diff --git a/.gitattributes b/.gitattributes
index 9395a4c2ea30924b72f2d52b1fe80de3b0391232..f54b7bebc84ce6f194c30575f0247aba0cdb10d8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -334,3 +334,6 @@ new_bottle_of_essential_oil/new_bottle_of_essential_oil_2/visual/xhoipk__base_li
 new_bottle_of_essential_oil/new_bottle_of_essential_oil_1/visual/wansva__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
 new_bottle_of_essential_oil/new_bottle_of_essential_oil_0/visual/eyyhld__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
 new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/visual/yjxvpg__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
+new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/visual/xvqshn__base_link__ior.exr filter=lfs diff=lfs merge=lfs -text
+waffle/waffle_1/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
+cucumber/cucumber_0/visual/model_normalized_0.obj filter=lfs diff=lfs merge=lfs -text
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_0.obj b/cucumber/cucumber_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c988f04e6f5fe6b5cbdbfb7e4be8917410c47063
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.16455439 -0.11179733 0.09867698
+v -0.16312398 -0.13735078 -0.04541882
+v -0.15820515 0.12038124 0.00131473
+v -0.24825584 0.10356346 0.03365532
+v -0.24334438 -0.11242723 -0.05469831
+v -0.15665489 0.06765422 0.11158073
+v -0.23548770 -0.09768387 0.09353992
+v -0.15909091 -0.02056878 -0.04399483
+v -0.23484849 -0.02056878 -0.04399483
+v -0.15940310 0.08343815 0.10086656
+v -0.23263141 0.03589947 0.11401776
+v -0.23174238 0.06519767 0.09748380
+v -0.15885545 0.03933879 0.12128462
+v -0.21452600 0.06006774 0.10570362
+v -0.23150016 0.04682828 0.10868549
+f 6 1 2
+f 7 5 2
+f 7 2 1
+f 7 4 5
+f 8 2 5
+f 8 6 2
+f 8 3 6
+f 9 5 4
+f 9 4 3
+f 9 8 5
+f 9 3 8
+f 10 6 3
+f 10 3 4
+f 11 4 7
+f 11 7 1
+f 12 10 4
+f 12 4 11
+f 13 11 1
+f 13 1 6
+f 13 6 11
+f 14 11 6
+f 14 6 10
+f 14 10 12
+f 15 14 12
+f 15 12 11
+f 15 11 14
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_1.obj b/cucumber/cucumber_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..689b9c70a0cd1b7a22e85b64622bc79f75787f58
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v -0.23141155 -0.11157370 0.08123299
+v -0.22846702 -0.11173347 -0.06639914
+v -0.23418431 0.09805020 -0.04227203
+v -0.27412202 0.08937352 0.04187097
+v -0.36479562 0.02957431 0.01522237
+v -0.23967920 0.07847814 0.08791135
+v -0.23176614 0.08888038 -0.06482408
+v -0.30028637 -0.09669080 -0.03129931
+v -0.36562483 0.05331177 0.03225250
+v -0.22789668 -0.05847446 -0.11114546
+v -0.28965806 -0.10822678 -0.00807833
+v -0.29464754 0.08635961 0.03211581
+v -0.29471654 0.03808236 -0.07216648
+v -0.28382031 0.08289275 -0.04868187
+v -0.31542449 -0.07611262 0.06088108
+v -0.29574539 -0.05882160 -0.07663056
+v -0.28601940 -0.10871337 -0.01922080
+v -0.30211043 0.06951058 0.06665938
+v -0.33042672 0.04384667 -0.02930621
+v -0.23343660 0.03505120 -0.10567438
+v -0.34535501 -0.00272809 0.04794533
+v -0.27316811 -0.03349315 0.11249080
+v -0.29804529 -0.09567084 0.04960945
+v -0.33768773 -0.04721852 -0.02180480
+v -0.32414638 -0.07149850 -0.02249836
+v -0.23046575 -0.09106308 -0.09049989
+v -0.24152592 -0.10835257 -0.06241318
+v -0.27383716 0.07520190 0.07458554
+v -0.33961046 -0.01867418 -0.03655526
+v -0.23146262 0.05383673 -0.09260776
+v -0.27122714 0.00305711 -0.10335952
+v -0.24762415 0.03765109 -0.10290480
+v -0.33679427 -0.04444067 0.03510901
+v -0.27966835 -0.07392174 0.09015475
+v -0.23943828 0.04792032 0.10591133
+v -0.31182755 -0.05748266 0.07594883
+v -0.28275551 0.04279595 0.09630591
+v -0.32319649 -0.06960884 0.03025797
+v -0.27168281 -0.10802612 0.04246062
+v -0.28292439 -0.09219836 0.06859867
+v -0.32342629 -0.05309713 -0.04836443
+v -0.24538081 -0.06254368 -0.10164515
+v -0.27145041 -0.09328489 -0.06153752
+v -0.32614819 0.03174619 -0.04177319
+v -0.33801200 -0.03130638 -0.03537460
+v -0.27439350 -0.02704809 -0.10229430
+v -0.28107357 0.06756978 -0.06277092
+v -0.26924420 0.04048173 -0.08884429
+v -0.28985108 -0.00817693 0.10112146
+v -0.27197693 -0.01082119 0.10965677
+v -0.25538450 -0.10834200 0.06518923
+v -0.23659946 -0.10950443 0.08035229
+v -0.30925046 -0.08468938 -0.03205104
+v -0.26937929 -0.06858139 -0.08584771
+v -0.28069032 -0.03408561 0.10610627
+v -0.30282893 0.03305873 0.08656323
+v -0.24160665 -0.08653980 -0.08853658
+f 6 3 4
+f 7 6 1
+f 7 3 6
+f 10 7 1
+f 10 1 2
+f 12 4 3
+f 14 3 7
+f 14 12 3
+f 14 9 12
+f 17 11 8
+f 17 2 1
+f 17 1 11
+f 18 12 9
+f 18 4 12
+f 19 5 9
+f 19 14 13
+f 19 9 14
+f 21 9 5
+f 25 8 11
+f 26 10 2
+f 27 17 8
+f 27 2 17
+f 27 26 2
+f 28 18 6
+f 28 6 4
+f 28 4 18
+f 30 7 10
+f 30 10 20
+f 31 20 10
+f 32 30 20
+f 32 14 7
+f 32 7 30
+f 32 20 31
+f 33 21 5
+f 33 15 21
+f 33 5 24
+f 34 1 22
+f 35 22 1
+f 35 1 6
+f 36 21 15
+f 36 34 22
+f 36 15 34
+f 37 18 9
+f 37 35 6
+f 37 6 18
+f 38 23 15
+f 38 11 23
+f 38 25 11
+f 38 15 33
+f 38 33 24
+f 38 24 25
+f 39 23 11
+f 39 11 1
+f 40 15 23
+f 40 34 15
+f 41 25 24
+f 41 16 8
+f 41 29 16
+f 42 10 26
+f 43 8 16
+f 43 27 8
+f 43 26 27
+f 44 19 13
+f 44 31 29
+f 44 13 31
+f 44 29 5
+f 44 5 19
+f 45 24 5
+f 45 5 29
+f 45 41 24
+f 45 29 41
+f 46 16 29
+f 46 29 31
+f 46 42 16
+f 46 31 10
+f 46 10 42
+f 47 13 14
+f 47 14 32
+f 48 32 31
+f 48 31 13
+f 48 47 32
+f 48 13 47
+f 49 9 21
+f 49 21 36
+f 50 22 35
+f 50 35 37
+f 50 49 22
+f 50 37 49
+f 51 39 1
+f 51 23 39
+f 52 40 23
+f 52 1 34
+f 52 34 40
+f 52 51 1
+f 52 23 51
+f 53 41 8
+f 53 8 25
+f 53 25 41
+f 54 16 42
+f 55 49 36
+f 55 36 22
+f 55 22 49
+f 56 49 37
+f 56 37 9
+f 56 9 49
+f 57 54 42
+f 57 42 26
+f 57 26 43
+f 57 43 16
+f 57 16 54
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_10.obj b/cucumber/cucumber_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a97f4547f794753c749bfe3d258f524cc307c45
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.35028275 -0.00701783 0.03325134
+v -0.35215873 -0.00513245 -0.01273778
+v -0.38570045 0.10335102 -0.04781785
+v -0.49698078 0.08901157 0.02187474
+v -0.44172220 -0.01753487 -0.00793816
+v -0.36117088 0.05638652 0.03600900
+v -0.43586165 -0.02056974 -0.01360573
+v -0.44147327 -0.00862279 0.00154655
+v -0.39571276 0.10252078 0.00544784
+v -0.38993137 0.03447257 0.03243114
+v -0.37082707 0.07619332 -0.05155384
+v -0.43125337 -0.02019585 -0.00754750
+v -0.49839608 0.03505043 -0.04198754
+v -0.49679267 0.07964796 0.02044376
+v -0.40487617 0.10365312 -0.04368315
+v -0.37703242 0.06440684 0.03397541
+v -0.37271077 0.08113285 -0.04989292
+v -0.42959342 -0.01139287 -0.04836834
+v -0.44378043 -0.01231500 -0.02513137
+v -0.49734798 0.03514887 -0.04260656
+v -0.44568258 -0.01333121 -0.00596837
+v -0.49891832 0.03499334 -0.03445978
+v -0.49525782 0.08746257 -0.00458820
+v -0.38584129 0.08762112 0.01710048
+v -0.38540583 0.10301981 -0.04780487
+v -0.40602457 -0.00990639 -0.04595760
+v -0.48179419 0.05987785 -0.04005471
+v -0.36613436 0.01830118 -0.02997973
+v -0.40754590 -0.01265976 -0.04567575
+v -0.48498003 0.08559738 -0.01378704
+f 6 1 2
+f 8 5 1
+f 10 6 4
+f 10 4 1
+f 10 1 6
+f 11 6 2
+f 12 7 2
+f 12 2 1
+f 12 1 5
+f 12 5 7
+f 14 8 1
+f 14 1 4
+f 15 9 3
+f 15 4 9
+f 16 4 6
+f 17 6 11
+f 19 7 5
+f 19 5 13
+f 19 18 7
+f 19 13 18
+f 20 3 11
+f 20 18 13
+f 20 11 18
+f 21 5 8
+f 21 8 14
+f 22 14 4
+f 22 4 13
+f 22 21 14
+f 22 13 5
+f 22 5 21
+f 23 13 4
+f 23 4 15
+f 24 9 4
+f 24 4 16
+f 24 16 6
+f 24 6 9
+f 25 17 11
+f 25 11 3
+f 25 6 17
+f 25 9 6
+f 25 3 9
+f 26 18 11
+f 27 15 3
+f 27 3 20
+f 27 20 13
+f 27 13 23
+f 28 26 11
+f 28 11 2
+f 28 2 26
+f 29 26 2
+f 29 2 7
+f 29 7 18
+f 29 18 26
+f 30 27 23
+f 30 23 15
+f 30 15 27
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_11.obj b/cucumber/cucumber_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e70108ac82383229a74604261503540c9c6b2c2a
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.40674628 -0.11063348 0.03953956
+v 0.49119971 -0.00561534 0.01649276
+v 0.46248441 -0.02729411 0.07857015
+v 0.38466071 -0.00353520 0.12921808
+v 0.43187517 -0.00992707 -0.10366425
+v 0.43682453 0.00097872 0.10910738
+v 0.40350677 -0.06333703 0.10256879
+v 0.47548295 -0.05518854 0.02603751
+v 0.38228431 -0.10986588 -0.05359763
+v 0.47623371 -0.00775250 0.06513501
+v 0.38636364 -0.00541726 0.01661124
+v 0.46472842 -0.00601928 -0.07686049
+v 0.41745016 -0.09683694 0.06180718
+v 0.37923811 -0.09642575 0.08556181
+v 0.39144603 -0.03692289 0.12056009
+v 0.43410445 -0.01517093 0.10401737
+v 0.45036416 -0.08322068 -0.03791117
+v 0.47400452 -0.01655368 0.06641615
+v 0.41257924 -0.00040609 0.12263398
+v 0.39596449 -0.08519372 -0.08351708
+v 0.44777781 -0.05222374 0.07749899
+v 0.44829940 -0.08370563 0.03554793
+v 0.39839671 -0.10794269 0.05454631
+v 0.38267611 -0.05643088 0.11242822
+v 0.40105948 -0.11155416 -0.04525937
+v 0.44536171 -0.06727977 -0.06773957
+v 0.47564135 -0.05668552 0.01456559
+v 0.38264292 -0.03557499 0.12347265
+v 0.43306368 -0.06606347 0.07830441
+v 0.46069940 -0.06946609 0.03565527
+v 0.43431057 -0.09555159 0.02686147
+v 0.38340998 -0.11125202 0.05586469
+v 0.38940614 -0.10202139 -0.06272387
+v 0.40039173 -0.07943638 -0.08788494
+v 0.41246239 -0.07556877 -0.08326522
+f 10 6 3
+f 10 2 6
+f 12 6 2
+f 12 11 6
+f 12 5 11
+f 14 13 7
+f 14 11 9
+f 14 4 11
+f 15 7 6
+f 16 3 6
+f 16 6 7
+f 18 8 2
+f 18 2 10
+f 18 10 3
+f 18 3 8
+f 19 11 4
+f 19 6 11
+f 19 15 6
+f 20 11 5
+f 20 9 11
+f 21 16 7
+f 21 3 16
+f 21 8 3
+f 22 13 1
+f 22 21 13
+f 23 1 13
+f 23 13 14
+f 24 14 7
+f 24 7 15
+f 26 5 12
+f 26 12 17
+f 26 17 25
+f 27 17 12
+f 27 12 2
+f 27 2 8
+f 27 22 17
+f 27 8 22
+f 28 19 4
+f 28 15 19
+f 28 24 15
+f 28 4 14
+f 28 14 24
+f 29 21 7
+f 29 7 13
+f 29 13 21
+f 30 22 8
+f 30 8 21
+f 30 21 22
+f 31 22 1
+f 31 17 22
+f 31 25 17
+f 31 1 25
+f 32 23 14
+f 32 14 9
+f 32 1 23
+f 32 25 1
+f 32 9 25
+f 33 25 9
+f 33 9 20
+f 33 20 25
+f 34 20 5
+f 34 26 25
+f 34 25 20
+f 35 34 5
+f 35 5 26
+f 35 26 34
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_12.obj b/cucumber/cucumber_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48e307c846dc90c713552e6c6e68e2df98e661b5
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.00747228 -0.12441970 0.09088312
+v 0.00757728 -0.11281310 0.11021211
+v -0.26871352 -0.08381255 0.09540627
+v -0.28379156 0.04028350 0.09527517
+v 0.00822651 0.06231330 0.10494714
+v -0.18458497 -0.02459543 0.13432029
+v -0.24457089 -0.10056243 0.08526142
+v 0.00784308 -0.08966124 0.11980296
+v -0.17111009 -0.08522124 0.12017120
+v -0.25740121 -0.03984718 0.12366846
+v -0.22929275 0.02535169 0.12199414
+v -0.27305291 -0.08670155 0.08642996
+v -0.03969767 -0.13073594 0.08486702
+v -0.00721915 -0.02375697 0.13512627
+v -0.02540333 -0.06088293 0.13394044
+v -0.19528935 -0.11211533 0.10005233
+v -0.26851726 -0.07082108 0.10648698
+v -0.18653683 -0.04704727 0.13380844
+v -0.09811586 0.06068867 0.11104602
+v -0.26056467 -0.02419974 0.12063886
+v -0.04186773 -0.12238936 0.09997748
+v 0.00632211 0.01866915 0.12257802
+v -0.10158402 -0.00860108 0.13632622
+v -0.00815289 -0.04804881 0.13513673
+v -0.07656321 -0.10207177 0.12099445
+v -0.20055905 -0.11384314 0.08786000
+v -0.21538684 -0.07230630 0.12008023
+v -0.24097570 0.01888211 0.11978850
+v -0.07901403 -0.12970304 0.08747853
+v 0.00777041 0.04983898 0.11149689
+v -0.17184638 -0.00804383 0.13279188
+v -0.04584223 0.04501001 0.12038846
+v -0.12714990 -0.05939348 0.13388693
+v -0.07674521 -0.12639379 0.09315607
+v -0.24409564 -0.08171969 0.10664997
+v -0.27201107 0.03429210 0.10278394
+v -0.08217436 0.04594999 0.11884494
+f 8 2 1
+f 8 1 5
+f 11 10 6
+f 12 7 3
+f 12 4 7
+f 13 5 1
+f 13 7 4
+f 13 4 5
+f 16 3 7
+f 17 10 4
+f 17 3 16
+f 17 12 3
+f 17 4 12
+f 18 6 10
+f 19 5 4
+f 19 4 11
+f 20 4 10
+f 20 10 11
+f 21 13 1
+f 21 1 2
+f 22 14 8
+f 23 6 18
+f 24 15 8
+f 24 8 14
+f 24 14 23
+f 25 2 8
+f 25 8 15
+f 25 9 16
+f 25 21 2
+f 26 16 7
+f 26 7 13
+f 27 16 9
+f 27 10 17
+f 27 18 10
+f 27 9 18
+f 28 20 11
+f 29 13 21
+f 29 26 13
+f 29 16 26
+f 30 22 8
+f 30 8 5
+f 31 23 11
+f 31 11 6
+f 31 6 23
+f 32 11 23
+f 32 22 30
+f 32 23 14
+f 32 14 22
+f 32 30 5
+f 32 5 19
+f 33 24 23
+f 33 23 18
+f 33 15 24
+f 33 25 15
+f 33 18 9
+f 33 9 25
+f 34 25 16
+f 34 21 25
+f 34 29 21
+f 34 16 29
+f 35 27 17
+f 35 17 16
+f 35 16 27
+f 36 28 11
+f 36 11 4
+f 36 4 20
+f 36 20 28
+f 37 32 19
+f 37 19 11
+f 37 11 32
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_13.obj b/cucumber/cucumber_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de300daa11453427e0ffa99a63dc260bbef2e818
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.26554660 -0.00638110 0.13300901
+v 0.26760217 0.00910005 0.12880248
+v -0.04161144 0.08096736 0.10618739
+v -0.03811609 0.11245202 0.07256928
+v 0.14351041 0.11221149 0.07002519
+v 0.00727094 -0.00687207 0.13166109
+v 0.25551494 0.09726809 0.09631410
+v -0.03739564 0.05188453 0.11452418
+v 0.26655278 0.03712250 0.12127824
+v -0.04034832 0.10468750 0.07916016
+v 0.26562278 0.07543040 0.10974967
+f 6 5 1
+f 6 4 5
+f 7 2 1
+f 7 1 5
+f 7 5 4
+f 7 4 3
+f 9 6 1
+f 9 1 2
+f 9 8 6
+f 9 3 8
+f 10 8 3
+f 10 3 4
+f 10 4 6
+f 10 6 8
+f 11 7 3
+f 11 3 9
+f 11 9 2
+f 11 2 7
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_14.obj b/cucumber/cucumber_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..391611fe1a80925ee051852af47ea41b260537f0
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.14471078 -0.13816587 -0.05735487
+v 0.14413215 -0.09862582 -0.10597893
+v -0.18948296 -0.13528394 -0.04214784
+v -0.18602284 -0.08986389 -0.10474550
+v -0.10921849 -0.12029760 -0.10189215
+v 0.14377974 -0.09117513 -0.11199479
+v 0.10634570 -0.11562424 -0.10219748
+v -0.10024909 -0.14781843 -0.04240878
+v -0.18531683 -0.11987753 -0.08603577
+v 0.05755502 -0.09538251 -0.12116521
+v 0.14311224 -0.12536753 -0.07957435
+v -0.11822480 -0.12514203 -0.09552415
+v -0.19915073 -0.12418068 -0.06251296
+v -0.18453748 -0.09845411 -0.10051079
+v -0.18381922 -0.12734144 -0.06689984
+v 0.05503627 -0.09304529 -0.12110726
+v 0.06011180 -0.09523725 -0.12095061
+v 0.14364408 -0.12702215 -0.07668530
+v -0.01434257 -0.12309127 -0.09453052
+v -0.01999261 -0.13747205 -0.06549843
+v 0.06423384 -0.09272213 -0.12013620
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 6 2
+f 8 1 3
+f 10 5 4
+f 10 7 5
+f 11 7 2
+f 12 5 7
+f 12 9 5
+f 12 8 9
+f 13 9 3
+f 13 3 4
+f 13 4 9
+f 14 9 4
+f 14 4 5
+f 14 5 9
+f 15 9 8
+f 15 8 3
+f 15 3 9
+f 16 10 4
+f 17 6 7
+f 17 7 10
+f 17 16 6
+f 17 10 16
+f 18 11 2
+f 18 2 1
+f 18 1 7
+f 18 7 11
+f 19 12 7
+f 19 7 1
+f 19 1 12
+f 20 12 1
+f 20 1 8
+f 20 8 12
+f 21 16 4
+f 21 4 6
+f 21 6 16
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_15.obj b/cucumber/cucumber_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c3fc4cfeb25c347c603b2cf54dfc4b325e690ec
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.32388734 -0.12634953 -0.05856902
+v 0.33591571 -0.11746172 -0.08057251
+v 0.33948792 0.08284821 -0.10526620
+v 0.26716464 0.07714119 -0.10457140
+v 0.14311224 -0.12536753 -0.07957435
+v 0.14039952 0.01152449 -0.12773680
+v 0.14393939 -0.00541726 -0.05914634
+v 0.33845555 -0.12258553 -0.05861534
+v 0.14471078 -0.13816587 -0.05735487
+v 0.34185714 0.07187117 -0.11250165
+v 0.19527761 -0.12512294 -0.08305453
+v 0.32395915 -0.12469888 -0.06874498
+f 7 3 4
+f 7 6 5
+f 7 4 6
+f 8 3 7
+f 9 7 5
+f 9 8 7
+f 9 1 8
+f 10 2 6
+f 10 8 2
+f 10 3 8
+f 10 6 4
+f 10 4 3
+f 11 6 2
+f 11 5 6
+f 11 9 5
+f 12 8 1
+f 12 2 8
+f 12 1 9
+f 12 11 2
+f 12 9 11
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_16.obj b/cucumber/cucumber_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..209727ce20296b11554ce2ddebdae1e737c878ce
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.36487311 -0.12212374 0.03898782
+v 0.38940614 -0.10202139 -0.06272387
+v 0.38512729 -0.08326219 0.09961675
+v 0.14312340 -0.09210488 0.11167053
+v 0.13930332 -0.14606359 -0.02328124
+v 0.21706412 -0.12762845 0.07623844
+v 0.37922176 -0.10730799 0.06568385
+v 0.32388734 -0.12634953 -0.05856902
+v 0.14364408 -0.12702215 -0.07668530
+v 0.27172121 -0.09910058 0.10975789
+v 0.27846442 -0.13877425 0.02794735
+v 0.14230788 -0.14287502 0.05328369
+v 0.38228431 -0.10986588 -0.05359763
+v 0.35940387 -0.10995969 0.07789380
+v 0.13638968 -0.10161822 0.10948248
+v 0.14471078 -0.13816587 -0.05735487
+v 0.27472494 -0.09203639 0.11057581
+v 0.34711893 -0.12391349 -0.03568498
+v 0.26176572 -0.13967139 -0.02433149
+v 0.29304025 -0.12388733 0.06790852
+v 0.37103608 -0.09521332 0.09465718
+v 0.14048149 -0.12948606 0.08057600
+v 0.27978300 -0.13858965 0.00423486
+v 0.36397420 -0.12092421 -0.02464395
+v 0.16014564 -0.14080178 -0.04706532
+v 0.33771756 -0.12336020 0.05655479
+v 0.23064792 -0.13911953 -0.03651037
+f 3 2 4
+f 7 2 3
+f 9 4 2
+f 9 2 8
+f 12 5 11
+f 13 7 1
+f 13 2 7
+f 13 8 2
+f 14 1 7
+f 14 10 6
+f 15 9 5
+f 15 4 9
+f 15 10 4
+f 16 9 8
+f 16 5 9
+f 17 10 3
+f 17 3 4
+f 17 4 10
+f 18 8 13
+f 19 11 5
+f 20 12 11
+f 20 6 12
+f 20 14 6
+f 21 14 7
+f 21 7 3
+f 21 3 10
+f 21 10 14
+f 22 15 5
+f 22 5 12
+f 22 12 6
+f 22 6 10
+f 22 10 15
+f 23 1 11
+f 23 11 19
+f 23 19 8
+f 23 8 18
+f 24 18 13
+f 24 13 1
+f 24 23 18
+f 24 1 23
+f 25 16 8
+f 25 5 16
+f 26 20 11
+f 26 11 1
+f 26 1 14
+f 26 14 20
+f 27 25 8
+f 27 8 19
+f 27 19 5
+f 27 5 25
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_17.obj b/cucumber/cucumber_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc55f5329a4a0286be5caafc10f8e7cb1265ea7c
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.45881780 -0.07766020 0.01682552
+v 0.49041124 -0.02991687 -0.02544259
+v 0.47587409 0.03368525 0.07012494
+v 0.45530961 0.10787868 -0.00150410
+v 0.45479688 -0.01804242 -0.08247402
+v 0.49652225 0.07292772 0.01433921
+v 0.45122894 0.06763547 0.06899417
+v 0.47623371 -0.00775250 0.06513501
+v 0.45279817 -0.07645959 -0.03966206
+v 0.46447523 0.05929973 -0.07723119
+v 0.45365168 0.10580033 -0.05187487
+v 0.48470206 0.07088629 0.03212638
+v 0.47564135 -0.05668552 0.01456559
+v 0.45737011 -0.00317997 0.08877728
+v 0.49497085 0.02924794 0.02144387
+v 0.45954665 -0.05259970 -0.06170532
+v 0.49123070 0.01219204 -0.04144913
+v 0.45165315 -0.05839278 -0.06579930
+v 0.45483339 0.06423910 -0.08207913
+v 0.46709809 0.10168684 -0.00802967
+v 0.47937970 0.05982171 -0.06139220
+v 0.49133133 0.07270210 0.02098398
+v 0.46287369 0.04450626 0.08185509
+v 0.46528477 -0.07119426 0.01701105
+v 0.46317635 -0.00048059 0.08227045
+v 0.49130851 -0.01878507 0.01288059
+v 0.47374880 -0.05250607 -0.03691055
+v 0.47420753 -0.01149490 -0.06337182
+v 0.46077153 0.10077187 -0.04891819
+v 0.49138801 0.01872077 -0.03939957
+v 0.45606960 0.04782451 0.08591914
+v 0.49020248 -0.02940698 0.00047535
+v 0.47508368 -0.03991447 -0.04978963
+v 0.46198376 -0.01666217 -0.07549375
+v 0.47637526 0.07359855 -0.05248039
+f 11 7 4
+f 12 4 7
+f 14 9 1
+f 14 7 9
