 45 50 51
+f 45 51 52
+f 45 52 53
+f 45 53 54
+f 46 47 55
+f 46 55 56
+f 46 56 57
+f 52 57 53
+f 53 56 54
+f 53 57 56
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_88.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf92ae81ff9ceb6c9a4f8a5c05754f960723cb07
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_88.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00195270 -0.02355533 -0.00561026
+v 0.00059221 -0.02309018 -0.00561026
+v 0.00195270 -0.02335659 -0.00717600
+v 0.00195270 -0.02148564 -0.00561026
+v 0.00057028 -0.02308268 -0.00561026
+v 0.00057028 -0.02289265 -0.00710688
+v 0.00195270 -0.02275387 -0.01019027
+v 0.00057028 -0.02148564 -0.00561026
+v 0.00195270 -0.02148564 -0.01328569
+v 0.00057028 -0.02236834 -0.00958096
+v 0.00057028 -0.02222085 -0.01020154
+v 0.00057028 -0.02191189 -0.01114670
+v 0.00195270 -0.02221376 -0.01183490
+v 0.00057028 -0.02148564 -0.01217975
+v 0.00195270 -0.02157397 -0.01311890
+v 0.00172994 -0.02148564 -0.01311664
+v 0.00057028 -0.02181323 -0.01141191
+v 0.00072673 -0.02194005 -0.01124136
+v 0.00195270 -0.02165460 -0.01296563
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 19
+f 1 19 15
+f 1 15 9
+f 1 9 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 9 16
+f 4 16 14
+f 4 14 8
+f 5 8 14
+f 5 14 17
+f 5 17 12
+f 5 12 11
+f 5 11 10
+f 5 10 6
+f 6 10 7
+f 7 11 12
+f 7 12 13
+f 7 10 11
+f 9 15 16
+f 12 17 18
+f 12 18 13
+f 13 18 17
+f 13 17 14
+f 13 14 19
+f 14 16 19
+f 15 19 16
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_89.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..997bad32390994037c1a9b95efd4eaea7260a9a2
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_89.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.04087878 -0.02745670 0.01152645
+v 0.04012512 -0.02745670 0.01170574
+v 0.04087878 -0.02930728 0.01098123
+v 0.04087878 -0.02745670 -0.02319899
+v 0.03774741 -0.02745670 0.01204971
+v 0.04012512 -0.02930728 0.01106905
+v 0.04087878 -0.02930728 -0.02315874
+v 0.04086144 -0.02930728 -0.02316605
+v 0.04007195 -0.02745670 -0.02347708
+v 0.03645972 -0.02745670 0.01218143
+v 0.03508534 -0.02745670 0.01226560
+v 0.03932176 -0.02930728 0.01106905
+v 0.03719025 -0.02930728 -0.02423819
+v 0.03719025 -0.02745670 -0.02441749
+v 0.03378493 -0.02745670 0.01204239
+v 0.03354450 -0.02776446 0.01176063
+v 0.03550031 -0.02795793 0.01193993
+v 0.03710703 -0.02930728 0.01102880
+v 0.03425539 -0.02930728 -0.02506882
+v 0.03425539 -0.02745670 -0.02511639
+v 0.03131937 -0.02745670 0.01154840
+v 0.03425770 -0.02930728 0.01052384
+v 0.03430972 -0.02930728 0.01053481
+v 0.03131937 -0.02930728 -0.02503589
+v 0.03131937 -0.02745670 -0.02499929
+v 0.03032297 -0.02745670 0.01115321
+v 0.03131937 -0.02888612 0.00999692
+v 0.03402652 -0.02930728 0.01045065
+v 0.03125348 -0.02930728 -0.02501027
+v 0.02950689 -0.02745670 -0.02437358
+v 0.02907227 -0.02745670 0.01064093
+v 0.03131937 -0.02930728 0.00952854
+v 0.02907227 -0.02930728 -0.02413207
+v 0.02907227 -0.02745670 -0.02419794
+v 0.02907227 -0.02836895 0.00952854
+v 0.02907227 -0.02930728 0.00822588
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 14
+f 1 14 20
+f 1 20 25
+f 1 25 30
+f 1 30 34
+f 1 34 31
+f 1 31 26
+f 1 26 21
+f 1 21 15
+f 1 15 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 12
+f 3 12 18
+f 3 18 23
+f 3 23 22
+f 3 22 28
+f 3 28 32
+f 3 32 36
+f 3 36 33
+f 3 33 29
+f 3 29 24
+f 3 24 19
+f 3 19 13
+f 3 13 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 8 13 14
+f 8 14 9
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 12 17 18
+f 13 19 14
+f 14 19 20