+f 15 6 3
+f 15 3 8
+f 15 2 6
+f 17 6 2
+f 18 9 7
+f 18 7 11
+f 18 16 9
+f 18 5 16
+f 19 11 10
+f 19 10 5
+f 19 18 11
+f 19 5 18
+f 20 11 4
+f 20 4 6
+f 22 12 6
+f 22 6 4
+f 22 4 12
+f 23 3 6
+f 23 6 12
+f 23 14 3
+f 24 13 8
+f 24 1 9
+f 24 14 1
+f 24 8 14
+f 25 14 8
+f 25 8 3
+f 25 3 14
+f 26 2 15
+f 26 15 8
+f 26 8 13
+f 27 9 16
+f 27 24 9
+f 27 2 13
+f 27 13 24
+f 28 21 17
+f 28 10 21
+f 28 17 2
+f 29 20 6
+f 29 11 20
+f 29 21 10
+f 29 10 11
+f 30 21 6
+f 30 6 17
+f 30 17 21
+f 31 23 12
+f 31 12 7
+f 31 7 14
+f 31 14 23
+f 32 26 13
+f 32 13 2
+f 32 2 26
+f 33 27 16
+f 33 2 27
+f 33 28 2
+f 34 5 10
+f 34 10 28
+f 34 28 33
+f 34 33 16
+f 34 16 5
+f 35 29 6
+f 35 6 21
+f 35 21 29
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_18.obj b/cucumber/cucumber_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..599f8119cf6aa8bb30efa50e4e41b95d12593f75
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.41594120 -0.01297261 0.11532765
+v 0.46472842 -0.00601928 -0.07686049
+v 0.44839804 0.08477319 0.05834727
+v 0.39581778 0.13275456 0.04300842
+v 0.39965807 0.05221157 -0.11506151
+v 0.39677482 0.10228335 0.09324767
+v 0.45126510 0.00045837 0.09701936
+v 0.43187517 -0.00992707 -0.10366425
+v 0.45179197 0.11266395 -0.04007321
+v 0.42112806 0.10017066 0.08178786
+v 0.39819245 -0.00290790 0.12600049
+v 0.44146828 0.05118729 -0.09680550
+v 0.40201948 0.12641299 -0.05121443
+v 0.44839171 0.11390562 -0.00213987
+v 0.44718932 0.03187860 0.10489284
+v 0.39773310 0.02201264 0.12357805
+v 0.39424320 0.07949173 -0.10708409
+v 0.42451520 0.05152538 -0.10577041
+v 0.44854643 0.10242476 -0.06153522
+v 0.42770343 0.12518490 -0.05345531
+v 0.41937791 0.11576057 0.05120761
+v 0.43326075 0.09241375 0.07968436
+v 0.44664938 0.01204239 0.10706198
+v 0.41973256 0.09074129 0.09160596
+v 0.41257924 -0.00040609 0.12263398
+v 0.43704383 0.07261488 -0.08923365
+v 0.43473839 0.10253618 -0.07213574
+v 0.42353863 0.12706083 0.00750025
+v 0.40663994 0.12795929 0.04091302
+v 0.43682453 0.00097872 0.10910738
+v 0.41226524 0.02004261 0.12042920
+v 0.40826916 0.09940349 0.09093071
+v 0.42644771 0.06149223 -0.10086822
+v 0.43286195 0.11607207 -0.05978189
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 9 3 2
+f 10 4 6
+f 11 8 1
+f 11 5 8
+f 12 2 8
+f 14 3 9
+f 15 7 3
+f 16 6 4
+f 17 5 11
+f 17 4 13
+f 17 16 4
+f 17 11 16
+f 18 12 8
+f 18 8 5
+f 18 5 17
+f 19 9 2
+f 19 2 12
+f 20 13 4
+f 20 9 19
+f 20 17 13
+f 22 3 14
+f 22 15 3
+f 22 21 10
+f 22 14 21
+f 23 7 15
+f 24 6 16
+f 24 15 22
+f 24 22 10
+f 25 16 11
+f 25 23 15
+f 25 11 1
+f 26 19 12
+f 27 17 20
+f 27 26 17
+f 27 19 26
+f 28 14 9
+f 28 9 20
+f 28 20 4
+f 29 4 10
+f 29 10 21
+f 29 28 4
+f 29 21 14
+f 29 14 28
+f 30 1 7
+f 30 7 23
+f 30 25 1
+f 30 23 25
+f 31 24 16
+f 31 15 24
+f 31 25 15
+f 31 16 25
+f 32 24 10
+f 32 10 6
+f 32 6 24
+f 33 18 17
+f 33 17 26
+f 33 26 12
+f 33 12 18
+f 34 27 20
+f 34 20 19
+f 34 19 27
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_19.obj b/cucumber/cucumber_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a192513baf0ca07b3d01ed5360d65d9d7b758ee9
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.16072843 -0.14423676 0.01443184
+v -0.16029022 -0.14136812 -0.03650007
+v -0.18869109 -0.09410855 -0.10231189
+v -0.23046575 -0.09106308 -0.09049989
+v -0.23338644 -0.12450593 -0.04129781
+v -0.16480119 -0.13744766 0.02852735
+v -0.18187611 -0.14221487 0.01399343
+v -0.18381922 -0.12734144 -0.06689984
+v -0.24083876 -0.12189710 0.01886076
+v -0.18483964 -0.13715367 -0.03760210
+v -0.18619095 -0.10475057 -0.09544111
+v -0.22713249 -0.10287702 -0.08797184
+v -0.16312398 -0.13735078 -0.04541882
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 6
+f 9 6 3
+f 9 3 4
+f 9 4 5
+f 9 7 6
+f 9 5 7
+f 10 7 5
+f 10 2 7
+f 10 8 2
+f 10 5 8
+f 12 8 5
+f 12 5 4
+f 12 11 8
+f 12 4 3
+f 12 3 11
+f 13 11 3
+f 13 3 2
+f 13 2 8
+f 13 8 11
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_2.obj b/cucumber/cucumber_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7c0b8404d73c7598cebe4da54df290385bf4ad5
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.26484413 -0.13711372 0.03525773
+v 0.26715299 -0.12216896 -0.07612076
+v 0.26515152 -0.00541726 0.01661124
+v -0.15909091 -0.02056878 0.01661124
+v -0.16029022 -0.14136812 -0.03650007
+v 0.00757576 -0.00541726 -0.05914634
+v 0.00757576 -0.00541726 0.01661124
+v 0.14229296 -0.14947242 0.01669504
+v 0.26515152 -0.00541726 -0.05914634
+v -0.15909091 -0.02056878 -0.04399483
+v 0.14471078 -0.13816587 -0.05735487
+v -0.16072843 -0.14423676 0.01443184
+v -0.09848485 -0.02056878 -0.05914634
+v -0.10135525 -0.14395999 -0.05190899
+f 1 2 3
+f 7 1 3
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 8 2 1
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 4 6
+f 11 2 8
+f 12 8 1
+f 12 1 4
+f 12 10 5
+f 12 4 10
+f 13 10 6
+f 13 6 2
+f 14 11 8
+f 14 2 11
+f 14 13 2
+f 14 5 10
+f 14 10 13
+f 14 12 5
+f 14 8 12
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_20.obj b/cucumber/cucumber_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2d6f2123a6a73b871737d4d387387c0db9b0f4b
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.33902940 -0.10890511 -0.08608416
+v 0.40535416 -0.05621133 -0.09713593
+v 0.14310461 -0.12136533 -0.08611667
+v 0.18875061 -0.05013067 -0.12845584
+v 0.31162903 -0.08371273 -0.11978388
+v 0.40039173 -0.07943638 -0.08788494
+v 0.37884632 -0.04565500 -0.12149997
+v 0.31670519 -0.10053417 -0.10502294
+v 0.14579033 -0.08589655 -0.11575494
+v 0.29404580 -0.11666915 -0.08147512
+v 0.39500911 -0.04488099 -0.11160945
+v 0.37581043 -0.05370127 -0.11979474
+v 0.14295675 -0.11551472 -0.09596575
+v 0.14440051 -0.07554819 -0.12040213
+v 0.39028666 -0.07030845 -0.10148552
+v 0.19222841 -0.05449333 -0.12763190
+f 3 2 4
+f 6 2 3
+f 7 5 4
+f 8 6 1
+f 10 6 3
+f 10 1 6
+f 10 8 1
+f 11 7 4
+f 11 4 2
+f 12 5 7
+f 12 8 5
+f 12 7 11
+f 13 5 8
+f 13 9 5
+f 13 10 3
+f 13 8 10
+f 14 3 4
+f 14 5 9
+f 14 13 3
+f 14 9 13
+f 15 11 2
+f 15 2 6
+f 15 12 11
+f 15 6 8
+f 15 8 12
+f 16 14 4
+f 16 4 5
+f 16 5 14
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_21.obj b/cucumber/cucumber_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51ae5e7f0f826ecc5f26b78f306729af159a5f4c
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.39635499 -0.08638983 0.08639614
+v 0.41620735 -0.06546063 0.09172308
+v 0.29645793 -0.02017173 0.13576283
+v 0.26308252 0.08067419 0.10552088
+v 0.40452655 0.07378016 0.10104198
+v 0.26709874 -0.10819567 0.09662822
+v 0.38232888 -0.04609254 0.12367742
+v 0.41169468 -0.07534946 0.08618405
+v 0.33309700 0.01483835 0.13664916
+v 0.26624178 -0.07554000 0.12237003
+v 0.39394022 -0.08051783 0.09916621
+v 0.39819245 -0.00290790 0.12600049
+v 0.26396591 0.06788419 0.11467545
+v 0.35166332 -0.01498389 0.13306390
+v 0.26575084 -0.09334924 0.11212724
+v 0.40437607 -0.07366246 0.09662626
+v 0.41023349 -0.06227236 0.09801980
+v 0.39220250 0.04648539 0.11829237
+v 0.39614734 0.06392958 0.10882796
+v 0.29727201 0.00407947 0.13398951
+v 0.26655278 0.03712250 0.12127824
+v 0.35333699 0.00597881 0.13357254
+v 0.33483636 -0.08498512 0.10676473
+v 0.38695241 -0.07485333 0.10627170
+v 0.31751740 0.01972880 0.13396368
+f 6 4 1
+f 8 5 2
+f 8 1 4
+f 8 4 5
+f 10 7 3
+f 11 1 8
+f 11 6 1
+f 12 2 5
+f 13 4 10
+f 14 9 3
+f 14 3 7
+f 14 7 12
+f 15 10 4
+f 15 4 6
+f 15 7 10
+f 16 11 8
+f 16 8 2
+f 17 12 7
+f 17 2 12
+f 17 16 2
+f 17 7 16
+f 18 12 5
+f 18 9 12
+f 18 13 9
+f 19 5 4
+f 19 4 13
+f 19 18 5
+f 19 13 18
+f 20 3 9
+f 21 13 10
+f 21 10 3
+f 21 20 13
+f 21 3 20
+f 22 14 12
+f 22 12 9
+f 22 9 14
+f 23 15 6
+f 23 6 11
+f 24 16 7
+f 24 11 16
+f 24 23 11
+f 24 7 15
+f 24 15 23
+f 25 20 9
+f 25 9 13
+f 25 13 20
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_22.obj b/cucumber/cucumber_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e445f7983e8b80bcd6296c67b1f0305be17339a
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.41594120 -0.01297261 0.11532765
+v 0.40151516 -0.00541726 0.01661124
+v 0.41623566 0.12563709 0.02116992
+v 0.26595453 0.14315855 0.01911246
+v 0.26515152 -0.00541726 0.01661124
+v 0.40403722 0.10778001 0.08139779
+v 0.26705710 0.00517753 0.12993525
+v 0.26259762 0.11018354 0.08241499
+v 0.40452655 0.07378016 0.10104198
+v 0.26308252 0.08067419 0.10552088
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 5 4 2
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 8 4 5
+f 8 6 4
+f 9 7 1
+f 9 1 6
+f 10 8 5
+f 10 5 7
+f 10 7 9
+f 10 9 6
+f 10 6 8
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_23.obj b/cucumber/cucumber_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d6a641f9bd992ac9c8618a0380a977a89592307
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.39358299 0.04830785 -0.11986288
+v 0.41578470 0.07120287 -0.09887713
+v 0.26544839 0.05315807 -0.11551148
+v 0.26800282 0.12685188 -0.05523169
+v 0.38070462 0.09429806 -0.10610361
+v 0.40165180 0.12411255 -0.05544449
+v 0.38956726 0.08875649 -0.10483157
+v 0.28491657 0.04642423 -0.12307184
+v 0.26845461 0.09894112 -0.09530063
+v 0.31291484 0.11412781 -0.08356426
+v 0.39587353 0.11372873 -0.07843870
+v 0.28863467 0.06914210 -0.11646859
+v 0.26095321 0.07916624 -0.10502404
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 1 3
+f 10 4 6
+f 10 9 4
+f 10 5 9
+f 11 6 2
+f 11 2 7
+f 11 7 5
+f 11 10 6
+f 11 5 10
+f 12 5 1
+f 12 1 8
+f 12 9 5
+f 12 8 3
+f 13 3 4
+f 13 4 9
+f 13 12 3
+f 13 9 12
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_24.obj b/cucumber/cucumber_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11fcef70c7f24a5f9035820f315cf5227136fa38
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.34453422 -0.06788463 -0.11383412
+v 0.34185714 0.07187117 -0.11250165
+v 0.21838819 0.07477230 -0.09937212
+v 0.21264205 -0.05944778 -0.12577632
+v 0.34517812 0.03487562 -0.13294902
+v 0.33936362 -0.02567547 -0.13629129
+v 0.24570927 0.02912831 -0.13081527
+v 0.22432114 0.05118858 -0.11844792
+v 0.23631658 -0.02058840 -0.13341133
+v 0.26589227 0.07701948 -0.10468660
+v 0.22126985 -0.04919868 -0.12863354
+v 0.22477019 0.06133732 -0.11278214
+v 0.26211767 0.06640907 -0.11179401
+f 1 2 3
+f 4 1 3
+f 5 2 1
+f 6 1 4
+f 6 5 1
+f 7 5 6
+f 8 4 3
+f 8 2 5
+f 8 5 7
+f 9 7 6
+f 9 8 7
+f 9 4 8
+f 10 3 2
+f 11 9 6
+f 11 6 4
+f 11 4 9
+f 12 8 3
+f 12 3 10
+f 13 12 10
+f 13 10 2
+f 13 2 8
+f 13 8 12
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_25.obj b/cucumber/cucumber_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..436d584bfb5adaa5298bda9c5a799a4d3548094d
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.39614734 0.06392958 0.10882796
+v 0.40635850 0.08162210 0.09651842
+v 0.32244112 0.11887081 0.09069620
+v 0.21982382 0.12294253 0.06955674
+v 0.39517669 0.11750926 0.06902882
+v 0.26396591 0.06788419 0.11467545
+v 0.36439181 0.08783624 0.10850458
+v 0.35356039 0.11967846 0.08667312
+v 0.22305785 0.10151890 0.09319976
+v 0.21361678 0.09620942 0.09098574
+v 0.39677482 0.10228335 0.09324767
+v 0.26467718 0.09599808 0.10103100
+v 0.22152621 0.11387670 0.08074382
+v 0.22057123 0.08419850 0.10300968
+v 0.39504116 0.11137408 0.08056040
+f 5 2 1
+f 5 1 4
+f 7 6 1
+f 8 5 4
+f 8 4 3
+f 8 3 7
+f 10 4 1
+f 10 1 6
+f 11 7 1
+f 11 1 2
+f 11 8 7
+f 11 2 5
+f 12 7 3
+f 12 6 7
+f 12 3 9
+f 13 9 3
+f 13 3 4
+f 13 10 9
+f 13 4 10
+f 14 10 6
+f 14 9 10
+f 14 12 9
+f 14 6 12
+f 15 11 5
+f 15 5 8
+f 15 8 11
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_26.obj b/cucumber/cucumber_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..798e5b9d9a00056c958014fa971a187166e05c4d
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.09803356 -0.13818985 -0.06113630
+v -0.09669809 -0.09351537 -0.11577602
+v -0.09848485 -0.02056878 -0.04399483
+v -0.23484849 -0.02056878 -0.04399483
+v -0.23761758 -0.10140236 -0.07718609
+v -0.09838862 0.00217001 -0.12465048
+v -0.24334438 -0.11242723 -0.05469831
+v -0.09646576 -0.07677457 -0.12093331
+v -0.14152601 -0.09069707 -0.11658207
+v -0.23053974 -0.01787868 -0.11799091
+v -0.12019697 -0.08765795 -0.11935943
+v -0.22818684 -0.04568903 -0.12013054
+v -0.21518152 -0.08497657 -0.10084249
+v -0.09806318 -0.02074881 -0.13086978
+v -0.23046575 -0.09106308 -0.09049989
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 9 2 1
+f 9 1 5
+f 10 4 6
+f 10 7 4
+f 10 5 7
+f 11 8 2
+f 11 2 9
+f 12 5 10
+f 12 11 9
+f 13 12 9
+f 14 8 11
+f 14 11 12
+f 14 6 8
+f 14 12 10
+f 14 10 6
+f 15 13 9
+f 15 9 5
+f 15 5 12
+f 15 12 13
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_27.obj b/cucumber/cucumber_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b4a68d57220f86493759fe9161e07842e3a35a4
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.40403722 0.10778001 0.08139779
+v 0.40311124 0.11792815 -0.06744788
+v 0.36895098 0.14251102 0.01386503
+v 0.28435306 0.14344682 0.03973919
+v 0.26321787 0.11110436 -0.06899340
+v 0.36625183 0.12742089 0.06835729
+v 0.40009350 0.13089303 -0.03883714
+v 0.26259762 0.11018354 0.08241499
+v 0.39448506 0.12907502 0.05211776
+v 0.32611143 0.14399789 0.04329106
+v 0.35074479 0.14499272 -0.03863579
+v 0.25735800 0.12837789 0.06965254
+v 0.37495439 0.14249628 -0.02295764
+v 0.35409296 0.14384418 0.03070503
+v 0.40165180 0.12411255 -0.05544449
+v 0.27303881 0.13218182 -0.05333436
+v 0.27277628 0.14527483 -0.02512542
+v 0.33716203 0.14367144 -0.03932545
+v 0.26987529 0.14418256 0.00365211
+f 5 2 1
+f 7 1 2
+f 8 5 1
+f 8 1 6
+f 9 6 1
+f 9 1 7
+f 10 6 9
+f 12 5 8
+f 12 10 4
+f 12 8 6
+f 12 6 10
+f 13 9 7
+f 13 3 9
+f 13 7 11
+f 14 10 9
+f 14 9 3
+f 14 11 10
+f 14 13 11
+f 14 3 13
+f 15 11 7
+f 15 7 2
+f 15 2 11
+f 16 11 2
+f 16 2 5
+f 17 4 10
+f 17 10 11
+f 17 16 5
+f 17 5 12
+f 18 17 11
+f 18 11 16
+f 18 16 17
+f 19 17 12
+f 19 12 4
+f 19 4 17
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_28.obj b/cucumber/cucumber_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11a350ff4c55e13fed200f9271eac0defe2541f2
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.09848485 -0.02056878 0.01661124
+v -0.09806318 -0.02074881 -0.13086978
+v -0.09848485 0.04003728 0.01661124
+v -0.23484849 0.04003728 0.01661124
+v -0.23484849 -0.02056878 0.01661124
+v -0.09775446 0.03681100 -0.10810868
+v -0.23053974 -0.01787868 -0.11799091
+v -0.23343660 0.03505120 -0.10567438
+v -0.14983155 0.03063730 -0.11794685
+v -0.09813817 0.01620556 -0.11805755
+v -0.22804184 0.01367663 -0.11755673
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 2 5
+f 8 7 5
+f 8 5 4
+f 8 4 6
+f 9 8 6
+f 10 9 6
+f 10 6 2
+f 10 2 9
+f 11 9 2
+f 11 2 7
+f 11 7 8
+f 11 8 9
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_29.obj b/cucumber/cucumber_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d48bbce1b55811deb1769634fd5b3022933ee445
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.26484413 -0.13711372 0.03525773
+v 0.40181735 -0.09682471 -0.05961064
+v 0.41623566 0.12563709 0.02116992
+v 0.26595453 0.14315855 0.01911246
+v 0.26715299 -0.12216896 -0.07612076
+v 0.40311124 0.11792815 -0.06744788
+v 0.41074903 -0.11125353 0.01036278
+v 0.26321787 0.11110436 -0.06899340
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 6 2 5
+f 7 2 3
+f 7 3 1
+f 7 5 2
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 6 5
+f 8 4 6
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_3.obj b/cucumber/cucumber_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e5bee7f98647a751ad86abfd328726f30b12ce1
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.39418051 -0.11894407 0.01102121
+v 0.38410151 -0.09139836 0.08803500
+v -0.10423442 -0.14491153 0.01768432
+v -0.08919652 -0.01491301 0.13406020
+v 0.38636364 -0.00541726 0.01661124
+v -0.09800377 -0.11173584 0.10574546
+v 0.26575084 -0.09334924 0.11212724
+v 0.39344758 -0.01756303 0.12217059
+v -0.09848485 -0.02056878 0.01661124
+v 0.09418044 -0.08324148 0.12220096
+v 0.00727094 -0.00687207 0.13166109
+v 0.26624178 -0.07554000 0.12237003
+v 0.00757576 -0.00541726 0.01661124
+v 0.00784308 -0.08966124 0.11980296
+v 0.20751076 -0.00972214 0.13570487
+v 0.23236527 -0.01968281 0.13686813
+v 0.23340476 -0.01185366 0.13667679
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 8 2 1
+f 8 1 5
+f 9 1 3
+f 9 6 4
+f 9 3 6
+f 12 7 2
+f 12 2 8
+f 12 10 7
+f 13 5 1
+f 13 1 9
+f 13 11 5
+f 13 9 4
+f 13 4 11
+f 14 10 4
+f 14 4 6
+f 14 6 7
+f 14 7 10
+f 15 8 5
+f 15 5 11
+f 15 11 4
+f 16 12 8
+f 16 10 12
+f 16 4 10
+f 17 16 8
+f 17 8 15
+f 17 15 4
+f 17 4 16
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_30.obj b/cucumber/cucumber_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc28b2837a7b40133b50bbffc4feced0b0159d2e
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.10423442 -0.14491153 0.01768432
+v -0.09800377 -0.11173584 0.10574546
+v -0.16455439 -0.11179733 0.09867698
+v -0.15820515 0.12038124 0.00131473
+v -0.09876325 0.12541707 0.01295192
+v -0.16480119 -0.13744766 0.02852735
+v -0.16051952 0.07751588 0.10439162
+v -0.09402957 0.07671252 0.10684236
+f 1 2 3
+f 5 2 1
+f 5 1 4
+f 6 1 3
+f 6 4 1
+f 7 3 2
+f 7 5 4
+f 7 6 3
+f 7 4 6
+f 8 7 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_31.obj b/cucumber/cucumber_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ce057199840bcea1fcadf7071bea9a6225ae2fd
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.23484849 -0.02056878 0.01661124
+v -0.23484849 -0.02056878 -0.04399483
+v -0.24076205 0.06505990 -0.07782382
+v -0.36479562 0.02957431 0.01522237
+v -0.35005438 -0.01995134 0.01516073
+v -0.23484849 0.04003728 0.01661124
+v -0.33961046 -0.01867418 -0.03655526
+v -0.36613436 0.01830118 -0.02997973
+v -0.32896466 0.03426179 -0.03815463
+v -0.33696060 0.03403967 -0.02324373
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 2 5
+f 8 7 5
+f 8 5 4
+f 8 3 7
+f 9 3 8
+f 10 9 8
+f 10 8 4
+f 10 4 3
+f 10 3 9
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_4.obj b/cucumber/cucumber_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c66f824b928d63d3a4d15ff462ac17fbd507c045
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00931701 -0.01472766 0.13290207
+v 0.14393939 -0.00541726 -0.05914634
+v 0.15255282 0.12057665 0.06409177
+v -0.06706103 0.13112462 0.03819618
+v -0.09848485 -0.02056878 -0.05914634
+v 0.14422413 0.12232754 -0.04571170
+v -0.10146409 0.07864338 0.10762146
+v 0.13897001 0.01435745 0.12332366
+v 0.00757576 -0.02056878 -0.05914634
+v 0.15211968 0.13389239 0.03854522
+v -0.09869082 0.10782260 -0.04723478
+v -0.09351428 0.11634432 0.06916012
+v -0.08919652 -0.01491301 0.13406020
+v -0.04161144 0.08096736 0.10618739
+v -0.03451313 0.12931557 -0.00027756
+v 0.11534712 0.11043762 -0.05371423
+v -0.09739138 0.11649349 -0.04096086
+v -0.09867313 0.05145839 0.11525350
+v 0.10486687 0.13026305 0.00670360
+f 8 1 2
+f 8 2 3
+f 9 5 2
+f 9 2 1
+f 10 3 2
+f 10 2 6
+f 11 5 7
+f 12 10 4
+f 12 3 10
+f 13 8 7
+f 13 1 8
+f 13 9 1
+f 13 5 9
+f 14 8 3