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 17 23 18
+f 19 24 20
+f 20 24 25
+f 21 26 27
+f 21 27 28
+f 21 28 22
+f 24 29 30
+f 24 30 25
+f 26 31 27
+f 27 31 32
+f 27 32 28
+f 29 33 30
+f 30 33 34
+f 31 35 32
+f 31 34 33
+f 31 33 36
+f 31 36 35
+f 32 35 36
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_9.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02f25eb53bac47024117634eeaf060f81e86ae86
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.04027455 0.01170945 0.02041162
+v -0.04007363 0.00891984 0.02041162
+v -0.03913872 0.01097609 0.02139540
+v -0.03913872 0.01172027 0.02144370
+v -0.04027444 0.01172027 0.02041162
+v -0.04005917 0.00878572 0.02041162
+v -0.03913872 0.00878572 0.02119464
+v -0.03913872 0.01465590 0.02115373
+v -0.04003304 0.01465590 0.02041162
+v -0.03941092 0.00655317 0.02041162
+v -0.03913872 0.00736982 0.02084516
+v -0.03913872 0.01685060 0.02041162
+v -0.03916429 0.00585008 0.02041162
+v -0.03913872 0.00585008 0.02043142
+v -0.03913872 0.00580141 0.02041162
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 12
+f 1 12 15
+f 1 15 13
+f 1 13 10
+f 1 10 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 11
+f 3 11 14
+f 3 14 15
+f 3 15 12
+f 3 12 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 6 10 11
+f 6 11 7
+f 8 12 9
+f 10 13 11
+f 11 13 14
+f 13 15 14
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_90.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fd03cb96e31ef4449740cb36574e6c08dec3746
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_90.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.00602317 0.02729013 0.02277877
+v 0.00761700 0.02656349 0.02277877
+v 0.00602317 0.02785952 0.02220654
+v 0.00602317 -0.01330420 0.02277877
+v 0.00761700 0.02761550 0.02168518
+v 0.00720497 0.02830418 0.02119379
+v 0.00761700 -0.01278905 0.02277877
+v 0.00602317 0.02851567 0.02145447
+v 0.00602317 -0.01448635 0.02181688
+v 0.00761700 -0.01769117 0.01889579
+v 0.00761700 -0.01591794 0.02033726
+v 0.00761700 -0.01438332 0.02158345
+v 0.00761700 0.02903625 0.01983407
+v 0.00761700 0.02955682 0.01904566
+v 0.00643630 0.03082574 0.01784035
+v 0.00602317 0.03065221 0.01833265
+v 0.00602317 0.02986050 0.01950345
+v 0.00602317 -0.01731158 0.01911651
+v 0.00761700 -0.02047844 0.01625174
+v 0.00761700 0.03104265 0.01606099
+v 0.00602317 0.03087996 0.01793936
+v 0.00761700 0.03106976 0.01599469
+v 0.00761700 0.03119990 0.01566679
+v 0.00761700 0.03205669 0.01349959
+v 0.00602317 0.03252847 0.01349959
+v 0.00602317 -0.02005004 0.01588660
+v 0.00761700 -0.02273428 0.01367307
+v 0.00761700 -0.02286985 0.01349959
+v 0.00602317 -0.02189918 0.01349959
+v 0.00602317 -0.02154128 0.01402095
+v 0.00688780 -0.02170939 0.01443423
+f 1 2 3
+f 1 3 8
+f 1 8 17
+f 1 17 16
+f 1 16 21
+f 1 21 25
+f 1 25 29
+f 1 29 30
+f 1 30 26
+f 1 26 18
+f 1 18 9
+f 1 9 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 12
+f 2 12 11
+f 2 11 10
+f 2 10 19
+f 2 19 27
+f 2 27 28
+f 2 28 24
+f 2 24 23
+f 2 23 22
+f 2 22 20
+f 2 20 14
+f 2 14 13
+f 2 13 5
+f 3 6 8
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 7
+f 5 13 6
+f 6 13 14
+f 6 14 15
+f 6 15 16
+f 6 16 17
+f 6 17 8
+f 9 18 19
+f 9 19 10
+f 14 20 15
+f 15 21 16
+f 15 20 22
+f 15 22 23
+f 15 23 24
+f 15 24 25
+f 15 25 21
+f 18 26 27
+f 18 27 19
+f 24 28 29
+f 24 29 25
+f 26 30 31
+f 26 31 27
+f 27 31 30
+f 27 30 28
+f 28 30 29
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_91.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51b9eab0ac66abafe020255f27cee77940c0a0e7
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_91.obj