+f 14 7 8
+f 14 12 7
+f 14 3 12
+f 15 4 10
+f 16 6 2
+f 16 2 5
+f 16 5 11
+f 17 11 7
+f 17 7 12
+f 17 12 4
+f 17 4 15
+f 17 15 6
+f 17 16 11
+f 17 6 16
+f 18 13 7
+f 18 7 5
+f 18 5 13
+f 19 15 10
+f 19 10 6
+f 19 6 15
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_5.obj b/cucumber/cucumber_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb8eb7c41267e536753a95e76ed7369d5cd129f2
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.14364408 -0.12702215 -0.07668530
+v 0.22126985 -0.04919868 -0.12863354
+v 0.14464415 0.11221132 -0.05128369
+v -0.06721772 0.10277656 -0.05041375
+v -0.09297093 -0.04409482 -0.13410215
+v -0.09594373 -0.13265460 -0.07418606
+v 0.19052672 -0.09710198 -0.10625384
+v 0.14765602 0.03011948 -0.12013097
+v -0.09851322 0.09706877 -0.05632427
+v 0.18746437 -0.07581341 -0.12577740
+v -0.09289031 -0.09228912 -0.11922986
+v 0.21987236 -0.00521776 -0.13213274
+v -0.09813817 0.01620556 -0.11805755
+v -0.06404343 0.09780521 -0.05830337
+v 0.14723217 -0.05284339 -0.13368671
+v 0.21264205 -0.05944778 -0.12577632
+v 0.14263104 0.06443666 -0.10243955
+v -0.09656873 -0.02148569 -0.13105607
+v 0.19856904 -0.00938041 -0.13493548
+v -0.05025503 0.06822172 -0.09208496
+v -0.06040778 0.03353708 -0.11535831
+v -0.07583902 -0.00828950 -0.13491634
+v -0.09815061 0.08979741 -0.06542575
+v 0.08174843 0.00366248 -0.13474744
+v -0.02981934 0.05413718 -0.10556147
+v -0.09557026 0.04974573 -0.10467350
+f 6 1 3
+f 6 3 4
+f 7 2 3
+f 7 3 1
+f 9 6 4
+f 11 7 1
+f 11 1 6
+f 11 10 7
+f 12 3 2
+f 13 6 9
+f 14 9 4
+f 14 4 3
+f 15 2 10
+f 15 11 5
+f 15 10 11
+f 16 10 2
+f 16 2 7
+f 16 7 10
+f 17 12 8
+f 17 3 12
+f 18 11 6
+f 18 6 13
+f 18 5 11
+f 19 12 2
+f 19 2 15
+f 19 15 5
+f 20 14 3
+f 20 3 17
+f 22 19 5
+f 22 5 18
+f 22 18 13
+f 23 9 14
+f 23 14 20
+f 23 13 9
+f 24 17 8
+f 24 22 21
+f 24 19 22
+f 24 8 12
+f 24 12 19
+f 25 20 17
+f 25 24 21
+f 25 17 24
+f 26 22 13
+f 26 21 22
+f 26 13 23
+f 26 23 20
+f 26 25 21
+f 26 20 25
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_6.obj b/cucumber/cucumber_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2d8357f02c1421943f807e147faab55c71a7841
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.11638947 0.03491412 0.12444212
+v -0.09775446 0.03681100 -0.10810868
+v -0.09351428 0.11634432 0.06916012
+v -0.20157401 0.11366288 0.05604728
+v -0.29916485 0.05045004 -0.05779930
+v -0.09739138 0.11649349 -0.04096086
+v -0.21810795 0.08580175 0.09310367
+v -0.09835482 0.03932811 0.12138146
+v -0.23343660 0.03505120 -0.10567438
+v -0.09557026 0.04974573 -0.10467350
+v -0.21800008 0.11505491 0.00297630
+v -0.11037408 0.10228071 0.09235246
+v -0.27613642 0.03687913 0.10008341
+v -0.14321991 0.03405474 0.12507705
+v -0.17657393 0.07179583 -0.08906846
+v -0.11668831 0.11240667 0.07327586
+v -0.20315937 0.09666689 0.08371907
+v -0.10146409 0.07864338 0.10762146
+v -0.26856006 0.10138710 0.02318771
+v -0.24639704 0.03456678 0.11084894
+v -0.22976477 0.04554971 -0.10245281
+v -0.13182956 0.08403988 -0.07596916
+v -0.23176614 0.08888038 -0.06482408
+v -0.24182305 0.10270772 0.06205587
+v -0.10253184 0.10151931 0.09189071
+v -0.17253008 0.07594586 0.10371037
+v -0.27097920 0.07645927 0.08136007
+v -0.21629047 0.11401457 0.02915419
+v -0.12137294 0.10014620 -0.05931404
+v -0.18647605 0.11264670 -0.02236335
+v -0.27708499 0.08987713 -0.03794155
+v -0.14242892 0.04708039 0.11966757
+v -0.27136356 0.08237816 0.06456156
+v -0.27710509 0.04360012 0.09688485
+v -0.13807996 0.09921601 -0.05973692
+v -0.27006024 0.09848889 -0.00797936
+v -0.26109439 0.09492182 -0.03531586
+f 8 1 2
+f 10 6 3
+f 10 2 9
+f 10 8 2
+f 10 3 8
+f 11 4 3
+f 11 3 6
+f 13 5 9
+f 14 9 2
+f 14 2 1
+f 16 12 3
+f 16 3 4
+f 16 4 12
+f 17 12 4
+f 17 7 12
+f 18 8 3
+f 18 1 8
+f 18 14 1
+f 20 13 9
+f 20 9 14
+f 21 15 10
+f 21 10 9
+f 21 9 5
+f 22 6 10
+f 22 10 15
+f 23 15 21
+f 24 17 4
+f 24 7 17
+f 25 18 3
+f 25 3 12
+f 25 12 18
+f 26 18 12
+f 26 12 7
+f 26 20 14
+f 26 7 20
+f 27 24 19
+f 27 7 24
+f 28 4 11
+f 28 11 19
+f 28 24 4
+f 28 19 24
+f 29 22 15
+f 29 6 22
+f 30 11 6
+f 30 6 23
+f 31 5 19
+f 31 23 21
+f 31 21 5
+f 32 26 14
+f 32 14 18
+f 32 18 26
+f 33 27 19
+f 33 19 5
+f 33 5 27
+f 34 27 5
+f 34 5 13
+f 34 13 20
+f 34 20 7
+f 34 7 27
+f 35 23 6
+f 35 6 29
+f 35 29 15
+f 35 15 23
+f 36 31 19
+f 36 19 11
+f 37 30 23
+f 37 23 31
+f 37 11 30
+f 37 36 11
+f 37 31 36
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_7.obj b/cucumber/cucumber_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a929c73863a299f2509927c44ca3063479465b84
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.26760217 0.00910005 0.12880248
+v 0.27500385 0.00126078 -0.13364687
+v 0.26987529 0.14418256 0.00365211
+v 0.15211968 0.13389239 0.03854522
+v 0.14389683 -0.00585545 -0.13288327
+v 0.25735800 0.12837789 0.06965254
+v 0.27303881 0.13218182 -0.05333436
+v 0.19856904 -0.00938041 -0.13493548
+v 0.13897001 0.01435745 0.12332366
+v 0.26852848 0.14265692 0.02872174
+v 0.26095321 0.07916624 -0.10502404
+v 0.14422413 0.12232754 -0.04571170
+v 0.20480020 0.00765110 -0.13188619
+v 0.14280139 0.07806010 0.09999939
+v 0.24228706 0.14581657 0.03177487
+v 0.26211767 0.06640907 -0.11179401
+v 0.24498343 0.14659863 -0.01917020
+v 0.14263104 0.06443666 -0.10243955
+v 0.17969923 0.07476279 -0.10340001
+v 0.18521357 0.13083668 0.06194957
+v 0.14621449 0.12957573 0.00087598
+v 0.22432776 0.09615573 0.09868718
+v 0.17486553 0.04805191 -0.11999943
+v 0.18691721 0.10230601 -0.07556216
+v 0.15255282 0.12057665 0.06409177
+v 0.14492507 0.10255003 0.08099709
+v 0.23096337 0.14423155 -0.01790722
+v 0.22432114 0.05118858 -0.11844792
+v 0.15984369 0.00291172 -0.13149164
+v 0.14765602 0.03011948 -0.12013097
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 9 8 1
+f 9 5 8
+f 10 6 1
+f 10 1 3
+f 13 8 5
+f 13 2 8
+f 14 12 9
+f 15 10 3
+f 15 6 10
+f 16 11 7
+f 16 7 2
+f 17 3 7
+f 17 7 12
+f 17 15 3
+f 17 4 15
+f 18 5 9
+f 18 9 12
+f 19 7 11
+f 19 18 12
+f 20 15 4
+f 20 6 15
+f 22 14 9
+f 22 9 1
+f 22 1 6
+f 22 6 20
+f 23 2 13
+f 23 18 19
+f 23 19 11
+f 23 11 16
+f 24 19 12
+f 24 12 7
+f 24 7 19
+f 25 20 4
+f 26 4 21
+f 26 25 4
+f 26 20 25
+f 26 22 20
+f 26 14 22
+f 26 21 12
+f 26 12 14
+f 27 17 12
+f 27 12 21
+f 27 21 4
+f 27 4 17
+f 28 23 16
+f 28 16 2
+f 28 2 23
+f 29 23 13
+f 29 13 5
+f 29 5 23
+f 30 23 5
+f 30 5 18
+f 30 18 23
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_8.obj b/cucumber/cucumber_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..317370fb3ce4e51ea436452daabffd7c8a1a0480
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.33845555 -0.12258553 -0.05861534
+v 0.45527159 -0.04898869 -0.06637213
+v 0.45657665 0.08073180 -0.06840559
+v 0.33948792 0.08284821 -0.10526620
+v 0.33936362 -0.02567547 -0.13629129
+v 0.39843927 -0.10534163 -0.05274462
+v 0.33591571 -0.11746172 -0.08057251
+v 0.41345692 -0.00743005 -0.11780380
+v 0.33768612 -0.00960261 -0.13486137
+v 0.37479084 -0.08470637 -0.10294934
+v 0.44818304 -0.01678404 -0.08971604
+v 0.41034044 0.04688030 -0.11445041
+v 0.33786518 -0.08574654 -0.10684113
+v 0.44289763 -0.06994780 -0.06758485
+v 0.38664472 -0.09651326 -0.07773077
+v 0.40288324 -0.03059278 -0.11678909
+v 0.41578470 0.07120287 -0.09887713
+v 0.43818526 0.04968768 -0.09930244
+v 0.34006611 0.04891705 -0.12316968
+v 0.43859074 -0.06927698 -0.07131906
+v 0.42762943 -0.01363608 -0.10905005
+v 0.44627978 0.08512708 -0.07347306
+v 0.44906276 0.06213041 -0.08790962
+v 0.45160364 0.07538826 -0.07657052
+v 0.44136136 0.07912084 -0.08138004
+f 1 3 4
+f 6 2 3
+f 6 3 1
+f 7 1 4
+f 7 6 1
+f 9 7 4
+f 11 3 2
+f 12 8 5
+f 12 5 9
+f 13 9 5
+f 13 7 9
+f 13 10 7
+f 13 5 10
+f 14 2 6
+f 14 11 2
+f 15 6 7
+f 15 7 10
+f 15 14 6
+f 15 10 14
+f 16 10 5
+f 16 5 8
+f 17 12 4
+f 18 8 12
+f 19 12 9
+f 19 9 4
+f 19 4 12
+f 20 14 10
+f 20 10 16
+f 21 16 8
+f 21 20 16
+f 21 11 14
+f 21 14 20
+f 21 18 11
+f 21 8 18
+f 22 17 4
+f 22 4 3
+f 23 3 11
+f 23 11 18
+f 23 18 12
+f 23 12 17
+f 24 22 3
+f 24 3 23
+f 25 23 17
+f 25 17 22
+f 25 24 23
+f 25 22 24
\ No newline at end of file
diff --git a/cucumber/cucumber_0/collision/model_normalized_collision_9.obj b/cucumber/cucumber_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..213a43782e87dbe39c8543260586ac88ef41851c
--- /dev/null
+++ b/cucumber/cucumber_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.14230788 -0.14287502 0.05328369
+v 0.14884596 -0.14792432 0.01821766
+v 0.14312340 -0.09210488 0.11167053
+v -0.23548770 -0.09768387 0.09353992
+v -0.18187611 -0.14221487 0.01399343
+v 0.00757728 -0.11281310 0.11021211
+v 0.14048149 -0.12948606 0.08057600
+v -0.12476315 -0.14132395 0.05357429
+v -0.24083876 -0.12189710 0.01886076
+v 0.00768514 -0.09594962 0.11855446
+v 0.13638968 -0.10161822 0.10948248
+v 0.14229296 -0.14947242 0.01669504
+v 0.04933244 -0.14069227 0.07015041
+v -0.15540183 -0.12340870 0.08220776
+v -0.23048107 -0.12493429 0.01453434
+v -0.21271753 -0.12514999 0.06810724
+v 0.07280305 -0.12894096 0.09108106
+v -0.00214721 -0.14182381 0.06431012
+v -0.23217728 -0.12445533 0.04401250
+v -0.23141155 -0.11157370 0.08123299
+f 7 1 2
+f 7 2 3
+f 9 4 3
+f 10 3 4
+f 10 4 6
+f 11 7 3
+f 11 10 6
+f 11 3 10
+f 12 8 5
+f 12 2 1
+f 13 12 1
+f 14 6 4
+f 15 9 3
+f 15 3 2
+f 15 2 12
+f 15 12 5
+f 15 5 9
+f 16 5 8
+f 16 8 14
+f 17 11 6
+f 17 7 11
+f 17 6 14
+f 17 13 1
+f 17 1 7
+f 18 8 12
+f 18 12 13
+f 18 14 8
+f 18 17 14
+f 18 13 17
+f 19 9 5
+f 19 5 16
+f 20 16 14
+f 20 14 4
+f 20 19 16
+f 20 4 9
+f 20 9 19
\ No newline at end of file
diff --git a/cucumber/cucumber_0/model.xml b/cucumber/cucumber_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f103f139f65c0c27899e30c7405cfb7291ff7988
--- /dev/null
+++ b/cucumber/cucumber_0/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="cucumber_7">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="material.001" texture="image0" specular="0.5" shininess="0.008385636"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="material.001"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0002442721499999989 0.00020366595000000237 -0.0231695193" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0002442721499999989 0.00020366595000000237 0.023267582100000003" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0249217671 0.0848161144 4.903139999999958e-05" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/cucumber/cucumber_0/visual/image0.png b/cucumber/cucumber_0/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d640769e3898f5bac31389b117f4093b5fcfab74
--- /dev/null
+++ b/cucumber/cucumber_0/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1531e69fd01100ec13e9499e097d47b60cb8f3a9c4ab49a95ece76ecdae9361
+size 1167987
diff --git a/cucumber/cucumber_0/visual/material.mtl b/cucumber/cucumber_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f20b20458d9666a56141535cfb7dcccae3196d67
--- /dev/null
+++ b/cucumber/cucumber_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 8.38563600
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/cucumber/cucumber_0/visual/material_0.jpeg b/cucumber/cucumber_0/visual/material_0.jpeg
new file mode 100644
index 0000000000000000000000000000000000000000..de71eded7ab4d2aa87bcd44b7b780c77af30f88c
--- /dev/null
+++ b/cucumber/cucumber_0/visual/material_0.jpeg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d3f1aa9db137bd17f5f51c7faa5482c1161c40b1eea259d868ea3f4d7f89eee
+size 120032
diff --git a/cucumber/cucumber_0/visual/model_normalized_0.obj b/cucumber/cucumber_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a0e2bfdaddedaa0dc539823e5f81d59e4dd2aff
--- /dev/null
+++ b/cucumber/cucumber_0/visual/model_normalized_0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63b6cc5a4113fc5301d641586b83e86b737ebe8322b590f74e47ff00b0af788d
+size 11188850
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_0.obj b/cucumber/cucumber_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..531b4f737394c24df22c39c6bbc11d5b63a985ca
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00233494 -0.12452767 0.00742790
+v 0.10876051 -0.08519933 -0.41634567
+v 0.09707961 -0.10260691 -0.23738380
+v 0.07166740 -0.07908786 0.00592303
+v -0.03228106 -0.09287574 -0.42080289
+v 0.11160104 -0.08752740 -0.23477481
+v 0.02426137 -0.11401345 0.00478865
+v 0.05933223 -0.11247236 -0.39787759
+v 0.09903898 -0.09873462 -0.39796112
+v 0.08660374 -0.08144901 -0.09983852
+v 0.07181120 -0.11282723 -0.20624136
+v 0.06584756 -0.08489828 0.00543866
+v 0.08742465 -0.10108893 -0.41140942
+v -0.02329003 -0.11706845 -0.35335338
+v 0.01879216 -0.11617916 0.01076207
+v 0.08567074 -0.11278002 -0.34047616
+v -0.02249615 -0.10171349 -0.41208593
+v 0.10275583 -0.09186480 -0.41310621
+v -0.04069469 -0.10907448 -0.36075326
+v 0.08701800 -0.11216972 -0.27983365
+v 0.07451072 -0.11294156 -0.38279207
+v -0.00725223 -0.11119312 -0.39802993
+v -0.02049265 -0.11176269 -0.38154243
+f 5 1 4
+f 5 4 2
+f 6 4 3
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+f 9 2 6
+f 10 6 2
+f 10 2 4
+f 10 4 6
+f 11 3 7
+f 12 7 3
+f 12 3 4
+f 13 5 2
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+f 15 1 11
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+f 15 4 1
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+f 20 9 3
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+f 21 14 8
+f 21 16 1
+f 21 1 14
+f 22 17 8
+f 22 8 14
+f 23 19 17
+f 23 17 22
+f 23 22 14
+f 23 14 19
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_1.obj b/cucumber/cucumber_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d768b202ed0e6d44831f516df32e355783022c21
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.02707825 -0.08558965 0.39725366
+v -0.02739713 -0.09801087 0.26522716
+v -0.02428727 0.12879691 0.34240943
+v -0.02729156 0.12358330 0.40583417
+v -0.14859927 0.03286279 0.26473805
+v -0.13491675 -0.04853043 0.26370896
+v -0.13056445 0.00698221 0.38046303
+v -0.02704540 0.06570278 0.26515177
+v -0.09651531 0.10634294 0.34282608
+v -0.09267406 -0.08315472 0.29368394
+v -0.10469602 0.08216868 0.40196138
+v -0.14671226 -0.00726610 0.29246579
+v -0.12092748 0.08957007 0.27012163
+v -0.14684714 -0.01971545 0.26250380
+v -0.09502894 -0.08491364 0.26345548
+v -0.07938644 -0.08236715 0.33873875
+v -0.09077942 -0.05946072 0.39679553
+v -0.08984270 0.09813074 0.40251127
+v -0.13087792 0.04425815 0.36757556
+v -0.11841292 -0.03259631 0.38293641
+v -0.14353722 0.04878303 0.26476396
+v -0.13110578 -0.04510613 0.30707900
+v -0.10405114 -0.06787562 0.33489138
+v -0.03934104 -0.08364087 0.39949373
+v -0.13065115 0.03266337 0.38023485
+v -0.12962692 -0.01822117 0.36440492
+v -0.14672725 0.03145107 0.29135205
+v -0.14533889 -0.02010711 0.27877400
+v -0.11544815 -0.05748374 0.33447112
+v -0.07589623 -0.07344568 0.39507234
+v -0.11632820 -0.04321939 0.36669681
+v -0.10322175 -0.05367651 0.38050024
+v -0.06671057 -0.08156148 0.36639527
+f 1 2 3
+f 1 3 4
+f 8 3 2
+f 9 4 3
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+f 32 31 29
+f 32 17 20
+f 32 20 31
+f 32 30 17
+f 32 23 30
+f 33 30 16
+f 33 16 24
+f 33 24 30
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_10.obj b/cucumber/cucumber_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36aca4888cb0e1ba9e2c63ef4f2ef38c7299ea77
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.02328154 -0.09743981 0.26468361
+v 0.08190891 -0.06397909 0.00525084
+v 0.08173032 0.04495401 0.26601446
+v -0.02768812 0.12930895 0.26622878
+v -0.02696970 -0.12395129 0.00913610
+v 0.05028039 0.08051041 0.00751365
+v 0.06715508 -0.04749421 0.26727703
+v -0.02986892 0.12683616 0.19066490
+v 0.08065762 0.04240788 0.00575500
+v 0.02305701 0.11108127 0.26600027
+v 0.08109368 -0.01998635 0.26690443
+v 0.04737099 -0.09914541 0.00743143
+v -0.02821903 0.11413125 0.00705510
+v 0.06501655 0.07073146 0.26662665
+v -0.00389481 0.12483762 0.26421550
+v 0.06584756 -0.08489828 0.00543866
+v 0.05484330 -0.06111171 0.26561760
+v -0.00040577 0.10999350 0.00728002
+v -0.01767508 0.12471874 0.19299275
+v -0.00520328 0.12381570 0.23506779
+f 7 4 1
+f 8 5 1
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+f 18 10 6
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+f 19 4 15
+f 19 18 8
+f 20 19 15
+f 20 15 18
+f 20 18 19
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_11.obj b/cucumber/cucumber_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..288ebeab792481d6939c07e1f14ac72f95dc0677
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.08742465 -0.10108893 -0.41140942
+v 0.10275583 -0.09186480 -0.41310621
+v 0.09923980 0.08092608 -0.41221756
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+v -0.01622065 -0.03382793 -0.49119192
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+v 0.05866224 0.06629570 -0.47758027
+v 0.08486441 -0.07168797 -0.46493814
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+v -0.07016007 0.02847046 -0.42094587
+v 0.03031812 0.09334263 -0.45151956
+v 0.07440210 0.04166572 -0.48904729
+v 0.08480314 -0.08258484 -0.45005616
+v 0.01060526 -0.05763532 -0.49151659
+v -0.04282717 -0.08396198 -0.42243202
+v -0.07589145 0.03045613 -0.40981527
+v -0.05507270 -0.03572842 -0.45183434
+v 0.07347802 0.09634671 -0.41303079
+v -0.01582747 0.05252329 -0.47517063
+v -0.00402689 0.04138103 -0.49043787
+v 0.09672468 -0.04566706 -0.47869737
+v 0.09558812 0.06571300 -0.45056020
+v 0.09753212 -0.08263811 -0.43696080
+v 0.07158512 -0.09651111 -0.43632377
+v 0.05761187 -0.08340813 -0.46382120
+v -0.01743830 -0.08368378 -0.45133082
+v -0.02249615 -0.10171349 -0.41208593
+v -0.05662246 0.01369106 -0.45069945
+v -0.06770553 -0.04723848 -0.42284273
+v -0.02287030 0.08552518 -0.43703931
+v 0.08699617 0.02936093 -0.48997532
+v 0.00768025 0.06525051 -0.47629258
+v 0.08427254 -0.04432264 -0.48909671
+v 0.09734601 0.04098998 -0.47790160
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+v 0.08274179 0.06583236 -0.46536576
+v 0.05907232 0.07879963 -0.46388083
+f 1 2 3
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+f 35 22 32
+f 36 19 3
+f 37 24 2
+f 37 2 1
+f 37 14 24
+f 37 25 14
+f 37 1 25
+f 38 2 24
+f 38 35 2
+f 38 22 35
+f 38 24 9
+f 38 34 22
+f 38 9 34
+f 39 26 10
+f 39 15 26
+f 39 27 15
+f 39 10 27
+f 40 5 15
+f 40 15 27
+f 40 27 16
+f 41 28 1
+f 41 1 7
+f 41 7 16
+f 42 27 10
+f 42 10 28
+f 42 16 27
+f 42 41 16
+f 42 28 41
+f 43 29 11
+f 43 11 17
+f 44 21 5
+f 44 5 29
+f 44 20 21
+f 45 30 18
+f 45 16 7
+f 45 7 30
+f 46 4 12
+f 46 12 33
+f 47 17 4
+f 47 4 31
+f 48 33 20
+f 48 46 33
+f 48 31 46
+f 48 43 31
+f 48 20 43
+f 49 35 32
+f 49 32 13
+f 49 13 8
+f 50 36 3
+f 50 3 23
+f 50 23 36
+f 51 12 19
+f 51 19 36
+f 52 18 5
+f 52 5 40
+f 53 44 29
+f 53 29 43
+f 53 43 20
+f 53 20 44
+f 54 40 16
+f 54 16 45
+f 54 52 40
+f 54 45 18
+f 54 18 52
+f 55 46 31
+f 55 31 4
+f 55 4 46
+f 56 43 17
+f 56 17 47
+f 56 47 31
+f 56 31 43
+f 57 23 35
+f 57 35 49
+f 57 49 8
+f 57 51 36
+f 57 36 23
+f 58 8 12