@@ -0,0 +1,195 @@
+# https://github.com/mikedh/trimesh
+v 0.01535528 -0.02802088 0.00456837
+v 0.01535528 -0.02798867 0.00215018
+v 0.01576362 -0.02802088 0.00456837
+v 0.01535528 -0.02797717 0.00649713
+v 0.01535528 -0.02798407 0.00212367
+v 0.01541539 -0.02798867 0.00215018
+v 0.01678343 -0.02777012 0.00456837
+v 0.01678343 -0.02778163 0.00759652
+v 0.01667467 -0.02780233 0.00748803
+v 0.01571847 -0.02797717 0.00649713
+v 0.01664140 -0.02747336 0.01043903
+v 0.01535528 -0.02793116 0.00676233
+v 0.01535528 -0.02770801 0.00134734
+v 0.01678343 -0.02759528 0.00134734
+v 0.01678343 -0.02746415 0.01042456
+v 0.01678343 -0.02746185 0.01043903
+v 0.01678343 -0.02743885 0.01058127
+v 0.01678343 -0.02643122 0.01337556
+v 0.01664140 -0.02641281 0.01337556
+v 0.01535528 -0.02611834 0.01337556
+v 0.01535528 -0.02715818 0.01043903
+v 0.01535528 -0.02729161 0.00987487
+v 0.01535528 -0.02747565 0.00909372
+v 0.01535528 -0.00451868 0.00134734
+v 0.01678343 -0.00451868 0.00134734
+v 0.01678343 -0.02637600 0.01349852
+v 0.01535528 -0.02517973 0.01513797
+v 0.01535528 -0.00451868 0.02597760
+v 0.01678343 -0.00451868 0.02591973
+v 0.01678343 -0.02531316 0.01533808
+v 0.01678343 -0.02526485 0.01540799
+v 0.01678343 -0.02429172 0.01680634
+v 0.01535528 -0.02460459 0.01596251
+v 0.01535528 -0.00585298 0.02580401
+v 0.01678343 -0.00590820 0.02576061
+v 0.01678343 -0.02283089 0.01849642
+v 0.01664140 -0.02280558 0.01849883
+v 0.01535528 -0.02262384 0.01836864
+v 0.01535528 -0.00882987 0.02513858
+v 0.01664140 -0.01176534 0.02467568
+v 0.01664140 -0.00882987 0.02529047
+v 0.01678343 -0.00884367 0.02529771
+v 0.01678343 -0.00868723 0.02532664
+v 0.01678343 -0.02282398 0.01850365
+v 0.01664140 -0.02090764 0.01996710
+v 0.01535528 -0.02173123 0.01905817
+v 0.01535528 -0.01181595 0.02446111
+v 0.01535528 -0.01196549 0.02442494
+v 0.01535528 -0.01288340 0.02419590
+v 0.01664140 -0.01409118 0.02399579
+v 0.01678343 -0.01177685 0.02467568
+v 0.01678343 -0.01162271 0.02471426
+v 0.01678343 -0.02091915 0.01997192
+v 0.01678343 -0.02084783 0.02002496
+v 0.01678343 -0.01945141 0.02097005
+v 0.01664140 -0.01943991 0.02096041
+v 0.01535528 -0.01924206 0.02079646
+v 0.01535528 -0.01381972 0.02392105
+v 0.01678343 -0.01410268 0.02399579
+v 0.01664140 -0.01555892 0.02330626
+v 0.01678343 -0.01557042 0.02331591
+v 0.01678343 -0.01935249 0.02103274
+v 0.01678343 -0.01764319 0.02210079
+v 0.01664140 -0.01763399 0.02208632
+v 0.01535528 -0.01888548 0.02102068
+v 0.01535528 -0.01517703 0.02316161
+f 1 2 6
+f 1 6 3
+f 1 3 10
+f 1 10 4
+f 1 4 12
+f 1 12 23
+f 1 23 22
+f 1 22 21
+f 1 21 20
+f 1 20 27
+f 1 27 33
+f 1 33 38
+f 1 38 46
+f 1 46 57
+f 1 57 65
+f 1 65 66
+f 1 66 58
+f 1 58 49
+f 1 49 48
+f 1 48 47
+f 1 47 39
+f 1 39 34
+f 1 34 28
+f 1 28 24
+f 1 24 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 10
+f 4 10 11
+f 4 11 12
+f 5 13 14
+f 5 14 6
+f 6 14 7
+f 7 14 25
+f 7 25 29
+f 7 29 35
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+f 7 51 59
+f 7 59 61
+f 7 61 63
+f 7 63 62
+f 7 62 55
+f 7 55 54
+f 7 54 53
+f 7 53 44
+f 7 44 36
+f 7 36 32
+f 7 32 31
+f 7 31 30
+f 7 30 26
+f 7 26 18
+f 7 18 17
+f 7 17 16
+f 7 16 15
+f 7 15 8
+f 8 15 9
+f 9 15 11
+f 9 11 10
+f 11 15 16
+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 11 22 23
+f 11 23 12
+f 13 24 25
+f 13 25 14
+f 18 26 19
+f 19 26 27
+f 19 27 20
+f 24 28 29
+f 24 29 25
+f 26 30 27
+f 27 30 31
+f 27 31 32
+f 27 32 33
+f 28 34 35
+f 28 35 29
+f 32 36 37
+f 32 37 38
+f 32 38 33
+f 34 39 40
+f 34 40 41
+f 34 41 42
+f 34 42 43
+f 34 43 35