+f 58 12 51
+f 58 57 8
+f 58 51 57
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_12.obj b/cucumber/cucumber_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd0590c8a878cf7d38a457af0d9934c44463ebfe
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.10408536 -0.09574494 -0.23518390
+v 0.15194633 -0.03502666 -0.36856534
+v 0.13674138 0.02916579 -0.23806041
+v 0.10515217 0.07634533 -0.23577448
+v 0.10153652 -0.02348895 -0.48457904
+v 0.13739990 0.04066469 -0.39852935
+v 0.12342673 0.05290118 -0.23646076
+v 0.13664089 -0.04804721 -0.23888391
+v 0.10275583 -0.09186480 -0.41310621
+v 0.10109697 0.08670895 -0.29525173
+v 0.15404391 0.00410195 -0.32760850
+v 0.13573283 0.02846523 -0.42408517
+v 0.13626206 0.04189670 -0.26850676
+v 0.12393681 -0.08569879 -0.32514178
+v 0.12271943 -0.07420914 -0.23711532
+v 0.13481624 -0.04763428 -0.42281567
+v 0.10215906 -0.07664652 -0.44115599
+v 0.15230299 -0.03549255 -0.32700860
+v 0.10196675 0.07188136 -0.42773082
+v 0.15378000 0.00388608 -0.36902959
+v 0.12327630 0.06694475 -0.29737419
+v 0.12459604 -0.08561731 -0.35501925
+v 0.11055951 -0.09034951 -0.23855727
+v 0.10850654 -0.01985364 -0.47842438
+v 0.10086008 0.04550672 -0.47146256
+v 0.12410949 -0.07136165 -0.41151680
+v 0.10968306 -0.04517708 -0.46525889
+v 0.13621090 -0.06131576 -0.26676581
+v 0.12218560 0.05296244 -0.42414594
+v 0.11018333 0.07900389 -0.29628864
+v 0.11159000 0.06992889 -0.23757433
+v 0.10099532 0.05683029 -0.45655806
+v 0.10219015 0.01723031 -0.48446525
+v 0.12228609 -0.05776597 -0.43546472
+v 0.11081858 -0.08618979 -0.41091818
+v 0.13735298 -0.05866090 -0.39679446
+v 0.10185822 -0.04999757 -0.47050349
+v 0.12088590 -0.04519869 -0.44976317
+v 0.12136223 0.03022709 -0.45294377
+v 0.12265168 0.06545538 -0.38590864
+v 0.10813513 0.05274919 -0.45125460
+v 0.11012851 -0.07182553 -0.43723112
+v 0.10810367 0.01652257 -0.47807815
+v 0.11086388 0.06527433 -0.42630560
+v 0.10965613 0.08033051 -0.34031177
+v 0.10689963 0.04199875 -0.46517229
+v 0.10233300 0.08601426 -0.34069097
+f 7 1 3
+f 7 4 1
+f 10 1 4
+f 11 3 8
+f 13 7 3
+f 13 11 6
+f 13 3 11
+f 15 8 3
+f 15 3 1
+f 17 9 1
+f 17 1 10
+f 18 11 8
+f 20 16 12
+f 20 2 16
+f 20 18 2
+f 20 11 18
+f 20 12 6
+f 20 6 11
+f 21 13 6
+f 21 7 13
+f 22 14 1
+f 22 1 9
+f 22 18 14
+f 22 2 18
+f 23 15 1
+f 23 1 14
+f 24 12 16
+f 25 17 10
+f 25 5 17
+f 27 5 24
+f 28 14 18
+f 28 23 14
+f 28 15 23
+f 28 18 8
+f 28 8 15
+f 29 6 12
+f 30 10 4
+f 30 4 21
+f 31 21 4
+f 31 4 7
+f 31 7 21
+f 32 25 10
+f 32 10 19
+f 33 24 5
+f 33 5 25
+f 34 16 26
+f 35 9 17
+f 35 26 22
+f 35 22 9
+f 36 26 16
+f 36 16 2
+f 36 2 22
+f 36 22 26
+f 37 17 5
+f 37 5 27
+f 38 27 24
+f 38 24 16
+f 38 34 27
+f 38 16 34
+f 39 29 12
+f 39 12 24
+f 40 21 6
+f 40 6 29
+f 41 25 32
+f 41 29 39
+f 42 34 26
+f 42 17 37
+f 42 37 27
+f 42 27 34
+f 42 35 17
+f 42 26 35
+f 43 33 25
+f 43 25 39
+f 43 39 24
+f 43 24 33
+f 44 40 29
+f 44 19 40
+f 44 29 41
+f 44 41 32
+f 44 32 19
+f 45 30 21
+f 45 21 40
+f 45 10 30
+f 46 41 39
+f 46 39 25
+f 46 25 41
+f 47 45 40
+f 47 40 19
+f 47 19 10
+f 47 10 45
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_13.obj b/cucumber/cucumber_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84de58d603ab18ddd607b96b3618be20597a636b
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00370518 -0.12839697 -0.09840936
+v 0.12228167 -0.01056712 -0.15136801
+v 0.11011049 -0.00933400 -0.09549747
+v -0.14092098 -0.02159337 -0.10456921
+v -0.09800769 -0.09903070 -0.16062208
+v -0.13710214 -0.01547387 -0.16237832
+v -0.09623531 -0.10220093 -0.09835265
+v 0.09569850 -0.08743054 -0.15872870
+v 0.00325763 -0.01005480 -0.15909069
+v -0.06329114 -0.12306845 -0.09871889
+v 0.08660374 -0.08144901 -0.09983852
+v 0.00361022 -0.12971426 -0.15912360
+v -0.06693456 -0.11753670 -0.15982855
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 9 6 3
+f 9 3 2
+f 9 8 6
+f 9 2 8
+f 10 7 5
+f 10 1 7
+f 11 8 2
+f 11 2 3
+f 11 3 1
+f 11 1 8
+f 12 8 1
+f 12 5 6
+f 12 6 8
+f 12 1 10
+f 13 12 10
+f 13 10 5
+f 13 5 12
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_14.obj b/cucumber/cucumber_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a69f339a7350b3de452d734f164a019f0faab07
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.07153643 -0.11519929 -0.15874784
+v -0.06426293 -0.09341692 -0.35834235
+v -0.05734844 -0.01005480 -0.09848463
+v -0.05382744 0.11643343 -0.09909652
+v -0.13035296 0.02804119 -0.20236435
+v -0.05003620 0.09987447 -0.32237481
+v -0.11546301 -0.07295018 -0.23178200
+v -0.13449452 -0.05055123 -0.09685008
+v -0.05057457 0.11466905 -0.26335625
+v -0.10065798 0.01684059 -0.35096586
+v -0.09623531 -0.10220093 -0.09835265
+v -0.11875953 0.07397102 -0.09653019
+v -0.12934482 -0.02227295 -0.24582764
+v -0.05357278 0.08947935 -0.35422159
+v -0.12156974 -0.07737824 -0.09834909
+v -0.13195400 0.04231403 -0.09766968
+v -0.09271513 0.09606524 -0.10009324
+v -0.12937885 0.00392301 -0.24771032
+v -0.12927066 -0.03478651 -0.22927207
+v -0.10029624 -0.03456855 -0.35227091
+v -0.09785612 0.05619931 -0.30474762
+v -0.12997414 0.04304739 -0.14255649
+v -0.06466897 0.11176336 -0.09885712
+v -0.10064799 0.08242118 -0.21840782
+v -0.08375685 -0.07480558 -0.35013640
+v -0.11305596 -0.04897168 -0.29062903
+v -0.11442929 -0.02257495 -0.30712096
+v -0.08308021 0.05655782 -0.35171381
+v -0.11438642 0.04004363 -0.27710991
+v -0.09027320 0.09372191 -0.18911668
+v -0.08524534 0.08091210 -0.29059633
+v -0.11471175 0.07077970 -0.18586873
+v -0.11465611 0.01707333 -0.30449944
+v -0.05965427 0.10871829 -0.26144927
+v -0.06198974 0.08388101 -0.35245761
+v -0.07340349 0.07784125 -0.33534433
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 9 4 3
+f 9 3 6
+f 11 1 3
+f 11 3 8
+f 11 7 1
+f 12 8 3
+f 12 3 4
+f 14 6 2
+f 14 2 10
+f 14 9 6
+f 15 11 8
+f 15 8 7
+f 15 7 11
+f 16 5 8
+f 16 8 12
+f 18 13 8
+f 18 8 5
+f 19 7 8
+f 19 8 13
+f 20 10 2
+f 22 16 12
+f 22 5 16
+f 23 17 12
+f 23 12 4
+f 23 4 9
+f 23 9 17
+f 25 20 2
+f 25 2 7
+f 26 19 13
+f 26 7 19
+f 26 25 7
+f 26 20 25
+f 27 10 20
+f 27 13 18
+f 27 26 13
+f 27 20 26
+f 28 14 10
+f 29 18 5
+f 29 24 21
+f 29 28 10
+f 29 21 28
+f 30 17 9
+f 30 24 12
+f 30 12 17
+f 31 21 24
+f 31 28 21
+f 32 22 12
+f 32 12 24
+f 32 5 22
+f 32 29 5
+f 32 24 29
+f 33 27 18
+f 33 10 27
+f 33 29 10
+f 33 18 29
+f 34 30 9
+f 34 24 30
+f 34 31 24
+f 34 9 14
+f 35 14 28
+f 35 34 14
+f 35 31 34
+f 36 35 28
+f 36 28 31
+f 36 31 35
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_15.obj b/cucumber/cucumber_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..798858a5635f7e68f07005e3655632b43207a11f
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.12586868 0.04779989 0.38446500
+v -0.08388971 0.10557544 0.08308145
+v -0.07249995 0.05055126 0.26515177
+v -0.08044048 0.11359247 0.36972466
+v -0.11757705 0.09528236 0.19074793
+v -0.07057437 0.12029030 0.14534954
+v -0.08205729 0.10576655 0.40048089
+v -0.13906118 0.04589900 0.08462603
+v -0.07201552 0.12499984 0.18955710
+v -0.12049450 0.05715802 0.39125787
+v -0.13371075 0.04515658 0.35396668
+v -0.11880785 0.08186051 0.08637912
+v -0.09825042 0.11235217 0.27022071
+v -0.08148479 0.11309078 0.13042848
+v -0.13006744 0.07182610 0.29366604
+v -0.12921760 0.05705698 0.35308213
+v -0.12858194 0.07413184 0.11551235
+v -0.11793908 0.08060170 0.07837423
+v -0.09209934 0.10741820 0.13330198
+v -0.11640968 0.09651716 0.26317931
+v -0.10168992 0.09736660 0.36708950
+v -0.13396877 0.05580402 0.08343464
+v -0.09415886 0.09959042 0.08348671
+v -0.10198837 0.10082573 0.13276988
+v -0.11034225 0.07536234 0.39943409
+v -0.11480845 0.08430565 0.35076287
+v -0.08989014 0.10769651 0.36881133
+v -0.10663424 0.09354043 0.10300453
+v -0.11652031 0.07163899 0.38143516
+v -0.09696723 0.09044277 0.40381294
+v -0.10452252 0.08446597 0.39668804
+v -0.12245114 0.07304231 0.34520040
+v -0.09134939 0.09809168 0.39886310
+f 6 3 2
+f 7 3 4
+f 8 2 3
+f 9 4 3
+f 9 3 6
+f 10 1 3
+f 10 3 7
+f 11 8 3
+f 11 3 1
+f 13 9 5
+f 13 4 9
+f 14 9 6
+f 14 6 2
+f 15 8 11
+f 16 11 1
+f 16 1 10
+f 16 15 11
+f 17 5 12
+f 17 15 5
+f 17 8 15
+f 18 2 8
+f 19 5 9
+f 19 9 14
+f 19 14 2
+f 20 13 5
+f 20 5 15
+f 21 13 20
+f 22 17 12
+f 22 8 17
+f 22 18 8
+f 22 12 18
+f 23 18 12
+f 23 2 18
+f 23 19 2
+f 24 12 5
+f 24 5 19
+f 24 19 23
+f 26 21 20
+f 26 20 15
+f 27 7 4
+f 27 4 13
+f 27 13 21
+f 28 24 23
+f 28 23 12
+f 28 12 24
+f 29 16 10
+f 29 10 25
+f 29 25 26
+f 30 25 10
+f 30 10 7
+f 31 26 25
+f 31 21 26
+f 31 30 21
+f 31 25 30
+f 32 26 15
+f 32 15 16
+f 32 29 26
+f 32 16 29
+f 33 27 21
+f 33 7 27
+f 33 30 7
+f 33 21 30
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_16.obj b/cucumber/cucumber_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87be6b9bc9acf437d26e5cb8e56783a0d143151e
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.06881834 -0.11875047 0.00779442
+v -0.06634676 -0.11815587 -0.11321483
+v -0.07249995 0.03539975 0.00757599
+v -0.13755391 0.04415999 0.00907694
+v -0.13246938 -0.07469620 0.00884095
+v -0.12392314 0.05773125 -0.10337388
+v -0.10651671 -0.09929759 0.00708733
+v -0.14616732 -0.02321759 -0.05073206
+v -0.10894991 -0.09170516 -0.11318028
+v -0.07991401 -0.11459670 0.00683317
+v -0.15117650 -0.00973882 0.00769288
+v -0.12918103 -0.07785404 -0.02189883
+v -0.08555139 -0.10801867 -0.11440395
+v -0.13661295 0.03062768 -0.09723814
+v -0.14662609 -0.03557434 0.00828771
+v -0.11728363 -0.08606868 -0.08049396
+v -0.10436801 -0.09811557 -0.06752254
+v -0.07836222 -0.11238652 -0.11440690
+v -0.11585994 -0.08395833 -0.11341269
+v -0.14492024 0.01709680 -0.05136595
+v -0.14178695 0.03274053 -0.03793950
+v -0.14524350 -0.03570107 -0.02223722
+v -0.13005666 -0.06217264 -0.09721605
+v -0.14648864 0.01697199 -0.03613896
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 1 5
+f 10 2 1
+f 10 1 7
+f 12 7 5
+f 15 5 4
+f 15 4 11
+f 16 7 12
+f 17 13 7
+f 17 9 13
+f 17 16 9
+f 17 7 16
+f 18 10 7
+f 18 7 13
+f 18 2 10
+f 18 13 6
+f 18 6 2
+f 19 13 9
+f 19 6 13
+f 19 14 6
+f 19 9 16
+f 19 16 12
+f 20 14 8
+f 21 4 6
+f 21 6 14
+f 22 12 5
+f 22 5 15
+f 22 15 11
+f 22 11 8
+f 23 8 14
+f 23 14 19
+f 23 22 8
+f 23 19 12
+f 23 12 22
+f 24 20 8
+f 24 8 11
+f 24 11 4
+f 24 4 21
+f 24 21 14
+f 24 14 20
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_17.obj b/cucumber/cucumber_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ac8089119ef6d97017acef958a7091431cbb935
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.01613379 -0.07940681 0.40074514
+v 0.07839855 -0.00359502 0.40723435
+v 0.00060711 -0.03405507 0.48141866
+v -0.08277377 0.00216196 0.47292355
+v -0.11361354 -0.00681514 0.42246269
+v 0.05415285 0.00392132 0.46825453
+v -0.09077942 -0.05946072 0.39679553
+v 0.03797771 -0.04575909 0.45164742
+v -0.09852739 -0.05082862 0.39955225
+v -0.07589623 -0.07344568 0.39507234
+v 0.05078842 -0.05762502 0.40220628
+v 0.01087184 -0.05481853 0.46189512
+v -0.06546954 -0.03390581 0.46871216
+v 0.02554569 -0.05651264 0.45024535
+v -0.04937386 -0.06839193 0.43765169
+v -0.09522864 -0.04825499 0.41275199
+v -0.03821858 -0.03362507 0.48149612
+v 0.01373696 -0.06782182 0.43841077
+v -0.08804577 -0.05597451 0.41121360
+v -0.03817695 -0.05491804 0.46389757
+v -0.07460738 -0.05480141 0.43533134
+v -0.03546859 -0.04386511 0.47569253
+v -0.07872207 -0.06483690 0.40851052
+v -0.05919337 -0.05651164 0.44930781
+v -0.06179327 -0.04119187 0.46535961
+v -0.00044989 -0.04300717 0.47599238
+f 5 4 2
+f 6 2 4
+f 6 4 3
+f 8 2 6
+f 8 6 3
+f 9 5 2
+f 9 2 7
+f 10 7 2
+f 11 2 8
+f 11 10 2
+f 11 1 10
+f 12 8 3
+f 13 4 5
+f 14 11 8
+f 14 1 11
+f 14 8 12
+f 15 10 1
+f 16 13 5
+f 16 5 9
+f 17 3 4
+f 17 4 13
+f 18 14 12
+f 18 1 14
+f 18 15 1
+f 19 16 9
+f 19 9 7
+f 19 7 10
+f 20 18 12
+f 20 15 18
+f 21 10 15
+f 21 13 16
+f 21 16 19
+f 22 17 13
+f 22 3 17
+f 23 21 19
+f 23 19 10
+f 23 10 21
+f 24 21 15
+f 24 15 20
+f 25 22 13
+f 25 20 22
+f 25 24 20
+f 25 13 21
+f 25 21 24
+f 26 22 20
+f 26 20 12
+f 26 12 3
+f 26 3 22
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_18.obj b/cucumber/cucumber_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ca6291906152d2c70bf9c683fc8b776682a3e67
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.02951315 -0.12837647 -0.23683610
+v 0.10876051 -0.08519933 -0.41634567
+v 0.11160104 -0.08752740 -0.23477481
+v 0.03565227 0.12295551 -0.23537661
+v 0.01209923 0.10183429 -0.42434518
+v 0.09923980 0.08092608 -0.41221756
+v 0.01476601 -0.10594026 -0.42722227
+v 0.09695969 0.08443208 -0.23765910
+v 0.07347802 0.09634671 -0.41303079
+v 0.07317291 0.10266428 -0.23616855
+v 0.08355313 0.09195663 -0.41267135
+v 0.08177398 0.09620495 -0.23718023
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 2 5
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 3 6
+f 9 5 4
+f 10 4 3
+f 10 3 8
+f 11 6 5
+f 11 5 9
+f 11 10 6
+f 11 9 4
+f 11 4 10
+f 12 10 8
+f 12 8 6
+f 12 6 10
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_19.obj b/cucumber/cucumber_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a0c18639c32aecf2e1d04cdbf85dae8bfc4c601
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.01611968 -0.12282770 -0.35792319
+v 0.01476601 -0.10594026 -0.42722227
+v 0.01315498 0.11709159 -0.36036431
+v 0.01209923 0.10183429 -0.42434518
+v -0.08904955 -0.06374136 -0.35115182
+v -0.05037317 -0.10447732 -0.35449450
+v -0.07116986 0.04205683 -0.40994027
+v -0.04621977 0.09523261 -0.35143519
+v -0.06969761 -0.05992031 -0.40549680
+v -0.02691240 -0.11561254 -0.35596453
+v -0.07411546 -0.08754971 -0.35213709
+v -0.08841145 0.04452920 -0.35083626
+v -0.01960725 0.09672017 -0.41062215
+v -0.03264558 -0.09826224 -0.40906206
+v -0.08617922 -0.03420578 -0.39421936
+v -0.07104255 -0.08551092 -0.36325773
+v -0.07391875 0.07156496 -0.35152984
+v -0.02516442 0.10718143 -0.35561677
+v -0.05620138 0.06785341 -0.40739613
+v -0.04221145 -0.09848808 -0.39370923
+v -0.02249615 -0.10171349 -0.41208593
+v -0.08429933 0.02959571 -0.39225181
+v -0.02835001 0.09325457 -0.40800120
+v -0.07127199 0.06809020 -0.36704740
+v -0.05617060 -0.08597351 -0.39479501
+v -0.04364833 0.09348553 -0.36711405
+v -0.05595044 0.07887150 -0.38201882
+v -0.08327482 0.03947457 -0.38151271
+f 1 2 3
+f 3 2 4
+f 7 4 2
+f 8 1 3
+f 9 7 2
+f 10 2 1
+f 11 8 5
+f 11 1 8
+f 11 10 1
+f 11 6 10
+f 12 5 8
+f 13 3 4
+f 14 9 2
+f 15 9 5
+f 15 7 9
+f 15 5 12
+f 16 11 5
+f 16 5 9
+f 17 12 8
+f 18 8 3
+f 18 3 13
+f 19 4 7
+f 20 6 11
+f 20 14 10
+f 20 10 6
+f 21 14 2
+f 21 2 10
+f 21 10 14
+f 22 15 12
+f 22 7 15
+f 23 18 13
+f 23 13 4
+f 23 4 19
+f 24 19 7
+f 25 20 11
+f 25 11 16
+f 25 16 9
+f 25 9 14
+f 25 14 20
+f 26 8 18
+f 26 18 23
+f 26 17 8
+f 27 23 19
+f 27 26 23
+f 27 17 26
+f 27 24 17
+f 27 19 24
+f 28 24 7
+f 28 7 22
+f 28 22 12
+f 28 12 17
+f 28 17 24
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_2.obj b/cucumber/cucumber_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55a4f0250b8ddf53c630b4c1e082e00bec7452d6
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.11712248 -0.06970971 0.26504462
+v -0.12904332 -0.07882359 0.00574929
+v -0.13468962 0.04520010 -0.03949468
+v -0.13724491 0.05928219 0.14096850
+v -0.14958456 -0.00680335 0.26362908
+v -0.13247410 0.05795490 0.08278383
+v -0.14493844 -0.03306412 0.23447438
+v -0.14870956 -0.00920102 -0.03697129
+v -0.13137303 -0.05701255 0.24814477
+v -0.14817966 -0.01249050 -0.04015113
+v -0.15017584 0.02951071 0.14375606
+v -0.13694275 -0.06630237 0.00793138
+v -0.12452052 -0.06277311 0.26381603
+v -0.13491675 -0.04853043 0.26370896
+v -0.14648864 0.01697199 -0.03613896
+v -0.14662609 -0.03557434 0.00828771
+v -0.14284947 0.04776957 0.14450802
+v -0.14684714 -0.01971545 0.26250380
+v -0.14591286 -0.02017305 0.26742973
+v -0.14178695 0.03274053 -0.03793950
+f 1 2 3
+f 5 1 4
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 10 3 2
+f 11 8 5
+f 12 9 7
+f 12 2 9
+f 12 10 2
+f 13 9 2
+f 13 2 1
+f 14 7 9
+f 14 9 13
+f 14 13 1
+f 15 10 8
+f 15 8 11
+f 16 7 5
+f 16 5 8
+f 16 8 10
+f 16 12 7
+f 16 10 12
+f 17 11 5
+f 17 5 4
+f 18 5 7
+f 18 7 14
+f 19 14 1
+f 19 1 5
+f 19 18 14
+f 19 5 18
+f 20 3 10
+f 20 10 15
+f 20 15 11
+f 20 11 17
+f 20 17 4
+f 20 4 3
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_20.obj b/cucumber/cucumber_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f97b5b9b16c1f44f22aac5108b513623b52a18e2
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.01653306 -0.13029214 -0.17485861
+v 0.01802436 -0.12368558 -0.35498922
+v 0.03212326 -0.12701622 -0.19004365
+v -0.11585994 -0.08395833 -0.11341269
+v -0.03536430 -0.12951113 -0.24904387
+v -0.07980305 -0.08033336 -0.35257754
+v 0.00361022 -0.12971426 -0.15912360
+v 0.02789575 -0.12930405 -0.23314757
+v 0.03285574 -0.12768984 -0.23485693
+v -0.08905817 -0.09881216 -0.26029608
+v -0.03350654 -0.11413761 -0.35184899
+v 0.00596367 -0.13097955 -0.17412740
+v -0.07222168 -0.11561284 -0.11363918
+v 0.02854834 -0.12843141 -0.19054045
+v 0.00027042 -0.13063311 -0.29259190
+v 0.01611968 -0.12282770 -0.35792319
+v -0.10609823 -0.07787237 -0.26128418
+v -0.06072048 -0.09782760 -0.35209410
+v -0.05992513 -0.11295741 -0.29241669
+v -0.02501674 -0.12907084 -0.19088452
+v -0.06693456 -0.11753670 -0.15982855
+v -0.09415169 -0.10321134 -0.11316637
+v 0.01578238 -0.12947326 -0.27793933
+v -0.02336519 -0.12969499 -0.27864838
+v -0.10033218 -0.08754612 -0.25870747
+v -0.07411546 -0.08754971 -0.35213709
+v -0.03888490 -0.12875031 -0.22057785
+v -0.10894991 -0.09170516 -0.11318028
+v -0.00959830 -0.12999322 -0.29489867
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 9 6 3
+f 9 8 2
+f 12 1 7
+f 12 8 1
+f 13 7 4
+f 14 3 1
+f 14 1 8
+f 14 9 3
+f 14 8 9
+f 15 12 5
+f 15 8 12
+f 16 9 2
+f 16 6 9
+f 17 4 6
+f 18 16 11
+f 19 5 10
+f 19 18 11
+f 19 10 18
+f 20 12 7
+f 20 7 13
+f 21 10 5
+f 22 13 4
+f 22 21 13
+f 22 10 21
+f 23 15 2
+f 23 2 8
+f 23 8 15
+f 24 15 5
+f 24 19 11
+f 24 5 19
+f 25 4 17
+f 25 17 6
+f 26 18 10
+f 26 6 16
+f 26 16 18
+f 26 25 6
+f 26 10 25
+f 27 5 12
+f 27 12 20
+f 27 20 13
+f 27 21 5
+f 27 13 21
+f 28 22 4
+f 28 10 22
+f 28 25 10
+f 28 4 25
+f 29 24 11
+f 29 11 16
+f 29 16 2
+f 29 2 15
+f 29 15 24
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_21.obj b/cucumber/cucumber_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81208230fcec172c3cb0c73a50ff3c95164f6767
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.08738073 -0.09275284 -0.14546952
+v 0.14019405 -0.03622984 -0.23837296
+v 0.10540911 -0.04931044 -0.10309856
+v 0.08639301 0.07402871 -0.12977106
+v 0.08951206 0.08968103 -0.23615361
+v 0.10594174 0.02842409 -0.10184187
+v 0.08660374 -0.08144901 -0.09983852
+v 0.08984307 -0.10761596 -0.23532212
+v 0.12165892 -0.00971367 -0.14776774
+v 0.12342673 0.05290118 -0.23646076
+v 0.08726867 -0.10475754 -0.20685618
+v 0.08758223 0.06285872 -0.10005787
+v 0.12271943 -0.07420914 -0.23711532
+v 0.09707961 -0.10260691 -0.23738380
+v 0.13650899 -0.02210196 -0.20865249
+v 0.09478435 0.07957945 -0.19232151
+v 0.09695969 0.08443208 -0.23765910
+v 0.08719393 0.08629971 -0.19150482
+v 0.09205438 0.06811122 -0.13354659
+v 0.12080798 0.02834904 -0.16370656
+v 0.10782072 -0.08659952 -0.20864036
+v 0.12099530 -0.06080359 -0.19295279
+v 0.09486203 -0.09979756 -0.20835643
+v 0.13675136 -0.03740062 -0.22307350
+v 0.14002569 0.01688270 -0.23757537
+v 0.09262547 0.05544533 -0.10425642
+v 0.09167283 -0.07539826 -0.10084435
+v 0.09446030 -0.08616334 -0.14843684
+v 0.12106106 -0.07269226 -0.22256114
+v 0.13709296 0.00223099 -0.20796150
+v 0.13746522 0.01741163 -0.22371968
+v 0.12188657 0.00338168 -0.14879233
+f 7 3 6
+f 9 6 3
+f 11 7 4
+f 11 1 7
+f 11 5 8
+f 12 7 6
+f 12 4 7
+f 14 8 5
+f 14 2 13
+f 15 9 3
+f 17 16 10
+f 17 14 5
+f 17 2 14
+f 18 11 4
+f 18 5 11
+f 18 4 16
+f 18 17 5
+f 18 16 17
+f 19 12 10
+f 19 4 12
+f 19 16 4
+f 19 10 16
+f 21 14 13
+f 23 11 8
+f 23 8 14
+f 23 1 11
+f 23 21 1
+f 23 14 21
+f 24 15 3
+f 24 2 15
+f 24 22 2
+f 24 3 22
+f 25 17 10
+f 25 2 17
+f 26 12 6
+f 26 6 20
+f 26 20 10
+f 26 10 12
+f 27 22 3
+f 27 3 7
+f 28 7 1
+f 28 1 21
+f 28 27 7
+f 28 21 27
+f 29 13 2
+f 29 2 22
+f 29 22 27
+f 29 27 21
+f 29 21 13
+f 30 15 2
+f 30 2 25
+f 30 9 15
+f 30 20 6
+f 31 25 10
+f 31 10 20
+f 31 30 25
+f 31 20 30
+f 32 30 6
+f 32 6 9
+f 32 9 30
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_22.obj b/cucumber/cucumber_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d8a5f59d115f588a218d08547fa4ec6a010cce8
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.07601660 0.06430173 0.40143086
+v 0.07235914 0.06073176 0.26566523
+v 0.02305701 0.11108127 0.26600027
+v -0.03979071 0.12369012 0.39793845
+v -0.11461319 0.08593264 0.34452003
+v 0.02650042 0.11378207 0.39887105
+v 0.06304042 0.08195838 0.34195897
+v -0.08984270 0.09813074 0.40251127
+v -0.12092748 0.08957007 0.27012163
+v -0.00389481 0.12483762 0.26421550
+v 0.06501655 0.07073146 0.26662665
+v 0.05233055 0.09547506 0.40069632
+v -0.03084406 0.12172649 0.41275800
+v -0.08579038 0.12108217 0.26535846
+v 0.04857730 0.09509404 0.32814229
+v 0.06379451 0.08270794 0.40080006
+v -0.07725677 0.10979582 0.39935804
+v -0.00195411 0.12469004 0.38621007
+v -0.06938907 0.12659024 0.26473930
+v -0.06563151 0.12438949 0.34108860
+v -0.01398506 0.12473364 0.39918066
+v -0.05135231 0.12322013 0.38468939
+f 5 2 1
+f 7 1 2
+f 8 5 1
+f 9 2 5
+f 10 6 3
+f 10 3 2
+f 11 7 2
+f 11 2 3
+f 12 3 6
+f 13 12 6
+f 13 8 1
+f 14 2 9
+f 14 9 5
+f 15 11 3
+f 15 7 11
+f 15 12 7
+f 15 3 12
+f 16 1 7
+f 16 7 12
+f 16 13 1
+f 16 12 13
+f 17 13 4
+f 17 8 13
+f 17 14 5
+f 17 5 8
+f 18 6 10
+f 19 10 2
+f 19 2 14
+f 19 18 10
+f 20 14 17
+f 20 19 14
+f 21 4 13
+f 21 13 6
+f 21 6 18
+f 21 18 19
+f 21 20 4
+f 21 19 20
+f 22 20 17
+f 22 17 4
+f 22 4 20
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_23.obj b/cucumber/cucumber_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d021711cedb691317c869f5fbaf4561c5d6a169b
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.02951315 -0.12837647 -0.23683610
+v 0.01611968 -0.12282770 -0.35792319
+v 0.02939656 0.12477138 -0.28015028
+v 0.01315498 0.11709159 -0.36036431
+v -0.09489877 0.08383643 -0.24256844
+v -0.07163221 -0.11291339 -0.23776474
+v -0.06426293 -0.09341692 -0.35834235
+v 0.01840915 0.05055126 -0.23484827
+v -0.07000566 0.09643514 -0.28349050
+v -0.06008966 0.08390420 -0.35723928
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 7 4 2
+f 7 6 5
+f 7 2 6
+f 8 1 3
+f 8 3 5
+f 8 6 1
+f 8 5 6
+f 9 5 3
+f 9 3 4
+f 10 7 5
+f 10 5 9
+f 10 9 4
+f 10 4 7
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_24.obj b/cucumber/cucumber_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f871d8e241117fcdbfc461fa1cef149b75aa332e
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01879216 -0.11617916 0.01076207
+v 0.10999175 -0.02313606 -0.10179109
+v 0.09255453 -0.02126604 0.00559053
+v 0.03484830 0.09077238 0.00947091
+v 0.00325763 0.05055126 -0.09848463
+v 0.09797400 0.04480950 -0.10105062
+v 0.07543546 -0.07462376 0.00517971
+v 0.01705779 -0.12509766 -0.09680156
+v 0.10901861 0.01696803 -0.10128766
+v 0.08065762 0.04240788 0.00575500
+v 0.08183063 -0.08696225 -0.10168648
+v 0.09058949 -0.05339091 -0.02004546
+v 0.09230949 0.01514431 0.00483497
+v 0.07078048 -0.09103768 -0.06802639
+v 0.07344775 -0.09367685 -0.09993326
+v 0.09167283 -0.07539826 -0.10084435
+f 1 3 4
+f 5 1 4
+f 6 5 4
+f 7 3 1
+f 8 1 5
+f 9 2 6
+f 10 6 4
+f 10 4 3
+f 11 6 2
+f 11 5 6
+f 11 8 5
+f 12 2 3
+f 12 3 7
+f 13 3 2
+f 13 2 9
+f 13 10 3
+f 13 9 6
+f 13 6 10
+f 14 11 7
+f 14 7 1
+f 15 1 8
+f 15 8 11
+f 15 14 1
+f 15 11 14
+f 16 11 2
+f 16 2 12
+f 16 12 7
+f 16 7 11
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_25.obj b/cucumber/cucumber_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e4ee7fb75d096901039fc1c9deffa32f2cedd90
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.02969168 -0.08264508 0.40840462
+v 0.07661186 -0.03194607 0.26889870
+v 0.07851766 0.05892317 0.40160081
+v -0.03084406 0.12172649 0.41275800
+v -0.02704540 0.06570278 0.26515177
+v 0.05078842 -0.05762502 0.40220628
+v -0.02156477 -0.09646756 0.27260850
+v 0.07431379 0.05770440 0.26675812
+v 0.07608646 -0.02000269 0.39922896
+v 0.05438147 -0.06151096 0.26485899
+v 0.07620504 -0.03108331 0.35655112
+v 0.06911517 -0.03543895 0.39865566
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 7 1 5
+f 7 6 1
+f 8 3 2
+f 8 5 4
+f 8 4 3
+f 9 3 6
+f 10 7 5
+f 10 6 7
+f 10 8 2
+f 10 5 8
+f 11 2 3
+f 11 3 9
+f 11 10 2
+f 11 6 10
+f 12 11 9
+f 12 9 6
+f 12 6 11
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_26.obj b/cucumber/cucumber_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afbbba1bc934d88335b2a481b340d046bee76171
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.02704540 0.05055126 0.26515177
+v -0.02704540 0.05055126 0.14393963
+v -0.02768812 0.12930895 0.26622878
+v -0.08021558 0.12319374 0.26582409
+v -0.07249995 0.05055126 0.26515177
+v -0.05503732 0.12394629 0.14752568
+v -0.10901343 0.10356382 0.26793706
+v -0.02934689 0.12218438 0.14585920
+v -0.06865433 0.12338856 0.16161674
+v -0.10198837 0.10082573 0.13276988
+v -0.10654680 0.10373730 0.18418528
+v -0.07057437 0.12029030 0.14534954
+v -0.08083731 0.12206109 0.19210276
+f 1 2 3
+f 5 2 1
+f 7 5 1
+f 7 1 3
+f 7 3 4
+f 8 6 3
+f 8 3 2
+f 9 4 3
+f 9 3 6
+f 10 2 5
+f 10 8 2
+f 10 6 8
+f 11 10 5
+f 11 5 7
+f 12 9 6
+f 12 6 10
+f 13 11 7
+f 13 7 4
+f 13 4 9
+f 13 10 11
+f 13 12 10
+f 13 9 12
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_27.obj b/cucumber/cucumber_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f724d187c921d12660946c7ea797b942f660883
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.14468676 0.03367884 0.08388137
+v -0.07103639 0.10835094 -0.09894137
+v -0.07249995 0.03539975 0.00757599
+v -0.08388971 0.10557544 0.08308145
+v -0.11875953 0.07397102 -0.09653019
+v -0.07072221 0.10730709 0.00754878
+v -0.11880785 0.08186051 0.08637912
+v -0.13661295 0.03062768 -0.09723814
+v -0.13396877 0.05580402 0.08343464
+v -0.09271513 0.09606524 -0.10009324
+v -0.13014864 0.05733064 -0.02131988
+v -0.11738349 0.08129840 -0.00825472
+v -0.12392314 0.05773125 -0.10337388
+v -0.13195400 0.04231403 -0.09766968
+v -0.09415886 0.09959042 0.08348671
+f 1 3 4
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 1 4
+f 8 2 3
+f 8 3 1
+f 9 1 7
+f 10 4 2
+f 11 8 1
+f 11 1 9
+f 12 9 7
+f 12 11 9
+f 12 5 11
+f 12 10 5
+f 13 5 10
+f 13 10 2
+f 13 2 8
+f 14 11 5
+f 14 8 11
+f 14 13 8
+f 14 5 13
+f 15 12 7
+f 15 7 4
+f 15 4 10
+f 15 10 12
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_28.obj b/cucumber/cucumber_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87fd15a2d1d3da9455c8adf123f981dc77c39ce6
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.08593501 0.04235470 -0.02279800
+v 0.11548102 0.06355409 -0.23193046
+v 0.05028039 0.08051041 0.00751365
+v 0.00263872 0.10926411 0.00756092
+v 0.00325763 0.05055126 -0.23484827
+v 0.05241520 0.10851540 -0.16329908
+v 0.07620499 0.04826309 0.00728233
+v 0.08140541 0.07979180 -0.13244018
+v 0.02494222 0.09904076 0.00717663
+v 0.00110311 0.12925436 -0.23448357
+v 0.03484830 0.09077238 0.00947091
+v 0.08357264 0.09304530 -0.22154677
+v 0.06203423 0.06859362 0.00609685
+v 0.03614281 0.10855744 -0.10182071
+v -0.00110708 0.11258672 -0.02340993
+v 0.08177398 0.09620495 -0.23718023
+v 0.02770749 0.12375319 -0.19177546
+v 0.00199004 0.12638212 -0.17486651
+v 0.03023283 0.12520647 -0.23412273
+f 5 2 1
+f 7 5 1
+f 7 4 5
+f 7 1 2
+f 8 6 3
+f 9 3 6
+f 11 7 3
+f 11 4 7
+f 11 9 4
+f 11 3 9
+f 12 8 2
+f 12 6 8
+f 13 7 2
+f 13 2 8
+f 13 8 3
+f 13 3 7
+f 14 9 6
+f 14 4 9
+f 15 10 5
+f 15 5 4
+f 16 2 5
+f 16 5 10
+f 16 12 2
+f 16 6 12
+f 17 4 14
+f 17 14 6
+f 18 15 4
+f 18 4 17
+f 18 17 10
+f 18 10 15
+f 19 16 10
+f 19 10 17
+f 19 17 6
+f 19 6 16
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_29.obj b/cucumber/cucumber_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2e7522daec1caa5d9957b0014e5f3f4f61319da
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01840915 0.05055126 -0.23484827
+v 0.01840915 0.05055126 -0.28030282
+v 0.03565227 0.12295551 -0.23537661
+v 0.02939656 0.12477138 -0.28015028
+v -0.11641077 0.04972186 -0.23459364
+v -0.11067896 0.04606333 -0.27827460
+v -0.10457823 0.07453394 -0.23295531
+v -0.09845520 0.06944122 -0.27662956
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 1 5
+f 6 4 2
+f 7 5 1
+f 7 1 3
+f 7 3 4
+f 7 6 5
+f 8 7 4
+f 8 4 6
+f 8 6 7
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_3.obj b/cucumber/cucumber_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d102a88041abb5bf14eef10e6921708ed1d94787
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.02670396 -0.10493059 0.14849011
+v -0.02696970 -0.12395129 0.00913610
+v -0.02821903 0.11413125 0.00705510
+v -0.08302466 0.11588745 0.14723557
+v -0.12904332 -0.07882359 0.00574929
+v -0.02727040 0.12183838 0.14448383
+v -0.09168489 -0.09476252 0.14589808
+v -0.13755391 0.04415999 0.00907694
+v -0.09864154 -0.10377130 0.00814287
+v -0.08234678 0.10161592 0.00727796
+v -0.13724491 0.05928219 0.14096850
+v -0.12153301 -0.07465287 0.14407139
+v -0.06594343 0.10926949 0.00773884
+v -0.13247410 0.05795490 0.08278383
+f 5 3 2
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 2 1
+f 7 1 4
+f 9 5 2
+f 9 2 7
+f 10 3 5
+f 10 5 8
+f 11 4 10
+f 11 8 5
+f 12 9 7
+f 12 5 9
+f 12 11 5
+f 12 7 4
+f 12 4 11
+f 13 10 4
+f 13 4 3
+f 13 3 10
+f 14 11 10
+f 14 10 8
+f 14 8 11
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_30.obj b/cucumber/cucumber_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6db6a62e3824c0e65bf989d6527fdd508a90ac38
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.09569850 -0.08743054 -0.15872870
+v 0.14049845 -0.00690215 -0.22426510
+v 0.12228167 -0.01056712 -0.15136801
+v -0.05734844 -0.01005480 -0.15909069
+v -0.07163221 -0.11291339 -0.23776474
+v -0.07153643 -0.11519929 -0.15874784
+v 0.10423082 -0.09551417 -0.23410752
+v -0.05734844 -0.01005480 -0.23484827
+f 1 2 3
+f 3 2 4
+f 6 1 3
+f 6 3 4
+f 6 4 5
+f 7 2 1
+f 7 6 5
+f 7 1 6
+f 8 5 4
+f 8 4 2
+f 8 7 5
+f 8 2 7
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_31.obj b/cucumber/cucumber_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8efa7ceb4a861045eb965793f7a31aa68467181c
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00233494 -0.12452767 0.00742790
+v 0.00370518 -0.12839697 -0.09840936
+v 0.00188491 0.11983962 -0.09926806
+v -0.06594343 0.10926949 0.00773884
+v -0.06881834 -0.11875047 0.00779442
+v -0.00040577 0.10999350 0.00728002
+v -0.06329114 -0.12306845 -0.09871889
+v -0.06466897 0.11176336 -0.09885712
+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 8 7 5
+f 8 5 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_4.obj b/cucumber/cucumber_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..387ac3053f202548dc56a6b996f8470626998060
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.11011049 -0.00933400 -0.09549747
+v 0.14049845 -0.00690215 -0.22426510
+v 0.01041637 0.11767833 -0.09520194
+v -0.07288395 0.10692994 -0.09512609
+v -0.05734844 -0.01005480 -0.23484827
+v 0.09393979 0.05042013 -0.09855263
+v -0.05734844 -0.01005480 -0.09848463
+v 0.00611443 0.12836495 -0.23912160
+v 0.11548102 0.06355409 -0.23193046
+v -0.07062292 0.10483913 -0.23488931
+f 1 3 4
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 4 3
+f 9 2 5
+f 9 5 8
+f 9 6 2
+f 9 8 3
+f 9 3 6
+f 10 8 5
+f 10 5 4
+f 10 4 8
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_5.obj b/cucumber/cucumber_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebf43357461ad66330eef994ca1ff5a9d48c5118
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.03797771 -0.04575909 0.45164742
+v 0.08029616 -0.00674352 0.39752695
+v 0.03724536 0.07104348 0.47459678
+v -0.05155081 0.10831908 0.43912597
+v -0.10791745 -0.04776481 0.38203101
+v 0.02650042 0.11378207 0.39887105
+v 0.06469700 0.02247887 0.47173965
+v 0.06911517 -0.03543895 0.39865566
+v -0.06422356 0.01099017 0.48878694
+v 0.01303255 0.10938298 0.44003403
+v -0.11652031 0.07163899 0.38143516
+v 0.07511035 0.05840278 0.42602610
+v -0.10112385 -0.05368896 0.38589103
+v 0.06322307 -0.03050540 0.42636971
+v -0.05103438 0.05995537 0.48800001
+v -0.02609449 -0.01912055 0.48992282
+v -0.02497050 0.10856637 0.45198801
+v -0.07725677 0.10979582 0.39935804
+v -0.11501070 -0.00664377 0.42039093
+v 0.06379451 0.08270794 0.40080006
+v 0.07135119 0.03804232 0.46470060
+v 0.07439142 -0.00225366 0.42602357
+v -0.08770412 0.08348291 0.43816405
+v 0.02329364 -0.03209896 0.47462570
+v 0.01435214 0.00870439 0.49044075
+v -0.07417501 -0.04343888 0.45142208
+v -0.04996414 0.08233936 0.47491383
+v 0.01104436 0.09634506 0.46490671
+v -0.11841292 -0.03259631 0.38293641
+v 0.07851766 0.05892317 0.40160081
+v 0.04966132 0.09565233 0.41503798
+v 0.05130446 0.04322535 0.47429993
+v 0.07764878 0.03856882 0.44457475
+v -0.11454209 0.04387533 0.42386775
+v -0.10019374 0.08446508 0.41123850
+v -0.07454406 0.09598681 0.43769525
+v 0.03865450 -0.01775581 0.47284393
+v -0.03977135 -0.01720894 0.48972475
+v 0.01365133 0.06076192 0.48736469
+v 0.00041595 -0.00629264 0.48983567
+v 0.01444416 -0.04694586 0.46791364
+v -0.08587695 -0.01835011 0.46181291
+v -0.08759317 -0.04241400 0.43568801
+v -0.04878100 0.09481600 0.46180869
+v -0.07367856 0.05823802 0.47591138
+v 0.03824186 0.09030792 0.45281801
+v -0.01132398 0.10829773 0.45141806
+v 0.01464148 0.08550800 0.47539265
+v 0.06263824 0.08178494 0.41607572
+v 0.05233055 0.09547506 0.40069632
+v 0.02442524 0.10933236 0.42609597
+v 0.07656309 0.04558674 0.44678731
+v -0.10759446 0.08410598 0.38830540
+v -0.11299188 0.07266458 0.39591184
+v -0.07675276 0.10668817 0.40988959
+v 0.03407289 -0.04132572 0.46097362
+v 0.05688200 0.01976514 0.47615186
+v -0.06162501 -0.02772077 0.47579327
+v -0.09976018 -0.00375178 0.44984219
+v -0.10156746 -0.04201068 0.40930167
+v -0.09963139 0.04466463 0.45261074
+v -0.06295539 0.04448929 0.48731363
+v 0.04919047 0.07957998 0.45471709
+v -0.07481706 -0.01463190 0.47420659
+f 8 5 2
+f 11 2 5
+f 13 8 1
+f 13 5 8
+f 14 7 1
+f 14 1 8
+f 17 10 6
+f 18 6 11
+f 18 17 6
+f 18 4 17
+f 20 11 6
+f 20 2 11
+f 22 14 8
+f 22 8 2
+f 22 7 14
+f 22 21 7
+f 25 15 9
+f 29 11 5
+f 30 2 20
+f 32 21 3
+f 32 7 21
+f 33 22 2
+f 33 21 22
+f 33 2 30
+f 34 29 19
+f 34 11 29
+f 35 34 23
+f 36 35 23
+f 36 23 27
+f 37 25 24
+f 38 25 9
+f 38 16 25
+f 39 15 25
+f 39 32 3
+f 40 25 16
+f 40 16 24
+f 40 24 25
+f 41 26 13
+f 41 13 1
+f 41 24 16
+f 43 13 26
+f 43 26 42
+f 43 42 19
+f 44 27 17
+f 44 17 4
+f 44 36 27
+f 44 4 36
+f 45 27 23
+f 45 15 27
+f 46 10 28
+f 47 28 10
+f 47 10 17
+f 47 17 28
+f 48 28 17
+f 48 17 27
+f 48 27 15
+f 48 15 39
+f 48 39 3
+f 48 46 28
+f 48 3 46
+f 49 30 20
+f 49 12 30
+f 50 20 6
+f 50 6 31
+f 50 49 20
+f 50 31 49
+f 51 31 6
+f 51 6 10
+f 51 46 31
+f 51 10 46
+f 52 33 30
+f 52 30 12
+f 52 21 33
+f 52 12 49
+f 53 35 18
+f 53 18 11
+f 54 11 34
+f 54 34 35
+f 54 53 11
+f 54 35 53
+f 55 36 4
+f 55 4 18
+f 55 18 35
+f 55 35 36
+f 56 37 24
+f 56 1 7
+f 56 7 37
+f 56 41 1
+f 56 24 41
+f 57 37 7
+f 57 25 37
+f 57 39 25
+f 57 7 32
+f 57 32 39
+f 58 26 41
+f 58 42 26
+f 58 38 9
+f 58 41 16
+f 58 16 38
+f 59 19 42
+f 60 5 13
+f 60 13 43
+f 60 29 5
+f 60 43 19
+f 60 19 29
+f 61 45 23
+f 61 23 34
+f 61 34 19
+f 61 19 59
+f 61 59 9
+f 62 9 15
+f 62 15 45
+f 62 61 9
+f 62 45 61
+f 63 46 3
+f 63 3 21
+f 63 21 52
+f 63 52 49
+f 63 49 31
+f 63 31 46
+f 64 58 9
+f 64 42 58
+f 64 59 42
+f 64 9 59
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_6.obj b/cucumber/cucumber_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f2c73de66e94904e069c192e22acc56d34749cf
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00076445 -0.08327264 0.39903822
+v 0.07353663 -0.03713393 0.26582036
+v 0.03654724 -0.06691670 0.41219625
+v 0.05484783 -0.03433931 0.44089823
+v -0.02713885 -0.09989094 0.18927968
+v 0.06143932 -0.04329145 0.40988517
+v 0.01996204 -0.05975701 0.44916903
+v -0.02969168 -0.08264508 0.40840462
+v 0.02256227 -0.08597730 0.18939790
+v 0.06269720 -0.05264318 0.26447328
+v 0.06701419 -0.03207588 0.41304603
+v 0.03512457 -0.05623540 0.44004770
+v 0.01467542 -0.07293221 0.42660540
+v 0.04731372 -0.03951609 0.44604586
+v -0.02156477 -0.09646756 0.27260850
+v 0.04604707 -0.06813544 0.18905216
+v 0.02463592 -0.08314819 0.33924140
+v 0.06715508 -0.04749421 0.26727703
+v 0.04938716 -0.04343714 0.43687954
+v 0.01357083 -0.08284390 0.38482459
+v 0.02444830 -0.06891490 0.42694079
+v 0.01641652 -0.06446439 0.44343521
+v -0.02707825 -0.08558965 0.39725366
+v 0.03914281 -0.07410717 0.18911899
+v -0.02502871 -0.09936092 0.19177617
+f 8 4 2
+f 8 2 5
+f 10 6 3
+f 11 6 2
+f 11 2 4
+f 11 4 6
+f 12 3 6
+f 13 8 1
+f 14 8 7
+f 14 4 8
+f 14 7 12
+f 16 5 2
+f 17 10 3
+f 18 2 6
+f 18 6 10
+f 18 16 2
+f 18 10 16
+f 19 12 6
+f 19 6 4
+f 19 14 12
+f 19 4 14
+f 20 13 1
+f 20 17 3
+f 20 1 15
+f 20 15 17
+f 21 12 7
+f 21 3 12
+f 21 20 3
+f 21 13 20
+f 22 7 8
+f 22 8 13
+f 22 21 7
+f 22 13 21
+f 23 8 5
+f 23 5 15
+f 23 15 1
+f 23 1 8
+f 24 9 5
+f 24 5 16
+f 24 17 9
+f 24 16 10
+f 24 10 17
+f 25 17 15
+f 25 15 5
+f 25 5 9
+f 25 9 17
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_7.obj b/cucumber/cucumber_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e884578307bcd7600612b98d93c994de849d2cc
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.00394762 -0.09901120 0.18514007
+v 0.05444313 -0.09393004 0.00807745
+v 0.04604707 -0.06813544 0.18905216
+v -0.12452052 -0.06277311 0.26381603
+v -0.07991401 -0.11459670 0.00683317
+v -0.13694275 -0.06630237 0.00793138
+v -0.08335634 -0.09023594 0.26405515
+v 0.02256227 -0.08597730 0.18939790
+v 0.02426137 -0.11401345 0.00478865
+v 0.05564491 -0.07765041 0.08419492
+v -0.13715478 -0.06300046 0.05310034