+f 36 44 37
+f 37 44 45
+f 37 45 38
+f 38 45 46
+f 39 47 40
+f 40 47 48
+f 40 48 49
+f 40 49 50
+f 40 50 59
+f 40 59 51
+f 40 51 52
+f 40 52 42
+f 40 42 41
+f 44 53 45
+f 45 53 54
+f 45 54 55
+f 45 55 56
+f 45 56 57
+f 45 57 46
+f 49 58 50
+f 50 58 60
+f 50 60 61
+f 50 61 59
+f 55 62 56
+f 56 62 63
+f 56 63 64
+f 56 64 65
+f 56 65 57
+f 58 66 60
+f 60 66 65
+f 60 65 64
+f 60 64 63
+f 60 63 61
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_92.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2b0639e4d4db0ad621ac09b673dc8456fae9f15
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_92.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.01375432 -0.01129140 -0.02452026
+v 0.01375432 -0.00901469 -0.02496123
+v 0.01535528 -0.00901469 -0.02478484
+v 0.01535528 -0.01129140 -0.02422138
+v 0.01375432 -0.01129140 0.02433403
+v 0.01375432 -0.00901469 0.02490239
+v 0.01535528 -0.00901469 0.02509347
+v 0.01535528 -0.01129140 0.02456921
+v 0.01398594 -0.00901469 0.02493179
+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 9
+f 2 9 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 8 6
+f 6 8 9
+f 7 9 8
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_93.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0abe92208334d5ac13d89ec9811ec0e084d0257e
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_93.obj
@@ -0,0 +1,210 @@
+# https://github.com/mikedh/trimesh
+v -0.01472193 0.00585122 0.02756851
+v -0.01472193 0.00878349 0.02747065
+v -0.01692583 0.00878349 0.02743879
+v -0.01692583 0.00750771 0.02747976
+v -0.01692583 0.00585122 0.02751162
+v -0.01692583 0.00457543 0.02731248
+v -0.01472193 0.00273263 0.02707466
+v -0.01472193 0.01171577 0.02696656
+v -0.01692583 0.01043594 0.02717252
+v -0.01692583 0.00455518 0.02730907
+v -0.01692583 0.00281364 0.02700070
+v -0.01692583 0.00279744 0.02699729
+v -0.01692583 0.00118144 0.02665023
+v -0.01692583 0.00091009 0.02657057
+v -0.01472193 0.00006766 0.02626789
+v -0.01472193 0.01330746 0.02663316
+v -0.01692583 0.01333986 0.02663202
+v -0.01692583 0.01262299 0.02677653
+v -0.01692583 0.01171577 0.02694380
+v -0.01692583 -0.00010244 0.02625765
+v -0.01692583 -0.00013484 0.02624741
+v -0.01472193 -0.00295371 0.02510495
+v -0.01472193 0.01477765 0.02604827
+v -0.01564936 0.01478980 0.02608014
+v -0.01692583 0.01481005 0.02609720
+v -0.01692583 -0.00293346 0.02487851
+v -0.01692583 -0.00294966 0.02487054
+v -0.01472193 -0.00481676 0.02406491
+v -0.01472193 0.01758843 0.02474082
+v -0.01564936 0.01758843 0.02478293
+v -0.01692583 0.01758437 0.02481706
+v -0.01692583 -0.00607230 0.02279273
+v -0.01472193 -0.00586574 0.02337762
+v -0.01472193 0.01811899 0.02446659
+v -0.01692583 0.01859690 0.02427315
+v -0.01565000 0.01937047 0.02381912
+v -0.01692583 -0.00806090 0.02132712
+v -0.01472193 -0.00834846 0.02162638
+v -0.01472193 0.01933402 0.02380661
+v -0.01692583 0.01940287 0.02383505
+v -0.01692583 0.02086901 0.02299756
+v -0.01692583 -0.00953109 0.01982850
+v -0.01472193 -0.00936098 0.02064892
+v -0.01472193 0.02080421 0.02290766
+v -0.01564936 0.02084066 0.02296228
+v -0.01692583 0.02294266 0.02153080
+v -0.01692583 -0.01077447 0.01836060
+v -0.01472193 -0.01210290 0.01764031
+v -0.01472193 -0.01117138 0.01872928
+v -0.01472193 0.02279281 0.02144318
+v -0.01564936 0.02287382 0.02149552
+v -0.01692583 0.02440880 0.02016873
+v -0.01692583 -0.01232971 0.01646827
+v -0.01692583 -0.01273472 0.01594484
+v -0.01473099 -0.01318428 0.01620883
+v -0.01472193 -0.01318428 0.01620883
+v -0.01472193 0.02426300 0.02000260
+v -0.01564936 0.02433995 0.02009135
+v -0.01692583 0.02581419 0.01870084
+v -0.01565000 -0.01304253 0.01594484
+v -0.01692583 0.02819160 0.01594484
+v -0.01564936 -0.01286432 0.01594484
+v -0.01472193 0.02758004 0.01620883
+v -0.01472193 0.02564408 0.01853470
+v -0.01565000 0.02573724 0.01862346
+v -0.01692583 0.02728438 0.01711232
+v -0.01564936 0.02720338 0.01699057
+v -0.01565000 0.02800125 0.01594484
+v -0.01564936 0.02780684 0.01594484
+v -0.01480283 0.02760029 0.01620883
+v -0.01472193 0.02717503 0.01675957
+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 22
+f 1 22 28
+f 1 28 33
+f 1 33 38
+f 1 38 43
+f 1 43 49
+f 1 49 48
+f 1 48 56
+f 1 56 63
+f 1 63 71
+f 1 71 64
+f 1 64 57
+f 1 57 50
+f 1 50 44
+f 1 44 39
+f 1 39 34
+f 1 34 29
+f 1 29 23
+f 1 23 16
+f 1 16 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 19
+f 3 19 18
+f 3 18 17
+f 3 17 25
+f 3 25 31
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+f 3 40 41
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+f 3 10 6
+f 3 6 5
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+f 6 10 7
+f 7 10 11
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+f 7 12 13
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+f 8 16 17
+f 8 17 18
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+f 8 19 9
+f 14 20 15
+f 15 20 21
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+f 16 24 25
+f 16 25 17
+f 21 26 22
+f 22 26 27
+f 22 27 28
+f 23 29 30
+f 23 30 24
+f 24 30 31
+f 24 31 25
+f 27 32 33
+f 27 33 28
+f 29 34 30
+f 30 35 31
+f 30 34 36
+f 30 36 35
+f 32 37 38
+f 32 38 33
+f 34 39 36
+f 35 36 40
+f 36 41 40
+f 36 39 41
+f 37 42 43
+f 37 43 38
+f 39 44 45
+f 39 45 41
+f 41 45 46
+f 42 47 48
+f 42 48 49
+f 42 49 43
+f 44 50 51
+f 44 51 45
+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 50 57 58
+f 50 58 51
+f 51 58 52
+f 52 58 59
+f 54 60 55
+f 54 61 68
+f 54 68 69
+f 54 69 62
+f 54 62 60
+f 55 60 56
+f 56 60 62
+f 56 62 69
+f 56 69 63
+f 57 64 65
+f 57 65 58
+f 58 65 59
+f 59 65 66
+f 61 66 67
+f 61 67 68
+f 63 69 68
+f 63 68 70
+f 63 70 71
+f 64 71 67
+f 64 67 65
+f 65 67 66
+f 67 71 68
+f 68 71 70
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_94.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9650aafb44b3413e50c3ead282674801cf69f33d
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_94.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.05087392 0.01656328 -0.00684527
+v -0.05087148 0.01321552 -0.00783769
+v -0.05087484 0.01656328 -0.00783769
+v -0.05165092 0.01656328 -0.00684527
+v -0.05087148 0.01137588 -0.00684527
+v -0.05087148 -0.00890259 -0.00783769
+v -0.05165092 0.01656328 -0.00783769
+v -0.05165092 -0.00890259 -0.00684527
+v -0.05087148 -0.00890259 -0.00684527
+v -0.05165092 -0.00890259 -0.00783769
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 2 6 10
+f 2 10 7
+f 2 7 3
+f 4 7 10
+f 4 10 8
+f 6 9 8
+f 6 8 10
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_95.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c123a9c85dc8f8d4d9372de6d0577c4f94992d6c
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_95.obj
@@ -0,0 +1,321 @@
+# https://github.com/mikedh/trimesh
+v -0.02883613 0.00586355 0.02622055
+v -0.03032877 0.00585926 0.02577516
+v -0.03032877 0.00292002 0.02530692
+v -0.02883613 0.00495093 0.02607209
+v -0.02883613 0.00879422 0.02614918
+v -0.03032877 0.00878994 0.02573233
+v -0.02883613 -0.00005779 0.02478444
+v -0.02883613 0.00296715 0.02574090
+v -0.03032877 -0.00009207 0.02430193
+v -0.03030422 -0.00010492 0.02430764
+v -0.02883613 0.01158351 0.02560956
+v -0.03032760 0.01171205 0.02521842