+v -0.10806521 -0.09770851 0.02179074
+v -0.09370289 -0.08518783 0.26577837
+v -0.05465714 -0.11372610 0.09600990
+v 0.03914281 -0.07410717 0.18911899
+v 0.01056297 -0.11221667 0.06430404
+v 0.04069027 -0.10397476 0.00603381
+v -0.10651671 -0.09929759 0.00708733
+v -0.13112161 -0.07380843 0.05203674
+v -0.10662271 -0.08341414 0.21785310
+v -0.06806800 -0.11366174 0.08222510
+v -0.03030117 -0.09910652 0.20427925
+v -0.00260090 -0.11469904 0.08003828
+v 0.02318603 -0.11260318 0.01976782
+v -0.13246938 -0.07469620 0.00884095
+v -0.11873034 -0.06862899 0.26293597
+v -0.07945599 -0.11176429 0.05237013
+v -0.07099529 -0.10031679 0.20114111
+v -0.03030329 -0.11383577 0.09723183
+v -0.10734354 -0.09856317 0.00939799
+v -0.11931393 -0.08384639 0.08267395
+v -0.09502894 -0.08491364 0.26345548
+f 8 7 1
+f 10 6 3
+f 10 3 2
+f 10 2 6
+f 11 4 3
+f 11 3 6
+f 13 7 3
+f 13 3 4
+f 15 8 2
+f 15 2 3
+f 15 3 7
+f 15 7 8
+f 16 8 1
+f 17 2 8
+f 17 9 6
+f 17 6 2
+f 18 9 5
+f 18 6 9
+f 18 5 12
+f 19 4 11
+f 21 5 14
+f 22 1 7
+f 23 14 5
+f 23 5 9
+f 23 9 16
+f 23 16 1
+f 23 1 22
+f 24 16 9
+f 24 8 16
+f 24 17 8
+f 24 9 17
+f 25 19 11
+f 25 11 6
+f 25 6 18
+f 26 13 4
+f 27 20 12
+f 27 12 5
+f 27 5 21
+f 27 21 7
+f 28 21 14
+f 28 7 21
+f 28 22 7
+f 29 23 22
+f 29 14 23
+f 29 28 14
+f 29 22 28
+f 30 25 18
+f 30 18 12
+f 30 12 25
+f 31 25 12
+f 31 19 25
+f 31 12 20
+f 31 20 26
+f 31 26 4
+f 31 4 19
+f 32 26 20
+f 32 13 26
+f 32 20 27
+f 32 27 7
+f 32 7 13
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_8.obj b/cucumber/cucumber_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39cb871eac677ba86fd4f9e58062b2c2d4335203
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.08668388 0.09160914 -0.23407809
+v 0.08393172 0.08911665 -0.42024874
+v 0.03023283 0.12520647 -0.23412273
+v -0.05382744 0.11643343 -0.09909652
+v -0.06008966 0.08390420 -0.35723928
+v 0.01041637 0.11767833 -0.09520194
+v 0.07086099 0.10794979 -0.35532158
+v -0.07288395 0.10692994 -0.09512609
+v -0.02017312 0.12387788 -0.29137108
+v 0.06807607 0.10827260 -0.25150403
+v -0.02536024 0.12460078 -0.12977530
+v 0.03134571 0.12393536 -0.29339155
+v 0.04458202 0.10888263 -0.39766813
+v -0.03623309 0.12265944 -0.24896310
+v 0.07317291 0.10266428 -0.23616855
+v 0.00033179 0.12372480 -0.13215411
+v 0.00188491 0.11983962 -0.09926806
+v 0.05888162 0.10863368 -0.38183076
+v -0.03074676 0.08537972 -0.41894850
+v -0.03644938 0.12407460 -0.18966430
+v -0.04455649 0.10994197 -0.30313452
+v 0.07347802 0.09634671 -0.41303079
+v -0.00723037 0.10773077 -0.39466709
+v -0.01963394 0.10648350 -0.38256540
+v -0.01960725 0.09672017 -0.41062215
+f 5 2 1
+f 7 1 2
+f 8 5 1
+f 8 6 4
+f 8 1 6
+f 10 3 6
+f 10 7 3
+f 10 1 7
+f 12 9 3
+f 12 3 7
+f 13 9 12
+f 15 10 6
+f 15 6 1
+f 15 1 10
+f 16 6 3
+f 16 3 11
+f 17 11 4
+f 17 4 6
+f 17 16 11
+f 17 6 16
+f 18 13 12
+f 18 12 7
+f 19 2 5
+f 20 14 8
+f 20 8 4
+f 20 4 11
+f 20 9 14
+f 20 11 3
+f 20 3 9
+f 21 14 9
+f 21 5 8
+f 21 8 14
+f 22 18 7
+f 22 7 2
+f 22 13 18
+f 23 9 13
+f 24 19 5
+f 24 5 21
+f 24 21 9
+f 24 9 23
+f 25 13 22
+f 25 23 13
+f 25 24 23
+f 25 19 24
+f 25 22 2
+f 25 2 19
\ No newline at end of file
diff --git a/cucumber/cucumber_1/collision/model_normalized_collision_9.obj b/cucumber/cucumber_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..369d39b83725fa79772adf3df84bd65b84c6ec97
--- /dev/null
+++ b/cucumber/cucumber_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.02739713 -0.09801087 0.26522716
+v -0.02670396 -0.10493059 0.14849011
+v -0.02704540 0.05055126 0.14393963
+v -0.14544380 0.04385883 0.26400972
+v -0.12153301 -0.07465287 0.14407139
+v -0.02704540 0.05055126 0.26515177
+v -0.08466641 -0.09337285 0.21916467
+v -0.14532312 0.04304120 0.14627625
+v -0.04219692 0.05055126 0.14393963
+v -0.11712248 -0.06970971 0.26504462
+v -0.15264124 -0.00885916 0.14410900
+v -0.08335634 -0.09023594 0.26405515
+v -0.14958456 -0.00680335 0.26362908
+f 5 3 2
+f 6 1 2
+f 6 2 3
+f 7 5 2
+f 7 2 1
+f 9 6 3
+f 9 4 6
+f 9 8 4
+f 9 3 5
+f 10 6 4
+f 10 1 6
+f 10 5 7
+f 11 4 8
+f 11 9 5
+f 11 8 9
+f 12 10 7
+f 12 7 1
+f 12 1 10
+f 13 10 4
+f 13 4 11
+f 13 11 5
+f 13 5 10
\ No newline at end of file
diff --git a/cucumber/cucumber_1/model.xml b/cucumber/cucumber_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..90e81033117a031804f27e3712d4a95bb55cdb6c
--- /dev/null
+++ b/cucumber/cucumber_1/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="cucumber_0">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material0" texture="image0" specular="0.5" shininess="0.359999993"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Material0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00011922694999999954 -0.00018314610000000258 -0.021982521500000005" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00011922694999999954 -0.00018314610000000258 0.0222665235" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0261874647 0.08337492749999999 0.0001420009999999995" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/cucumber/cucumber_1/visual/image0.png b/cucumber/cucumber_1/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d715c6dc7de98d0886ddccaa9ae0158438474bab
--- /dev/null
+++ b/cucumber/cucumber_1/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61630be5e42d237a070d442765980be97d7734321474b6ead0f678bb2d413528
+size 633442
diff --git a/cucumber/cucumber_1/visual/material.mtl b/cucumber/cucumber_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b5d0f127cc1df2efd6b4835e0300358bb6dde72
--- /dev/null
+++ b/cucumber/cucumber_1/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 359.99999300
+map_Kd material_0.png
\ No newline at end of file
diff --git a/cucumber/cucumber_1/visual/material_0.png b/cucumber/cucumber_1/visual/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d715c6dc7de98d0886ddccaa9ae0158438474bab
--- /dev/null
+++ b/cucumber/cucumber_1/visual/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61630be5e42d237a070d442765980be97d7734321474b6ead0f678bb2d413528
+size 633442
diff --git a/cucumber/cucumber_1/visual/model_normalized_0.obj b/cucumber/cucumber_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f590eea538d881de94bba33edfaa937e0ddb593
--- /dev/null
+++ b/cucumber/cucumber_1/visual/model_normalized_0.obj
@@ -0,0 +1,157442 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_0.obj b/cucumber/cucumber_2/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aecabe45026bf6cd6f6919ee040a9e2d82c9b2fb
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_0.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
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+f 13 5 9
+f 14 9 2
+f 15 2 9
+f 15 10 2
+f 15 6 10
+f 15 9 4
+f 15 4 6
+f 16 11 4
+f 16 4 7
+f 17 7 1
+f 17 1 12
+f 18 3 11
+f 20 13 9
+f 20 14 8
+f 20 9 14
+f 21 14 2
+f 21 2 10
+f 22 16 7
+f 22 11 16
+f 22 18 11
+f 23 12 1
+f 23 1 19
+f 24 19 8
+f 24 8 14
+f 24 14 21
+f 24 23 19
+f 25 8 19
+f 25 19 1
+f 25 1 13
+f 26 21 10
+f 26 10 3
+f 26 24 21
+f 27 12 18
+f 27 18 22
+f 27 17 12
+f 27 22 7
+f 27 7 17
+f 28 20 8
+f 28 8 25
+f 28 25 13
+f 28 13 20
+f 29 23 24
+f 29 24 26
+f 29 12 23
+f 29 18 12
+f 29 26 3
+f 29 3 18
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_1.obj b/cucumber/cucumber_2/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9778c35bffd8e8c45b45dcc3ee51058f8430f8cd
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_1.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.26347454 0.02128821 -0.08142974
+v 0.34193726 0.03936697 -0.07047242
+v 0.34082964 0.08653563 -0.02932354
+v -0.27906116 0.08781791 -0.02815887
+v -0.27968649 0.04969320 -0.07637453
+v -0.09949920 0.08952509 -0.02574187
+v 0.34221543 0.04707219 -0.06659654
+v -0.28034367 0.02625605 -0.08759788
+v -0.28236477 0.06310691 -0.06577597
+v 0.20356440 0.05839806 -0.06068736
+v -0.27933469 0.08484398 -0.03807755
+v 0.26484056 0.07432007 -0.04430831
+v 0.34066688 0.07928558 -0.03724858
+f 1 2 3
+f 6 1 3
+f 6 4 1
+f 7 2 1
+f 7 1 5
+f 7 3 2
+f 8 5 1
+f 8 1 4
+f 9 8 4
+f 9 5 8
+f 10 7 5
+f 10 5 9
+f 11 6 3
+f 11 3 9
+f 11 9 4
+f 11 4 6
+f 12 10 9
+f 12 9 3
+f 12 7 10
+f 13 12 3
+f 13 3 7
+f 13 7 12
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_10.obj b/cucumber/cucumber_2/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce34029812146b0e1e1f33e0d1498410083cc70a
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_10.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.40136111 -0.07749876 0.01466923
+v 0.45321200 -0.06054384 -0.02489586
+v 0.46576001 -0.00320399 0.06510470
+v 0.40075497 0.08592595 0.02488584
+v 0.39952818 0.08643520 -0.02435798
+v 0.40585326 0.00186150 0.08703325
+v 0.45337005 -0.06172618 0.01125622
+v 0.40076052 -0.07417701 -0.02954652
+v 0.40118277 0.06499043 0.05330044
+v 0.45493789 0.07347490 -0.02206599
+v 0.45549181 0.05965206 0.04818338
+v 0.41450070 0.08490691 -0.02377119
+v 0.42925643 0.08608763 0.01242894
+v 0.45288923 0.07147508 0.03461618
+v 0.42847107 0.08615377 -0.01301504
+v 0.41401555 0.08470110 0.02394735
+f 6 1 3
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 5 1
+f 9 4 5
+f 9 1 6
+f 10 3 2
+f 10 2 8
+f 11 9 6
+f 11 6 3
+f 11 3 10
+f 12 10 8
+f 12 8 5
+f 13 5 4
+f 14 4 9
+f 14 9 11
+f 14 11 10
+f 14 10 13
+f 15 13 10
+f 15 10 12
+f 15 12 5
+f 15 5 13
+f 16 14 13
+f 16 13 4
+f 16 4 14
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_11.obj b/cucumber/cucumber_2/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3c69f8b0f02b82c5e57bd0a1b1c9f0fc0acf226
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_11.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.41305014 -0.07682715 -0.00493770
+v -0.41469249 -0.05318129 -0.07962918
+v -0.40987887 -0.05371665 0.03235865
+v -0.41077044 0.04535466 0.00875478
+v -0.49124670 -0.02517947 -0.01220578
+v -0.41078817 -0.06541440 0.01836391
+v -0.48026566 -0.06097714 -0.04436705
+v -0.45573195 0.01501096 -0.07491094
+v -0.42191594 0.01597025 0.03129602
+v -0.41500490 -0.07914574 -0.04353048
+v -0.46505855 -0.06226728 -0.01307483
+v -0.46452420 0.02628321 -0.00953971
+v -0.41512517 0.01965596 -0.08045312
+v -0.49132612 0.00394080 -0.05446690
+v -0.46453660 -0.02860226 0.01235388
+v -0.41077796 0.02195983 0.03426714
+v -0.45658386 -0.06399185 -0.06227968
+v -0.47865293 -0.06254209 -0.03486274
+v -0.45084064 -0.06128477 -0.00100830
+v -0.44078781 0.04154531 -0.03956383
+v -0.41352377 0.04588474 -0.05374485
+v -0.47977328 -0.00677459 -0.07556761
+v -0.49104993 -0.04218439 -0.05422091
+v -0.48970867 0.00289784 -0.01268692
+v -0.43684324 -0.03879241 0.02674673
+v -0.47829372 -0.05042635 -0.01341027
+v -0.43570490 0.02850099 0.01325702
+v -0.42838144 -0.07709073 -0.04363338
+v -0.41539606 -0.06600431 -0.06657574
+v -0.42751059 -0.07413653 -0.00659713
+v -0.42375035 -0.06175209 0.01533915
+v -0.43871427 0.03965576 -0.00570037
+v -0.46653418 0.02590182 -0.05345992
+v -0.45603714 -0.05166499 -0.07360466
+v -0.47802724 0.01253952 -0.06251845
+v -0.49047451 -0.04051994 -0.02186909
+v -0.47927478 -0.05088179 -0.06259068
+v -0.46339896 0.00364810 0.01078618
+v -0.43671184 0.00633110 0.02657054
+v -0.45097910 -0.04852450 0.01258487
+v -0.42341480 0.04216067 0.00387204
+v -0.45471391 0.02511764 -0.06417414
+v -0.42633113 0.04183694 -0.05360319
+v -0.47942215 -0.02956118 -0.07354841
+v -0.42272195 -0.05135703 0.02721620
+f 3 2 4
+f 6 2 3
+f 10 6 1
+f 10 2 6
+f 16 3 4
+f 21 4 2
+f 21 2 13
+f 21 20 4
+f 21 13 8
+f 22 13 2
+f 22 8 13
+f 23 5 14
+f 23 14 22
+f 24 14 5
+f 24 12 14
+f 24 5 15
+f 25 16 9
+f 25 3 16
+f 26 15 5
+f 26 18 11
+f 27 9 16
+f 27 16 4
+f 28 17 10
+f 28 7 17
+f 28 18 7
+f 28 10 1
+f 29 17 2
+f 29 2 10
+f 29 10 17
+f 30 11 18
+f 30 19 11
+f 30 1 6
+f 30 6 19
+f 30 28 1
+f 30 18 28
+f 31 19 6
+f 31 6 3
+f 32 20 12
+f 32 4 20
+f 32 12 27
+f 33 14 12
+f 33 12 20
+f 34 2 17
+f 35 22 14
+f 35 8 22
+f 35 14 33
+f 36 5 23
+f 36 26 5
+f 36 18 26
+f 36 23 7
+f 36 7 18
+f 37 17 7
+f 37 7 23
+f 37 34 17
+f 38 24 15
+f 38 9 27
+f 38 27 12
+f 38 12 24
+f 39 25 9
+f 39 15 25
+f 39 38 15
+f 39 9 38
+f 40 25 15
+f 40 15 26
+f 40 26 11
+f 40 11 19
+f 41 32 27
+f 41 27 4
+f 41 4 32
+f 42 21 8
+f 42 35 33
+f 42 8 35
+f 43 33 20
+f 43 20 21
+f 43 42 33
+f 43 21 42
+f 44 22 2
+f 44 2 34
+f 44 34 37
+f 44 37 23
+f 44 23 22
+f 45 3 25
+f 45 25 40
+f 45 31 3
+f 45 40 19
+f 45 19 31
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_12.obj b/cucumber/cucumber_2/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26ad1bd8bc8a14d1d2f1986e734abc5a8a5057c9
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_12.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21945760 -0.08946493 -0.02995036
+v 0.21871373 -0.08170845 -0.05632565
+v 0.22093323 0.05542148 -0.06289614
+v -0.36420753 0.05662623 -0.05699328
+v -0.35560524 -0.08710468 -0.02988163
+v -0.35813469 0.03707270 -0.07704704
+v 0.21981400 0.03479892 -0.07502942
+v -0.35495989 -0.07919422 -0.05317133
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 5 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_13.obj b/cucumber/cucumber_2/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94fa942341c44ed55ac6b40bfd20665bbfbdb349
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_13.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.44462064 0.03883555 0.06632643
+v 0.44811553 0.04392528 0.06282458
+v 0.35717008 0.05615809 0.06137262
+v 0.12885152 0.05597444 0.05831818
+v 0.26516700 0.02656121 0.07284175
+v 0.35708818 0.06387917 0.05193607
+v 0.41548153 0.05773966 0.05952113
+v 0.12945294 0.03200057 0.07256905
+v 0.41603091 0.06436395 0.05277293
+v 0.44405390 0.05052201 0.06098867
+v 0.12848080 0.05046149 0.06353161
+v 0.12873739 0.02731200 0.07423740
+v 0.44634358 0.05518286 0.05658140
+f 5 2 1
+f 5 1 3
+f 6 5 4
+f 6 2 5
+f 7 3 1
+f 9 6 4
+f 9 4 3
+f 9 3 7
+f 10 7 1
+f 10 1 2
+f 11 8 3
+f 11 3 4
+f 12 4 5
+f 12 5 3
+f 12 3 8
+f 12 11 4
+f 12 8 11
+f 13 2 6
+f 13 6 9
+f 13 10 2
+f 13 9 7
+f 13 7 10
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_14.obj b/cucumber/cucumber_2/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..117737568e8e612aa89f686156b2e7c2121f0b00
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_14.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.34252231 -0.07972843 -0.03585903
+v 0.33869537 -0.05494564 -0.07805782
+v 0.34090839 0.07184194 -0.04477244
+v 0.26514372 0.07274838 -0.04560067
+v 0.26627044 -0.08331349 -0.03817566
+v 0.26427607 0.00544375 -0.09018804
+v 0.34221543 0.04707219 -0.06659654
+v 0.26452540 -0.05838720 -0.08470242
+v 0.33762167 -0.00514414 -0.08960473
+v 0.26705758 0.05716577 -0.06068232
+v 0.26462913 0.06504042 -0.05303947
+v 0.33779511 -0.03177256 -0.08884372
+v 0.32490912 0.00534383 -0.08816789
+v 0.26503845 0.03544903 -0.07373770
+v 0.34087403 0.06395060 -0.05275052
+v 0.32370620 -0.03876500 -0.08982247
+v 0.34013728 0.03399353 -0.07312485
+v 0.26502967 -0.04395947 -0.09229333
+f 1 3 4
+f 5 1 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 11 8 5
+f 11 5 4
+f 11 6 8
+f 11 4 10
+f 12 9 7
+f 12 7 2
+f 13 9 6
+f 13 6 7
+f 14 10 7
+f 14 7 6
+f 14 11 10
+f 14 6 11
+f 15 10 4
+f 15 4 3
+f 15 3 7
+f 15 7 10
+f 16 12 2
+f 16 2 8
+f 16 9 12
+f 17 13 7
+f 17 7 9
+f 17 9 13
+f 18 16 8
+f 18 8 6
+f 18 6 9
+f 18 9 16
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_15.obj b/cucumber/cucumber_2/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24e0b14947b1daa92856f2d8d40d6402ffef605f
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_15.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.01781170 -0.03087179
+v -0.23436183 -0.01756053 -0.09764274
+v -0.23256427 0.05368030 -0.07358444
+v -0.31689822 0.06202727 -0.06290675
+v -0.35555648 -0.01921778 -0.09526328
+v -0.31060606 -0.01781170 -0.03087179
+v -0.32508078 0.02101712 -0.08821841
+v -0.35813469 0.03707270 -0.07704704
+v -0.23516098 0.02145326 -0.08884886
+v -0.35477507 0.00737833 -0.09111484
+v -0.35753834 -0.01369012 -0.09449155
+v -0.35549917 0.02426056 -0.08495415
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 8 6 4
+f 8 4 3
+f 9 7 3
+f 9 3 2
+f 10 9 2
+f 10 7 9
+f 11 5 6
+f 11 6 8
+f 11 10 2
+f 11 2 5
+f 12 8 3
+f 12 3 7
+f 12 7 10
+f 12 11 8
+f 12 10 11
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_16.obj b/cucumber/cucumber_2/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd3bb99101d1d50d51d5ef1a16d41d2ea18aae59
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_16.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.23466293 -0.09192842 0.01427462
+v -0.23683197 -0.09081555 0.01889456
+v -0.31024552 -0.08889946 0.01380736
+v -0.33731245 -0.05539231 0.06398595
+v -0.23478672 -0.06416593 0.07583802
+v -0.23464396 -0.07995145 0.05353003
+v -0.30639450 -0.07584139 0.04801656
+v -0.23546867 -0.06938461 0.06867065
+v -0.33593071 -0.06086618 0.06052934
+v -0.31211279 -0.08568093 0.02358737
+v -0.33778933 -0.06659773 0.05236798
+v -0.34044048 -0.06116831 0.05860770
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 2 1
+f 6 1 5
+f 6 3 2
+f 8 7 6
+f 8 6 5
+f 8 5 7
+f 9 7 5
+f 9 5 4
+f 10 3 6
+f 10 6 7
+f 11 3 10
+f 11 10 7
+f 11 7 9
+f 12 11 9
+f 12 9 4
+f 12 4 3
+f 12 3 11
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_17.obj b/cucumber/cucumber_2/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8202dbecd2078ed4940f9283651b72a9500ecf2c
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_17.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.28380670 0.03868371 0.07528940
+v -0.28034367 0.02625605 -0.08759788
+v -0.27817994 0.08855280 0.01060136
+v -0.30675305 0.08639799 -0.00109506
+v -0.35609335 0.02766990 0.06012541
+v -0.28028873 0.07684028 -0.05087580
+v -0.27879282 0.06592364 0.05297652
+v -0.35549917 0.02426056 -0.08495415
+v -0.27968649 0.04969320 -0.07637453
+v -0.27906116 0.08781791 -0.02815887
+v -0.27806188 0.07687418 0.03752159
+v -0.34957348 0.04847996 0.04804496
+v -0.33847241 0.04774629 -0.07334331
+v -0.32077973 0.06851877 0.03515431
+v -0.33368742 0.05670054 0.04622742
+v -0.35156684 0.07184163 0.00686560
+v -0.35049770 0.07149237 -0.04076539
+v -0.29129159 0.08652929 0.01091069
+v -0.35297291 0.05622527 -0.06042599
+v -0.34970239 0.05974493 0.03360141
+v -0.33548087 0.07080834 -0.04979506
+v -0.29409585 0.08668105 -0.02780648
+v -0.35438584 0.03517997 -0.07866140
+v -0.30715144 0.08598532 -0.01424754
+f 5 2 1
+f 7 1 2
+f 8 2 5
+f 9 2 8
+f 10 4 3
+f 10 9 6
+f 10 3 9
+f 11 7 2
+f 11 9 3
+f 11 2 9
+f 12 5 1
+f 13 9 8
+f 13 6 9
+f 14 7 11
+f 15 12 1
+f 15 1 7
+f 15 7 14
+f 17 16 4
+f 18 14 11
+f 18 11 3
+f 18 3 4
+f 18 16 14
+f 18 4 16
+f 19 8 5
+f 19 5 16
+f 19 16 17
+f 20 16 5
+f 20 5 12
+f 20 12 15
+f 20 15 14
+f 20 14 16
+f 21 19 17
+f 21 6 13
+f 21 13 19
+f 22 4 10
+f 22 21 17
+f 22 10 6
+f 22 6 21
+f 23 19 13
+f 23 13 8
+f 23 8 19
+f 24 22 17
+f 24 17 4
+f 24 4 22