+v -0.03032760 0.00879422 0.02573233
+v -0.03032877 0.01170776 0.02521842
+v -0.02931054 -0.00171593 0.02381085
+v -0.02883613 -0.00129176 0.02416774
+v -0.03032877 -0.00012634 0.02428480
+v -0.02883613 0.01464701 0.02480443
+v -0.03032760 0.01464701 0.02446752
+v -0.03032877 0.01464272 0.02446752
+v -0.03032877 -0.00275281 0.02264312
+v -0.03032877 -0.00282137 0.02259458
+v -0.02883613 -0.00321126 0.02284583
+v -0.02883613 -0.00182305 0.02388794
+v -0.02883613 0.01677218 0.02397930
+v -0.03032877 0.01645083 0.02381085
+v -0.03032877 -0.00479657 0.02105283
+v -0.02883613 -0.00420101 0.02207495
+v -0.02883613 0.02064975 0.02202927
+v -0.03032877 0.02078258 0.02162956
+v -0.03032877 -0.00618050 0.01916275
+v -0.03027588 -0.00621906 0.01915990
+v -0.02926306 -0.00761156 0.01812920
+v -0.02883613 -0.00744875 0.01858602
+v -0.02883613 -0.00656183 0.01965097
+v -0.02883613 -0.00512220 0.02132977
+v -0.02982017 0.02230362 0.02092435
+v -0.03032877 0.02221792 0.02086724
+v -0.02883613 0.02246214 0.02103284
+v -0.03032877 -0.00771011 0.01631051
+v -0.02978320 -0.00818999 0.01631051
+v -0.02883613 -0.00998524 0.01427768
+v -0.02883613 -0.00769726 0.01825197
+v -0.02883613 0.02305342 0.02057602
+v -0.02883613 0.02379466 0.01997931
+v -0.03032877 0.02342190 0.01988224
+v -0.03032877 -0.00882839 0.01334977
+v -0.03032877 -0.00883268 0.01333835
+v -0.02902651 -0.01042227 0.01246469
+v -0.02883613 -0.01030659 0.01334406
+v -0.02883613 0.02557706 0.01839758
+v -0.03032760 0.02535426 0.01818916
+v -0.03032877 0.02534998 0.01818916
+v -0.03032877 -0.00957392 0.01044042
+v -0.02926335 -0.01064507 0.01044042
+v -0.02883613 -0.01091072 0.01044042
+v -0.02883613 -0.01048654 0.01258460
+v -0.02883613 0.02632258 0.01768381
+v -0.03032760 0.02682388 0.01673021
+v -0.03032877 0.02681960 0.01673306
+v -0.03032877 -0.01013520 0.00750253
+v -0.02929564 -0.01068363 0.01005784
+v -0.02883613 -0.01140345 0.00753964
+v -0.02883613 0.02704240 0.01696718
+v -0.03032877 0.02824637 0.01526554
+v -0.03032877 -0.01100498 -0.00130260
+v -0.02951159 -0.01092357 0.00750253
+v -0.02883613 -0.01172051 0.00456748
+v -0.02883613 0.02846489 0.01549966
+v -0.03032760 0.02935181 0.01337261
+v -0.03032877 0.02934752 0.01337261
+v -0.03032877 -0.01087644 -0.00294428
+v -0.02883613 -0.01221324 -0.00130260
+v -0.02883613 -0.01211041 0.00057891
+v -0.02883613 0.02975456 0.01326126
+v -0.03032877 0.02936894 0.01332407
+v -0.02883613 0.03021301 0.01214777
+v -0.02883613 0.03058578 0.01116847
+v -0.03032877 0.03043581 0.01052322
+v -0.02883613 -0.01207613 -0.00294428
+v -0.02883613 -0.01213183 -0.00231331
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_96.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5f16d9d459f63257e1de88d83b3d1e48b0308cf
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_96.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.03113791 -0.01210015 -0.00050236
+v 0.03113791 -0.01138611 -0.00050236
+v 0.05026494 -0.01210015 -0.00050236
+v 0.03113791 -0.01210015 0.00708110
+v 0.03113791 -0.01138611 0.00708110
+v 0.04923500 -0.01138611 -0.00050236
+v 0.05033447 -0.01138939 -0.00050236
+v 0.05024990 -0.01210015 0.00148481
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+v 0.04987589 -0.01210015 0.00458174
+v 0.04991160 -0.01138611 0.00456615
+v 0.05025554 -0.01138611 0.00150485
+v 0.05020479 -0.01210015 0.00202224
+v 0.05016908 -0.01210015 0.00230432
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+f 7 11 8
+f 8 11 12
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+f 10 13 14
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+f 12 15 16
+f 13 17 14
+f 14 17 16
+f 14 16 15
\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_97.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed6b07b9c727be74adda9fff6e1ad1296c8dfba4
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_97.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.02991168 -0.01355842 -0.02437031
+v 0.02991168 -0.01329196 -0.02434529
+v 0.03018001 -0.01355842 -0.02436646
+v 0.02991168 -0.01355842 -0.00470915
+v 0.02991168 -0.01290164 -0.02429716
+v 0.03113603 -0.01355842 -0.02432411
+v 0.03113603 -0.01355842 -0.00470915
+v 0.02991168 0.00560826 -0.00470915
+v 0.02991168 -0.01035521 -0.02397955
+v 0.03113603 -0.01181889 -0.02410659
+v 0.03113603 0.00560826 -0.00470915
+v 0.02991168 0.00560826 -0.01849930
+v 0.02991168 -0.00680486 -0.02345405
+v 0.03031053 -0.00691369 -0.02344250
+v 0.03113603 -0.01158058 -0.02407579
+v 0.03113603 0.00560826 -0.01800459
+v 0.03110092 0.00560826 -0.01802384
+v 0.02991168 0.00495711 -0.01886888
+v 0.02991168 -0.00650086 -0.02339052
+v 0.02991168 -0.00295801 -0.02225097
+v 0.03113603 -0.00295801 -0.02196416
+v 0.03113603 -0.00608428 -0.02296896
+v 0.03113603 -0.00733779 -0.02332700
+v 0.03113603 -0.00854251 -0.02358109
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+v 0.03113603 0.00280663 -0.01959650
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+v 0.03113603 0.00136360 -0.02034529
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_98.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..249920ae50476181bc6892daef76f0c1b0d44ee6
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_98.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.04920561 -0.00331387 -0.00130367
+v 0.04858438 -0.00331387 -0.00430166
+v 0.04905570 -0.00295721 -0.00130367
+v 0.04902424 -0.00295721 0.00162833
+v 0.04916860 -0.00331387 0.00162833
+v 0.04807295 -0.00331387 -0.00580782
+v 0.04834378 -0.00280440 -0.00433321
+v 0.04772193 -0.00113357 -0.00341804
+v 0.04787739 -0.00088057 -0.00130367
+v 0.04786567 -0.00087994 0.00162833
+v 0.04893232 -0.00295721 0.00456607
+v 0.04908037 -0.00331387 0.00456607
+v 0.04915996 -0.00331387 0.00200989
+v 0.04916243 -0.00331387 0.00191522
+v 0.04723826 -0.00331387 -0.00799104
+v 0.04732217 -0.00172370 -0.00537462
+v 0.04718027 -0.00009541 -0.00214139
+v 0.04731415 -0.00009541 -0.00130367
+v 0.04474284 -0.00009541 -0.00890909
+v 0.04556581 -0.00009541 -0.00690661
+v 0.04651586 -0.00009541 -0.00442502
+v 0.04655040 -0.00009541 -0.00433321
+v 0.04733142 -0.00009541 0.00026274
+v 0.04732649 -0.00009541 0.00162833
+v 0.04779287 -0.00101070 0.00456607
+v 0.04765962 -0.00120825 0.00646527
+v 0.04812909 -0.00303755 0.00746651
+v 0.04824692 -0.00331387 0.00744643
+v 0.04638692 -0.00331387 -0.00978697
+v 0.04496863 -0.00080023 -0.00941401
+v 0.04695325 -0.00231856 -0.00717341
+v 0.04408336 -0.00009541 -0.01009394
+v 0.04712907 -0.00009541 0.00456607
+v 0.04649118 -0.00014677 0.00746651
+v 0.04594953 -0.00009541 0.00845628
+v 0.04718212 -0.00211282 0.00842185
+v 0.04645663 -0.00009541 0.00746938
+v 0.04799337 -0.00331387 0.00792840
+v 0.04619012 -0.00331387 -0.01019722
+v 0.04439490 -0.00167613 -0.01137059
+v 0.04390075 -0.00009541 -0.01039804
+v 0.04519936 -0.00009541 0.00988212
+v 0.04670587 -0.00331387 0.00999113
+v 0.04500996 -0.00331387 -0.01207347
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+v 0.04514322 -0.00009541 0.00996244
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+v 0.04290319 -0.00285072 0.01466168
+v 0.04395812 -0.00331387 0.01365757
+v 0.04290319 -0.00331387 0.01479365