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_18.obj b/cucumber/cucumber_2/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7915e398286f32dc04346be6bf697e7c774ff5cc
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_18.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.40076052 -0.07417701 -0.02954652
+v 0.40316802 -0.07245013 -0.03370721
+v 0.39801099 -0.05457430 -0.06733870
+v 0.26452540 -0.05838720 -0.08470242
+v 0.26409453 -0.07798494 -0.05461216
+v 0.26478139 -0.08693789 -0.02845575
+v 0.36844964 -0.07533199 -0.04126049
+v 0.26393556 -0.06413896 -0.07871176
+v 0.30950915 -0.07563499 -0.05334799
+v 0.36975746 -0.07946668 -0.02720882
+v 0.39702007 -0.06219565 -0.06029048
+v 0.30894107 -0.06240162 -0.07682259
+v 0.30966737 -0.05623128 -0.08083845
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 8 6 4
+f 8 5 6
+f 9 7 6
+f 9 6 5
+f 10 7 1
+f 10 1 6
+f 10 6 7
+f 11 3 2
+f 11 2 7
+f 11 7 9
+f 12 9 5
+f 12 5 8
+f 12 11 9
+f 12 8 4
+f 12 3 11
+f 13 12 4
+f 13 4 3
+f 13 3 12
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_19.obj b/cucumber/cucumber_2/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b0eb9cfbfc25b9dbb0f763a6c71961de2eeb808
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_19.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.23683197 -0.09081555 0.01889456
+v -0.23546867 -0.06938461 0.06867065
+v -0.28218818 -0.08856453 0.02280616
+v -0.27817994 0.08855280 0.01060136
+v -0.23413249 0.09204105 0.01186484
+v -0.27706734 0.00881697 0.08737990
+v -0.23380387 -0.04163925 0.08988901
+v -0.27804045 0.05884837 0.06020363
+v -0.27800373 -0.05636928 0.07787480
+v -0.27775903 -0.02912884 0.08774895
+v -0.23358482 0.07391685 0.04975732
+v -0.26369770 -0.06853876 0.06847479
+v -0.23585401 -0.06250794 0.07823729
+v -0.26128678 -0.04039395 0.08747332
+v -0.23384774 0.08818047 0.02529294
+v -0.27735079 0.06941721 0.04960953
+v -0.23386948 0.04662472 0.07410830
+v -0.26264561 -0.06446828 0.07413147
+v -0.27781106 0.08467478 0.02355275
+v -0.26323713 0.04583304 0.07288185
+v -0.23478149 0.02044486 0.08766587
+v -0.24823213 0.02071820 0.08717229
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 7 2 1
+f 7 1 5
+f 8 4 3
+f 10 8 3
+f 10 6 8
+f 10 3 9
+f 10 7 6
+f 12 9 3
+f 12 3 2
+f 13 2 7
+f 13 7 9
+f 13 12 2
+f 14 10 9
+f 14 9 7
+f 14 7 10
+f 15 5 4
+f 15 11 7
+f 15 7 5
+f 16 8 11
+f 17 7 11
+f 18 13 9
+f 18 9 12
+f 18 12 13
+f 19 4 8
+f 19 8 16
+f 19 15 4
+f 19 16 11
+f 19 11 15
+f 20 17 11
+f 20 11 8
+f 20 8 6
+f 21 6 7
+f 21 7 17
+f 22 20 6
+f 22 6 21
+f 22 21 17
+f 22 17 20
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_2.obj b/cucumber/cucumber_2/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f1fdaec23d708cef0bb476e81b303928e399e0f
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_2.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.40076052 -0.07417701 -0.02954652
+v 0.49499956 -0.02726376 -0.01332686
+v 0.34252231 -0.07972843 -0.03585903
+v 0.34082964 0.08653563 -0.02932354
+v 0.42731477 0.02264746 -0.07199834
+v 0.48509226 -0.04118840 -0.01334090
+v 0.47886178 0.06132579 -0.01168818
+v 0.33869537 -0.05494564 -0.07805782
+v 0.46678003 -0.05476199 -0.01815833
+v 0.46556120 -0.01203089 -0.06004065
+v 0.44276340 0.07152809 -0.03512648
+v 0.39880201 -0.06530754 -0.05455438
+v 0.34038535 0.02167066 -0.07902362
+v 0.47795410 -0.03664531 -0.03739863
+v 0.49101404 0.02495152 -0.03517932
+v 0.42624517 -0.02549494 -0.07194103
+v 0.44202010 0.07808751 -0.02486597
+v 0.44108573 -0.06170161 -0.03823773
+v 0.34046271 0.05141771 -0.06429841
+v 0.49186325 0.03805976 -0.01623694
+v 0.48805897 -0.02460435 -0.03371843
+v 0.47881566 0.03375702 -0.04566128
+v 0.38268229 -0.05238127 -0.07161993
+v 0.45195458 -0.03704641 -0.05694640
+v 0.46211691 0.07308683 -0.01571684
+v 0.44191384 -0.06527004 -0.02692871
+v 0.42558212 -0.06158698 -0.04925170
+v 0.45290148 -0.04830617 -0.04871463
+v 0.34066688 0.07928558 -0.03724858
+v 0.44174530 0.04595913 -0.05778481
+v 0.49049393 0.03749247 -0.02589894
+v 0.47746323 -0.02471452 -0.04622952
+v 0.46658409 0.02268717 -0.05968822
+v 0.42526905 -0.05123211 -0.06010964
+v 0.47880860 0.05776005 -0.02227716
+v 0.45354053 0.05786760 -0.04487730
+f 6 4 3
+f 7 6 2
+f 7 4 6
+f 8 3 4
+f 9 6 3
+f 9 3 1
+f 12 1 3
+f 12 3 8
+f 14 2 6
+f 14 6 9
+f 16 5 10
+f 16 13 5
+f 16 8 13
+f 17 11 4
+f 19 13 8
+f 19 5 13
+f 20 7 2
+f 20 2 15
+f 21 15 2
+f 21 2 14
+f 23 12 8
+f 23 8 16
+f 24 16 10
+f 25 17 4
+f 25 4 7
+f 25 11 17
+f 26 18 9
+f 26 9 1
+f 26 1 18
+f 27 18 1
+f 27 1 12
+f 28 14 9
+f 28 9 18
+f 28 18 27
+f 29 19 8
+f 29 8 4
+f 29 4 11
+f 29 11 19
+f 30 19 11
+f 30 5 19
+f 31 20 15
+f 31 7 20
+f 31 15 22
+f 32 21 14
+f 32 10 15
+f 32 15 21
+f 32 24 10
+f 32 28 24
+f 32 14 28
+f 33 22 15
+f 33 15 10
+f 33 10 5
+f 33 5 30
+f 34 23 16
+f 34 16 24
+f 34 24 28
+f 34 28 27
+f 34 27 12
+f 34 12 23
+f 35 25 7
+f 35 31 22
+f 35 7 31
+f 36 30 11
+f 36 33 30
+f 36 22 33
+f 36 35 22
+f 36 11 25
+f 36 25 35
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_20.obj b/cucumber/cucumber_2/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..981023ef02d5c312cbd5aecd21e3debf7d3382b8
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_20.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.11257947 0.02302759 0.07673667
+v 0.12945294 0.03200057 0.07256905
+v -0.23483045 0.02570516 0.08554162
+v -0.23440708 0.06912600 0.05549376
+v 0.03666231 0.06458595 0.05170560
+v -0.06825602 0.04667173 0.07255520
+v 0.12885152 0.05597444 0.05831818
+v -0.23386948 0.04662472 0.07410830
+v 0.11323012 0.03517858 0.07242421
+v 0.12873739 0.02731200 0.07423740
+v -0.23370260 0.06150172 0.06223005
+v -0.23595151 0.04039811 0.07832552
+v 0.12848080 0.05046149 0.06353161
+f 1 3 4
+f 5 1 4
+f 7 5 4
+f 7 4 6
+f 9 1 2
+f 9 6 3
+f 9 3 1
+f 10 7 2
+f 10 2 1
+f 10 1 5
+f 10 5 7
+f 11 8 6
+f 11 6 4
+f 12 4 3
+f 12 3 6
+f 12 6 8
+f 12 11 4
+f 12 8 11
+f 13 7 6
+f 13 6 9
+f 13 9 2
+f 13 2 7
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_21.obj b/cucumber/cucumber_2/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40ea47b7ebd0a6c1bf42b7c3f4082e9d46418459
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_21.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.46576001 -0.00320399 0.06510470
+v 0.49868303 -0.00280088 -0.01430865
+v 0.48966164 0.02487943 0.03816956
+v 0.45629997 0.07480961 0.02549356
+v 0.45726122 0.07631767 -0.01185212
+v 0.45858080 0.05329708 0.05300226
+v 0.49114341 -0.00141364 0.03811579
+v 0.49475507 -0.00006599 -0.02972881
+v 0.49186325 0.03805976 -0.01623694
+v 0.48000864 0.03500358 0.04723551
+v 0.48260472 -0.00212370 0.05089864
+v 0.48979893 0.03532811 0.02727158
+v 0.46690574 0.07122473 -0.01165104
+v 0.47601392 0.06005792 0.02561590
+v 0.47886178 0.06132579 -0.01168818
+v 0.46352866 0.07166640 0.02518414
+v 0.46861569 0.04769166 0.04919486
+f 5 1 4
+f 6 4 1
+f 7 2 3
+f 8 2 1
+f 8 1 5
+f 9 2 8
+f 10 6 1
+f 11 1 2
+f 11 2 7
+f 11 7 3
+f 11 10 1
+f 11 3 10
+f 12 3 2
+f 12 2 9
+f 12 10 3
+f 13 8 5
+f 14 10 12
+f 15 9 8
+f 15 8 13
+f 15 14 12
+f 15 12 9
+f 16 13 5
+f 16 5 4
+f 16 4 6
+f 16 15 13
+f 16 14 15
+f 17 6 10
+f 17 10 14
+f 17 16 6
+f 17 14 16
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_22.obj b/cucumber/cucumber_2/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d697c28cae7cea1a7014661d5190f960b688b396
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_22.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.09969229 -0.07675123 -0.07070219
+v -0.09798815 -0.05908926 -0.08536157
+v -0.09885758 0.03770052 -0.07734917
+v -0.23433827 0.03570893 -0.08377368
+v -0.23417144 -0.05173764 -0.08944494
+v -0.09796213 0.00697655 -0.08986596
+v -0.23481021 -0.07277040 -0.07135710
+v -0.09794708 0.02531772 -0.08406865
+v -0.20498631 -0.05362780 -0.08847629
+v -0.23516098 0.02145326 -0.08884886
+v -0.09771434 -0.04459226 -0.09241566
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 3 1
+f 8 4 3
+f 9 2 1
+f 9 7 5
+f 9 1 7
+f 10 8 6
+f 10 4 8
+f 10 7 4
+f 10 5 7
+f 11 10 6
+f 11 5 10
+f 11 9 5
+f 11 2 9
+f 11 8 2
+f 11 6 8
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_23.obj b/cucumber/cucumber_2/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1a24f1342a4a477c6511f86829c7da174953e43
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_23.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.21920382 -0.08902168 0.01432342
+v 0.21945760 -0.08946493 -0.02995036
+v 0.21969875 0.08714177 -0.02588972
+v -0.27817994 0.08855280 0.01060136
+v -0.28034171 -0.09286030 -0.00243766
+v 0.21966232 0.08649539 0.01222065
+v 0.15839123 -0.09296486 -0.00121786
+v -0.28019044 -0.09063251 0.01408651
+v -0.27906116 0.08781791 -0.02815887
+v -0.28044839 -0.09296977 -0.02725767
+v 0.17354060 -0.09291640 -0.01637137
+v 0.12945453 -0.09175238 0.01408815
+v 0.08289424 0.08761304 -0.02333573
+v 0.17364105 -0.09146302 -0.02852927
+v -0.24961516 -0.09128915 0.01251693
+f 6 3 4
+f 6 1 2
+f 6 2 3
+f 8 6 4
+f 8 1 6
+f 9 3 2
+f 9 8 4
+f 9 5 8
+f 10 7 5
+f 10 9 2
+f 10 5 9
+f 11 2 1
+f 11 1 7
+f 11 7 10
+f 12 7 1
+f 12 1 8
+f 12 5 7
+f 13 9 4
+f 13 4 3
+f 13 3 9
+f 14 11 10
+f 14 10 2
+f 14 2 11
+f 15 12 8
+f 15 8 5
+f 15 5 12
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_24.obj b/cucumber/cucumber_2/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49c05644f878a1c5e0bdb6c426c5bd594b80675f
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_24.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.40420981 -0.05739681 0.06723977
+v 0.47067538 -0.02803416 0.05316388
+v 0.45353477 -0.01487354 0.07066620
+v 0.40172271 0.04662386 0.06801871
+v 0.45714409 -0.04220205 0.05282788
+v 0.47141701 0.03860368 0.05301263
+v 0.39818711 -0.04395987 0.08139582
+v 0.46427233 -0.02717609 0.05978768
+v 0.45428015 0.02092192 0.06996292
+v 0.45858080 0.05329708 0.05300226
+v 0.42539228 -0.04009237 0.07306994
+v 0.40107243 0.03478771 0.07372817
+v 0.45423968 0.04778585 0.05874058
+v 0.45221443 -0.03642108 0.06102729
+v 0.42824300 0.03438247 0.07157022
+v 0.46782990 0.03676336 0.05647221
+v 0.44634358 0.05518286 0.05658140
+v 0.44405390 0.05052201 0.06098867
+f 5 1 4
+f 6 2 5
+f 7 4 1
+f 8 5 2
+f 8 6 3
+f 8 2 6
+f 9 3 6
+f 9 7 3
+f 10 6 5
+f 10 5 4
+f 11 7 1
+f 11 1 5
+f 11 8 3
+f 11 3 7
+f 12 4 7
+f 14 11 5
+f 14 5 8
+f 14 8 11
+f 15 12 7
+f 15 7 9
+f 15 4 12
+f 16 13 9
+f 16 9 6
+f 16 6 10
+f 16 10 13
+f 17 10 4
+f 18 15 9
+f 18 9 13
+f 18 13 10
+f 18 10 17
+f 18 17 4
+f 18 4 15
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_25.obj b/cucumber/cucumber_2/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54b86b8ea15fca649e7f5d73950c75ed32ed10c7
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_25.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.14399434 -0.06230378 0.07391096
+v 0.14507278 -0.05712532 0.07785764
+v 0.00729188 -0.05808012 0.08247127
+v 0.00795221 0.02940051 0.07893123
+v 0.14391442 0.02715642 0.07395202
+v 0.12847771 -0.00547675 0.08934862
+v 0.00765223 -0.06505238 0.07645983
+v 0.00664384 -0.04219992 0.08944984
+v 0.00685339 0.00572092 0.09085670
+v 0.14364961 0.02199747 0.07598636
+v 0.12873739 0.02731200 0.07423740
+v 0.12832268 -0.01623182 0.08938012
+v 0.00789449 0.02327715 0.08240673
+v 0.09996301 -0.02720833 0.08888904
+v 0.06609929 -0.04047487 0.08691475
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 5 1
+f 8 3 2
+f 8 7 3
+f 8 4 7
+f 9 6 5
+f 9 4 8
+f 10 6 2
+f 10 2 5
+f 10 5 6
+f 11 7 4
+f 11 4 5
+f 11 5 7
+f 12 2 6
+f 12 9 8
+f 12 6 9
+f 13 9 5
+f 13 5 4
+f 13 4 9
+f 14 12 8
+f 14 2 12
+f 15 14 8
+f 15 8 2
+f 15 2 14
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_26.obj b/cucumber/cucumber_2/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53f615064f451c745451ea792264ea190a982acc
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.39891191 -0.07803866 0.01604410
+v 0.39837312 -0.07591211 -0.02535379
+v 0.40088409 0.08986791 0.01074432
+v 0.26586881 0.08758013 0.01269140
+v 0.26478139 -0.08693789 -0.02845575
+v 0.26482027 -0.08661602 0.01464238
+v 0.26480140 0.08912752 -0.02651443
+v 0.39952818 0.08643520 -0.02435798
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 4 3
+f 7 6 4
+f 7 5 6
+f 8 7 3
+f 8 3 2
+f 8 2 5
+f 8 5 7
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_27.obj b/cucumber/cucumber_2/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e62b3cac025712be22ec37b84851c67982cd6737
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18934842 -0.07685022 -0.07036418
+v 0.18991005 -0.05419290 -0.08956599
+v 0.18999848 -0.00741624 -0.09696867
+v -0.09952021 -0.00688839 -0.09437863
+v -0.09969229 -0.07675123 -0.07070219
+v -0.09797891 -0.01898906 -0.09661639
+v 0.18911772 -0.01808446 -0.09854113
+v -0.09839070 -0.05271039 -0.08949240
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 8 5 4
+f 8 4 6
+f 8 2 5
+f 8 7 2
+f 8 6 7
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_28.obj b/cucumber/cucumber_2/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7611ecf56bd418fe935ad405d22bc7b9fb3bf22
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_28.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.26498452 -0.07562949 -0.05997633
+v 0.26526633 -0.07185977 -0.06761385
+v 0.26452540 -0.05838720 -0.08470242
+v -0.35499943 -0.05641748 -0.08107023
+v -0.32475728 -0.08098957 -0.05417242
+v 0.23171759 -0.07606705 -0.06630308
+v -0.35576759 -0.07560781 -0.05946554
+v 0.23346535 -0.08055253 -0.05589971
+v 0.26393556 -0.06413896 -0.07871176
+v -0.32363569 -0.07455513 -0.06664641
+v 0.24997048 -0.05975214 -0.08495301
+v -0.35400146 -0.06366924 -0.07639995
+v -0.35691175 -0.07142853 -0.06613989
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 5 1
+f 7 1 4
+f 8 6 1
+f 8 1 5
+f 8 5 6
+f 9 3 2
+f 9 2 6
+f 10 6 5
+f 10 5 7
+f 11 9 6
+f 11 3 9
+f 11 6 10
+f 11 4 3
+f 12 11 10
+f 12 4 11
+f 13 12 10
+f 13 10 7
+f 13 7 4
+f 13 4 12
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_29.obj b/cucumber/cucumber_2/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3369087be3390142f57a55c6d6bd27ce2b1e724
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_29.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.23481021 -0.07277040 -0.07135710
+v -0.23478931 -0.05782372 -0.08533759
+v -0.23660035 -0.01165230 -0.09692280
+v -0.41961025 -0.01251334 -0.08932208
+v -0.41469249 -0.05318129 -0.07962918
+v -0.41709751 -0.06747547 -0.06448110
+v -0.23436183 -0.01756053 -0.09764274
+v -0.23440642 -0.04358039 -0.09264899
+v -0.39955015 -0.01786680 -0.09166300
+v -0.38567040 -0.04113888 -0.08739929
+v -0.25026694 -0.01674079 -0.09758010
+v -0.41659565 -0.01788631 -0.09064873
+v -0.40059335 -0.02781021 -0.09095402
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 3 1
+f 8 7 1
+f 8 1 2
+f 9 4 3
+f 10 8 2
+f 10 2 5
+f 11 9 3
+f 11 3 7
+f 11 7 8
+f 12 5 4
+f 12 4 9
+f 13 9 11
+f 13 12 9
+f 13 10 5
+f 13 5 12
+f 13 11 8
+f 13 8 10
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_3.obj b/cucumber/cucumber_2/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..139d3bf120b996bcba51c7ba5a9e3a220aaaed11
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_3.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.39792977 -0.07436011 0.03669137
+v 0.39891191 -0.07803866 0.01604410
+v 0.40384817 0.07484323 0.04124065
+v 0.14617768 0.06352516 0.04957923
+v 0.14394345 -0.09215329 0.01444658
+v 0.39892237 -0.00536268 0.08935702
+v 0.34058910 -0.07519098 0.05289043
+v 0.26459697 0.06892773 0.03927926
+v 0.40107243 0.03478771 0.07372817
+v 0.14507278 -0.05712532 0.07785764
+v 0.39717821 -0.06318926 0.06255168
+v 0.14364961 0.02199747 0.07598636
+v 0.14590302 -0.08112521 0.05511590
+v 0.38326085 -0.04081074 0.08567716
+v 0.32671862 0.03594793 0.07238642
+v 0.38658079 0.00528007 0.08815351
+v 0.23661880 -0.00845193 0.08941352
+v 0.39617588 -0.02831958 0.08808210
+v 0.18778670 -0.06439971 0.07401855
+v 0.34182238 0.00415471 0.08787219
+v 0.34141553 -0.04181431 0.08721362
+v 0.39595805 -0.05151398 0.07606948
+v 0.17531753 -0.06543479 0.07328975
+v 0.23556033 -0.02971982 0.08746082
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 8 2 5
+f 8 5 4
+f 8 4 3
+f 9 3 4
+f 9 6 2
+f 9 2 3
+f 11 1 2
+f 11 2 6
+f 11 7 1
+f 12 4 5
+f 12 5 10
+f 13 10 5
+f 13 5 7
+f 15 9 4
+f 15 4 12
+f 16 6 9
+f 16 15 12
+f 16 9 15
+f 17 12 10
+f 17 6 16
+f 18 6 17
+f 19 13 7
+f 20 17 16
+f 20 16 12
+f 20 12 17
+f 21 18 17
+f 21 14 18
+f 21 10 19
+f 22 18 14
+f 22 11 6
+f 22 6 18
+f 22 14 21
+f 22 21 19
+f 22 19 7
+f 22 7 11
+f 23 19 10
+f 23 10 13
+f 23 13 19
+f 24 21 17
+f 24 17 10
+f 24 10 21
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_30.obj b/cucumber/cucumber_2/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8ef1f4da52907cd319556a7ade6ff1e90679565
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.40172271 0.04662386 0.06801871
+v 0.40088409 0.08986791 0.01074432
+v 0.40384817 0.07484323 0.04124065
+v 0.31108928 0.08908861 0.01113376
+v 0.40075497 0.08592595 0.02488584
+v 0.31013528 0.04717940 0.06679935
+v 0.31113533 0.08633577 0.02255140
+v 0.40118277 0.06499043 0.05330044
+v 0.30826616 0.06739817 0.04313605
+f 1 2 3
+f 2 1 4
+f 5 3 2
+f 6 4 1
+f 7 5 2
+f 7 2 4
+f 7 3 5
+f 8 6 1
+f 8 1 3
+f 8 7 6
+f 8 3 7
+f 9 7 4
+f 9 4 6
+f 9 6 7
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_31.obj b/cucumber/cucumber_2/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1a778c667a25b764615970202ed2b226ccb492a
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.22137044 -0.07613946 -0.06861706
+v 0.21873119 -0.05304244 -0.08919555
+v 0.21981400 0.03479892 -0.07502942
+v 0.18955522 0.03506632 -0.07524879
+v 0.18934842 -0.07685022 -0.07036418
+v 0.18891182 0.00509103 -0.09169694
+v 0.21976266 0.00423294 -0.09104534
+v 0.18901707 0.02218754 -0.08239614
+v 0.18991005 -0.05419290 -0.08956599
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 7 3 1
+f 7 6 3
+f 7 2 6
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 8 5 4
+f 9 6 2
+f 9 2 5
+f 9 5 6
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_4.obj b/cucumber/cucumber_2/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8497682c9b7524f7e94e14a555f7cfce9a45ca4a
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_4.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.14394345 -0.09215329 0.01444658
+v 0.14590302 -0.08112521 0.05511590
+v -0.23466293 -0.09192842 0.01427462
+v -0.23898361 0.07454195 0.04822218
+v 0.14617768 0.06352516 0.04957923
+v -0.23380387 -0.04163925 0.08988901
+v -0.18871098 -0.09437478 0.01076681
+v 0.06757546 -0.09377269 0.01290697
+v -0.23464396 -0.07995145 0.05353003
+v -0.02456820 0.01837086 0.08701289
+v 0.06807717 -0.09208830 0.02721925
+v -0.23585401 -0.06250794 0.07823729
+v -0.18928374 -0.09046392 0.02569336
+v -0.23478149 0.02044486 0.08766587
+v 0.00664384 -0.04219992 0.08944984
+v -0.14305400 -0.07577111 0.06320421
+v 0.14391442 0.02715642 0.07395202