+v 0.04290319 -0.00308324 0.01473053
+f 1 2 3
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\ No newline at end of file
diff --git a/new_croissant/new_croissant_1/collision/model_normalized_collision_99.obj b/new_croissant/new_croissant_1/collision/model_normalized_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39fbc5cc822d0e57c8162d817c767b47eb7dc3fe
--- /dev/null
+++ b/new_croissant/new_croissant_1/collision/model_normalized_collision_99.obj
@@ -0,0 +1,252 @@
+# https://github.com/mikedh/trimesh
+v -0.03619924 0.01029893 -0.02173445
+v -0.03619060 0.01029893 -0.02173445
+v -0.03766185 0.01029893 -0.02144635
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+v -0.03619924 0.01172183 -0.02152216
+v -0.03619060 0.01172183 -0.02152216
+v -0.03619060 0.01029893 -0.02046453
+v -0.03766214 0.01029893 -0.02046453
+v -0.03766300 0.01367391 -0.02059342
+v -0.03619924 0.01410134 -0.02078296
+v -0.03766300 0.01030078 -0.01643872
+v -0.03619060 0.01410319 -0.02078296
+v -0.03619060 0.01030078 0.01698843
+v -0.03766300 0.01030078 0.01698843
+v -0.03619924 0.01482851 -0.02046453
+v -0.03766300 0.01506906 -0.01993761
+v -0.03619924 0.01556864 -0.02013473
+v -0.03619060 0.01483221 -0.02046453
+v -0.03619060 0.01963379 0.01699222
+v -0.03766300 0.01963379 0.01699222
+v -0.03766300 0.01755218 -0.01848953
+v -0.03619060 0.01759289 -0.01901266
+v -0.03619060 0.01556679 -0.02013473
+v -0.03619060 0.01632912 -0.01971396
+v -0.03619060 0.02420778 0.01699222
+v -0.03766300 0.02347505 0.01699222
+v -0.03766300 0.01909350 -0.01747360
+v -0.03619060 0.01948947 -0.01778824
+v -0.03619088 0.02422258 0.01699222
+v -0.03619060 0.02565473 0.01554793
+v -0.03619910 0.02422073 0.01699222
+v -0.03766300 0.02452419 0.01591943
+v -0.03619060 0.01963379 -0.01763661
+v -0.03766300 0.02181347 -0.01421353
+v -0.03742115 0.02186158 -0.01434999
+v -0.03619060 0.02111405 -0.01602931
+v -0.03619060 0.02727746 0.01356914
+v -0.03766300 0.02525506 0.01516885
+v -0.03766300 0.02200775 -0.01394438
+v -0.03766300 0.02290701 -0.01262898
+v -0.03619060 0.02339364 -0.01306113
+v -0.03619060 0.02130648 -0.01579428
+v -0.03619060 0.02751430 0.01320143
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+v -0.03766300 0.02662615 0.01346300
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+v -0.03619060 0.02808420 0.01228027
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+v -0.03619060 0.02852642 0.01057063
+v -0.03642783 0.02843946 0.01058200
+v -0.03766300 0.02807310 0.00986554
+v -0.03766300 0.02778445 0.01158277
+v -0.03766300 0.02561957 -0.00717404
+v -0.03619910 0.02634490 -0.00717404
+v -0.03619060 0.02634860 -0.00717404
+v -0.03619060 0.02856713 0.01035455
+v -0.03619910 0.02902601 0.00750009
+v -0.03766300 0.02815636 0.00935000
+v -0.03766300 0.02664280 -0.00436507
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diff --git a/new_croissant/new_croissant_1/model.xml b/new_croissant/new_croissant_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a06569c68ad2525c73b2d3052304ec218b507831
--- /dev/null
+++ b/new_croissant/new_croissant_1/model.xml
@@ -0,0 +1,748 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="new_croissant_1">
+  <asset>
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+    <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_285.obj" name="model_normalized_collision_285._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_148.obj" name="model_normalized_collision_148._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
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