+v 0.09803193 -0.06646849 0.07244856
+v 0.00685339 0.00572092 0.09085670
+v 0.14476707 -0.07022322 0.06770135
+v 0.00664187 -0.07560629 0.06354741
+v 0.09868523 -0.05731472 0.07752977
+f 5 2 1
+f 7 3 4
+f 8 5 1
+f 8 4 5
+f 8 7 4
+f 10 5 4
+f 11 8 1
+f 11 1 2
+f 11 7 8
+f 11 2 9
+f 12 4 3
+f 12 3 9
+f 13 9 3
+f 13 3 7
+f 13 11 9
+f 13 7 11
+f 14 10 4
+f 14 12 6
+f 14 4 12
+f 15 6 12
+f 16 12 9
+f 16 9 2
+f 17 5 10
+f 18 15 12
+f 19 14 6
+f 19 6 15
+f 19 10 14
+f 19 17 10
+f 20 2 5
+f 20 5 17
+f 21 16 2
+f 21 20 18
+f 21 2 20
+f 21 18 12
+f 21 12 16
+f 22 19 15
+f 22 17 19
+f 22 20 17
+f 22 15 18
+f 22 18 20
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_5.obj b/cucumber/cucumber_2/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a789c15029c749652feb35ac421f24158ce93a2d
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_5.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.18911772 -0.01808446 -0.09854113
+v 0.18999848 -0.00741624 -0.09696867
+v 0.05303030 -0.01781170 -0.03087179
+v -0.09885758 0.03770052 -0.07734917
+v -0.09797891 -0.01898906 -0.09661639
+v 0.18955522 0.03506632 -0.07524879
+v -0.09794708 0.02531772 -0.08406865
+v 0.00757576 -0.01781170 -0.03087179
+v 0.05277618 0.05513402 -0.06404820
+v -0.09952021 -0.00688839 -0.09437863
+v 0.18891182 0.00509103 -0.09169694
+v 0.00808102 0.05422210 -0.06575588
+v 0.18901707 0.02218754 -0.08239614
+f 5 2 1
+f 5 1 3
+f 6 1 2
+f 6 3 1
+f 8 5 3
+f 8 4 5
+f 9 3 6
+f 9 8 3
+f 10 5 4
+f 10 4 7
+f 10 7 2
+f 10 2 5
+f 11 6 2
+f 11 2 7
+f 11 7 4
+f 12 9 6
+f 12 6 4
+f 12 4 8
+f 12 8 9
+f 13 11 4
+f 13 4 6
+f 13 6 11
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_6.obj b/cucumber/cucumber_2/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11136d202463faacf047d01584e1f21801e00441
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_6.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.28019044 -0.09063251 0.01408651
+v -0.28031557 -0.09221080 -0.03056008
+v -0.27804045 0.05884837 0.06020363
+v -0.29343754 0.06439621 0.05137398
+v -0.35560524 -0.08710468 -0.02988163
+v -0.28236477 0.06310691 -0.06577597
+v -0.27800373 -0.05636928 0.07787480
+v -0.27879282 0.06592364 0.05297652
+v -0.36420753 0.05662623 -0.05699328
+v -0.34993088 -0.07561913 0.03355457
+v -0.33508644 0.00715956 0.07400074
+v -0.29172757 0.05701958 0.05918096
+v -0.30877982 -0.08050486 0.03997736
+v -0.35059364 -0.05319483 0.06082184
+v -0.27901709 0.03516899 0.07855032
+v -0.35335091 0.03783796 0.05386434
+v -0.33484852 -0.03998875 0.07226596
+v -0.31970956 -0.05225075 0.07182943
+v -0.33734222 0.05146352 0.05062540
+v -0.35004828 0.03150920 0.06032936
+v -0.30627405 0.03478742 0.07361686
+v -0.33476259 0.04418455 0.05684051
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 1 2
+f 7 2 3
+f 8 3 6
+f 9 6 5
+f 9 8 6
+f 9 4 8
+f 10 5 1
+f 12 8 4
+f 12 3 8
+f 13 10 1
+f 13 1 7
+f 14 9 5
+f 14 5 10
+f 15 11 7
+f 15 7 3
+f 15 3 12
+f 16 9 14
+f 17 7 11
+f 17 11 14
+f 18 13 7
+f 18 17 14
+f 18 7 17
+f 18 14 10
+f 18 10 13
+f 19 4 9
+f 19 9 16
+f 19 12 4
+f 20 16 14
+f 20 14 11
+f 20 19 16
+f 21 15 12
+f 21 12 19
+f 21 20 11
+f 21 11 15
+f 22 21 19
+f 22 19 20
+f 22 20 21
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_7.obj b/cucumber/cucumber_2/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d17d062afc79ae5a43edfa21113fbe45b225c5b
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_7.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.26508457 0.03232035 0.07018713
+v 0.31060631 0.08824156 0.01458099
+v -0.23358482 0.07391685 0.04975732
+v -0.23413249 0.09204105 0.01186484
+v 0.02171714 0.08866244 0.01136477
+v -0.14411613 0.08567895 0.03452668
+v -0.23595151 0.04039811 0.07832552
+v 0.31013528 0.04717940 0.06679935
+v -0.21802718 0.08612544 0.03397216
+v -0.23898361 0.07454195 0.04822218
+v 0.31115189 0.07775653 0.03384350
+v -0.23384774 0.08818047 0.02529294
+v 0.31151178 0.06075684 0.05125375
+f 5 2 1
+f 5 1 4
+f 5 4 2
+f 6 2 4
+f 7 4 1
+f 8 1 2
+f 8 7 1
+f 8 3 7
+f 9 6 4
+f 9 3 6
+f 10 7 3
+f 10 4 7
+f 10 3 9
+f 11 6 3
+f 11 3 8
+f 11 2 6
+f 12 10 9
+f 12 9 4
+f 12 4 10
+f 13 11 8
+f 13 8 2
+f 13 2 11
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_8.obj b/cucumber/cucumber_2/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afc8616ea825deb90118e389abfc0254da179cb5
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_8.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.35264998 -0.07923529 0.02452375
+v -0.35400146 -0.06366924 -0.07639995
+v -0.34970239 0.05974493 0.03360141
+v -0.35156684 0.07184163 0.00686560
+v -0.41560217 -0.01769489 -0.09071660
+v -0.35145338 0.07336233 -0.02893820
+v -0.35082464 -0.06411541 0.05046481
+v -0.41541237 -0.07507254 -0.05211021
+v -0.40696102 0.04133513 0.01799233
+v -0.35477507 0.00737833 -0.09111484
+v -0.41539606 -0.06600431 -0.06657574
+v -0.35495989 -0.07919422 -0.05317133
+v -0.41078817 -0.06541440 0.01836391
+v -0.36226322 0.06862914 0.00625775
+v -0.41247827 0.03966514 -0.06196917
+v -0.37792134 0.00684583 0.05723308
+v -0.35555648 -0.01921778 -0.09526328
+v -0.36946369 -0.06156764 -0.07672326
+v -0.41305014 -0.07682715 -0.00493770
+v -0.38134289 -0.07361963 0.02119616
+v -0.39358566 0.05367339 0.00756418
+v -0.39932367 0.03020007 -0.07465690
+v -0.35004828 0.03150920 0.06032936
+v -0.40725099 -0.04195991 0.04079738
+v -0.40818967 0.00603097 0.04306527
+v -0.36222768 0.05485091 0.03247571
+v -0.39633773 0.05584666 -0.04030624
+v -0.38492424 0.00908559 -0.08857556
+v -0.41469589 -0.00583747 -0.08859547
+v -0.35430081 0.06365245 -0.05228702
+v -0.35059364 -0.05319483 0.06082184
+v -0.37728125 -0.04116163 0.05547155
+v -0.39020544 0.02789539 0.04309120
+v -0.36342513 0.02864342 0.05691718
+v -0.36525496 0.06836649 -0.03087881
+v -0.35438584 0.03517997 -0.07866140
+v -0.38126011 0.05711999 -0.04959846
+v -0.39228548 -0.05205795 0.04294918
+v -0.40591862 0.02982089 0.03074779
+v -0.39112932 0.04129143 0.03063933
+v -0.36528554 -0.06154867 0.04691722
+v -0.36440431 -0.05072469 0.05729815
+f 6 3 2
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 10 6 2
+f 11 8 5
+f 12 2 1
+f 12 11 2
+f 12 8 11
+f 14 3 4
+f 14 4 6
+f 15 5 8
+f 17 10 2
+f 17 5 10
+f 18 11 5
+f 18 2 11
+f 18 17 2
+f 18 5 17
+f 19 12 1
+f 19 8 12
+f 20 1 7
+f 20 7 13
+f 20 19 1
+f 20 13 19
+f 25 15 8
+f 25 8 19
+f 25 9 15
+f 25 19 13
+f 25 13 24
+f 26 21 9
+f 26 3 14
+f 26 14 21
+f 27 15 9
+f 27 9 21
+f 27 21 14
+f 28 10 5
+f 29 5 15
+f 29 15 22
+f 29 28 5
+f 29 22 28
+f 30 22 15
+f 31 23 16
+f 31 7 3
+f 31 3 23
+f 32 25 24
+f 32 16 25
+f 32 31 16
+f 34 23 3
+f 34 3 26
+f 34 16 23
+f 34 33 25
+f 34 25 16
+f 35 27 14
+f 35 14 6
+f 35 6 27
+f 36 28 22
+f 36 10 28
+f 36 22 30
+f 36 30 6
+f 36 6 10
+f 37 27 6
+f 37 6 30
+f 37 30 15
+f 37 15 27
+f 38 24 13
+f 39 9 25
+f 39 25 33
+f 40 26 9
+f 40 39 33
+f 40 9 39
+f 40 34 26
+f 40 33 34
+f 41 38 13
+f 41 13 7
+f 41 7 31
+f 42 32 24
+f 42 24 38
+f 42 31 32
+f 42 41 31
+f 42 38 41
\ No newline at end of file
diff --git a/cucumber/cucumber_2/collision/model_normalized_collision_9.obj b/cucumber/cucumber_2/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b710f024d6e52c4ea9e2fc99f8396045471f617e
--- /dev/null
+++ b/cucumber/cucumber_2/collision/model_normalized_collision_9.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.26482027 -0.08661602 0.01464238
+v 0.26502967 -0.04395947 -0.09229333
+v 0.26586881 0.08758013 0.01269140
+v 0.21966232 0.08649539 0.01222065
+v 0.21871373 -0.08170845 -0.05632565
+v 0.26480140 0.08912752 -0.02651443
+v 0.21920382 -0.08902168 0.01432342
+v 0.26409453 -0.07798494 -0.05461216
+v 0.21976266 0.00423294 -0.09104534
+v 0.23389639 -0.05406732 -0.08839676
+v 0.21873119 -0.05304244 -0.08919555
+v 0.26427607 0.00544375 -0.09018804
+v 0.21969875 0.08714177 -0.02588972
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 2 1
+f 8 1 5
+f 10 8 5
+f 10 2 8
+f 11 5 4
+f 11 10 5
+f 11 9 2
+f 11 2 10
+f 12 9 6
+f 12 6 2
+f 12 2 9
+f 13 4 6
+f 13 6 9
+f 13 11 4
+f 13 9 11
\ No newline at end of file
diff --git a/cucumber/cucumber_2/model.xml b/cucumber/cucumber_2/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..463f2fc34d7f8414aa38c0dcc67884e4f252c7c5
--- /dev/null
+++ b/cucumber/cucumber_2/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="cucumber_1">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.2 0.2 0.2" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
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diff --git a/cucumber/cucumber_2/visual/image0.png b/cucumber/cucumber_2/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..d444aa1599efcb584a7155fd8e3ae1cfbfd6f292
--- /dev/null
+++ b/cucumber/cucumber_2/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8bbb04f1e1638345a6b327018fd62c3b0bd0fef0862fece0ad391ac652fd02c
+size 814094
diff --git a/cucumber/cucumber_2/visual/material.mtl b/cucumber/cucumber_2/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/cucumber/cucumber_2/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/cucumber/cucumber_2/visual/material_0.jpeg b/cucumber/cucumber_2/visual/material_0.jpeg
new file mode 100644
index 0000000000000000000000000000000000000000..58b45d6fdbb7fa8e2dcea013bb62779260557ea5
--- /dev/null
+++ b/cucumber/cucumber_2/visual/material_0.jpeg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5f630942b942d92d78e552ca282224d896403ddca25a864b5896e7bf72df8b1
+size 78193
diff --git a/cucumber/cucumber_2/visual/model_normalized_0.obj b/cucumber/cucumber_2/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91a25f95b85cacac0102cd249a9e293e315e96d0
--- /dev/null
+++ b/cucumber/cucumber_2/visual/model_normalized_0.obj
@@ -0,0 +1,8781 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 1179/1179/1179 1178/1178/1178 1193/1193/1193
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+f 1783/1783/1783 1810/1810/1810 1231/1231/1231
+f 1783/1783/1783 1231/1231/1231 1196/1196/1196
+f 1302/1302/1302 1243/1243/1243 1242/1242/1242
+f 1302/1302/1302 1242/1242/1242 1640/1640/1640
+f 1309/1309/1309 1253/1253/1253 1266/1266/1266
+f 1309/1309/1309 1266/1266/1266 1310/1310/1310
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+f 1331/1331/1331 1272/1272/1272 1271/1271/1271
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+f 1149/1149/1149 1301/1301/1301 1563/1563/1563
+f 1305/1305/1305 1282/1282/1282 1283/1283/1283
+f 1305/1305/1305 1283/1283/1283 1288/1288/1288
+f 1306/1306/1306 1307/1307/1307 1289/1289/1289
+f 1306/1306/1306 1289/1289/1289 1284/1284/1284
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+f 1345/1345/1345 1363/1363/1363 1364/1364/1364
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+f 1371/1371/1371 1374/1374/1374 1394/1394/1394
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+f 280/280/280 1383/1383/1383 1382/1382/1382
+f 280/280/280 1382/1382/1382 1362/1362/1362
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+f 139/139/139 1435/1435/1435 1432/1432/1432
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+f 1794/1794/1794 1468/1468/1468 1458/1458/1458
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+f 1604/1604/1604 1802/1802/1802 1586/1586/1586
+f 1604/1604/1604 1586/1586/1586 1585/1585/1585
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+f 1601/1601/1601 1614/1614/1614 1631/1631/1631
+f 1598/1598/1598 1611/1611/1611 1607/1607/1607
+f 1598/1598/1598 1607/1607/1607 1606/1606/1606
+f 1600/1600/1600 1601/1601/1601 1631/1631/1631
+f 1600/1600/1600 1631/1631/1631 1610/1610/1610
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+f 1645/1645/1645 181/181/181 1661/1661/1661
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+f 1709/1709/1709 1723/1723/1723 1715/1715/1715
+f 186/186/186 1719/1719/1719 403/403/403
+f 186/186/186 403/403/403 405/405/405
+f 1374/1374/1374 1373/1373/1373 1722/1722/1722
+f 1374/1374/1374 1722/1722/1722 1734/1734/1734
+f 1739/1739/1739 193/193/193 1419/1419/1419
+f 1739/1739/1739 1419/1419/1419 1418/1418/1418
+f 1756/1756/1756 1825/1825/1825 532/532/532
+f 1756/1756/1756 532/532/532 531/531/531
+f 555/555/555 563/563/563 16/16/16
+f 555/555/555 16/16/16 541/541/541
+f 355/355/355 592/592/592 580/580/580
+f 355/355/355 580/580/580 574/574/574
+f 737/737/737 712/712/712 711/711/711
+f 737/737/737 711/711/711 738/738/738
+f 219/219/219 218/218/218 68/68/68
+f 219/219/219 68/68/68 67/67/67
+f 1181/1181/1181 1170/1170/1170 1151/1151/1151
+f 1181/1181/1181 1151/1151/1151 1152/1152/1152
+f 1421/1421/1421 1424/1424/1424 1406/1406/1406
+f 1421/1421/1421 1406/1406/1406 136/136/136
+f 273/273/273 1531/1531/1531 1511/1511/1511
+f 273/273/273 1511/1511/1511 1488/1488/1488
+f 264/264/264 263/263/263 1555/1555/1555
+f 264/264/264 1555/1555/1555 1795/1795/1795
+f 1586/1586/1586 1802/1802/1802 1596/1596/1596
+f 1586/1586/1586 1596/1596/1596 1587/1587/1587
+f 1680/1680/1680 1657/1657/1657 1656/1656/1656
+f 1680/1680/1680 1656/1656/1656 1797/1797/1797
+f 1314/1314/1314 1697/1697/1697 1669/1669/1669
+f 1314/1314/1314 1669/1669/1669 1668/1668/1668
+f 184/184/184 186/186/186 405/405/405
+f 184/184/184 405/405/405 1728/1728/1728
+f 1734/1734/1734 1733/1733/1733 1742/1742/1742
+f 1734/1734/1734 1742/1742/1742 1739/1739/1739
+f 177/177/177 1642/1642/1642 1215/1215/1215
+f 177/177/177 1215/1215/1215 175/175/175
+f 1620/1620/1620 1619/1619/1619 1303/1303/1303
+f 1620/1620/1620 1303/1303/1303 1302/1302/1302
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+f 1020/1020/1020 1441/1441/1441 1028/1028/1028
+f 120/120/120 1217/1217/1217 1236/1236/1236
+f 120/120/120 1236/1236/1236 1235/1235/1235
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+f 1094/1094/1094 1090/1090/1090 1089/1089/1089
+f 801/801/801 825/825/825 841/841/841
+f 801/801/801 841/841/841 802/802/802
+f 778/778/778 761/761/761 768/768/768
+f 778/778/778 768/768/768 785/785/785
+f 485/485/485 495/495/495 1826/1826/1826
+f 485/485/485 1826/1826/1826 486/486/486
+f 692/692/692 688/688/688 689/689/689
+f 692/692/692 689/689/689 693/693/693
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_0.obj b/cucumber/cucumber_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bc0aeff401c87ef86312f93ddaa4f7be530ac69
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v -0.31027103 -0.11140206 0.11270789
+v -0.30981232 -0.10459398 0.12357480
+v -0.42115693 -0.09873785 0.10270411
+v -0.43936516 -0.00747076 0.15948335
+v -0.37232628 -0.01813092 -0.11314943
+v -0.39889815 -0.07523993 0.14346099
+v -0.38164898 -0.11628363 0.09315981
+v -0.31117045 -0.06530933 0.15232401
+v -0.49146152 -0.00850717 0.00038671
+v -0.44530290 -0.05950694 0.13382200
+v -0.35535115 -0.12045588 0.09368508
+v -0.39662195 -0.08415486 0.13473523
+v -0.30912033 -0.08568951 0.13944429
+v -0.35598460 -0.01007472 0.17504710
+v -0.39159345 -0.11490512 -0.02605427
+v -0.41096734 -0.04571815 0.15965806
+v -0.47521032 -0.06218920 0.06508119
+v -0.38134227 -0.09885931 0.11928498
+v -0.35414605 -0.08315202 -0.09166560
+v -0.35719967 -0.05980005 0.15873944
+v -0.43821953 -0.00774502 -0.08101315
+v -0.38031390 -0.12911198 0.03618022
+v -0.42398225 -0.06099303 0.14452865
+v -0.44939297 -0.03224616 0.14772943
+v -0.46191348 -0.07040375 0.09514931
+v -0.46160849 -0.06895919 -0.01243590
+v -0.36843679 -0.05943313 0.15753378
+v -0.47800302 -0.00802128 0.11989644
+v -0.41525037 -0.00989809 -0.09381226
+v -0.41002353 -0.11223752 0.06610076
+v -0.36847571 -0.12866504 0.05183065
+v -0.35205876 -0.12028494 -0.04411847
+v -0.43846259 -0.02223816 0.15739008
+v -0.44898147 -0.06790792 0.11815990
+v -0.48911241 -0.03204643 0.01042152
+v -0.47483536 -0.03358513 -0.02930831
+v -0.43591410 -0.07425175 -0.05059246
+v -0.46501449 -0.00836582 0.13671243
+v -0.48967903 -0.02336990 0.08025089
+v -0.47418887 -0.02974564 0.11688610
+v -0.43549352 -0.03148093 -0.07858228
+v -0.43519049 -0.09816706 -0.01001669
+v -0.43257570 -0.09818755 0.08001404
+v -0.35365448 -0.13083915 0.05224109
+v -0.35242084 -0.13111935 -0.00300005
+v -0.37860852 -0.08939742 -0.07757671
+v -0.35161940 -0.09445071 -0.08557069
+v -0.47288024 -0.06219136 0.00090026
+v -0.48009660 -0.00892072 -0.03128237
+v -0.49002816 -0.02295350 0.00090789
+v -0.44625381 -0.06873724 -0.04263400
+v -0.49052300 -0.03196791 0.06513082
+v -0.49127546 -0.00844313 0.08076015
+v -0.40831615 -0.11247497 -0.00280252
+v -0.37881741 -0.12933925 0.02723328
+v -0.36680313 -0.12783129 -0.00249815
+v -0.37976133 -0.11301417 -0.03976704
+v -0.35134465 -0.10315169 -0.07323072
+v -0.39074857 -0.09833825 -0.05553780
+v -0.36519772 -0.09951105 -0.07105513
+f 11 1 2
+f 12 10 3
+f 12 6 10
+f 12 2 6
+f 13 2 1
+f 13 5 8
+f 14 8 5
+f 16 14 4
+f 18 7 11
+f 18 11 2
+f 18 2 12
+f 18 12 3
+f 18 3 7
+f 19 13 1
+f 19 5 13
+f 20 13 8
+f 20 6 2
+f 20 2 13
+f 20 8 14
+f 20 14 16
+f 21 4 14
+f 23 10 6
+f 23 6 16
+f 24 23 16
+f 24 10 23
+f 27 20 16
+f 27 16 6
+f 27 6 20
+f 28 21 9
+f 28 4 21
+f 29 21 14
+f 29 14 5
+f 30 22 7
+f 30 7 3
+f 31 11 7
+f 31 7 22
+f 33 24 16
+f 33 16 4
+f 33 4 24
+f 34 25 3
+f 34 3 10
+f 34 10 25
+f 38 24 4
+f 38 4 28
+f 40 25 10
+f 40 10 24
+f 40 38 28
+f 40 24 38
+f 40 39 25
+f 40 28 39
+f 41 29 5
+f 41 5 19
+f 41 21 29
+f 42 22 30
+f 42 37 15
+f 43 30 3
+f 43 3 25
+f 43 42 30
+f 43 25 17
+f 43 17 42
+f 44 1 11
+f 44 11 31
+f 44 31 22
+f 45 32 1
+f 45 1 44
+f 46 41 19
+f 46 37 41
+f 47 19 1
+f 47 46 19
+f 48 17 35
+f 48 42 17
+f 48 26 42
+f 49 9 21
+f 49 41 36
+f 49 21 41
+f 50 49 36
+f 50 9 49
+f 50 48 35
+f 50 36 48
+f 51 41 37
+f 51 36 41
+f 51 48 36
+f 51 26 48
+f 51 42 26
+f 51 37 42
+f 52 17 25
+f 52 25 39
+f 52 35 17
+f 52 50 35
+f 52 9 50
+f 53 39 28
+f 53 28 9
+f 53 52 39
+f 53 9 52
+f 54 42 15
+f 54 22 42
+f 55 54 15
+f 55 22 54
+f 55 45 44
+f 55 44 22
+f 56 15 32
+f 56 32 45
+f 56 55 15
+f 56 45 55
+f 57 32 15
+f 58 47 1
+f 58 1 32
+f 58 32 57
+f 59 57 15
+f 59 15 37
+f 59 37 46
+f 60 58 57
+f 60 46 47
+f 60 47 58
+f 60 59 46
+f 60 57 59
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_1.obj b/cucumber/cucumber_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0015c5209b7eaff61fcbe4527453ad09aa3e95be
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.39940131 -0.02385045 0.10669114
+v 0.48720138 0.04868075 -0.02490966
+v 0.39676072 0.09261963 0.05893352
+v 0.14359070 0.11191829 0.02238085
+v 0.14393940 -0.02546540 -0.02052639
+v 0.39870306 0.11538684 -0.01863819
+v 0.14379845 0.05604133 0.08551339
+v 0.47178996 0.04094699 0.06103243
+v 0.40151515 -0.02546540 -0.02052639
+v 0.39699528 0.10775847 0.03469765
+v 0.14377494 0.11936294 -0.02165818
+v 0.41233088 0.04036006 0.09799422
+v 0.15888825 0.08299541 0.06867037
+v 0.14380261 -0.02376043 0.10598381
+v 0.26610801 0.09282452 0.05917067
+v 0.44056707 0.08541204 0.04847803
+v 0.47482342 0.07230345 -0.02274472
+v 0.41301463 0.03223241 0.09927026
+v 0.14370113 0.09693084 0.04658270
+v 0.39718019 0.06970583 0.08331998
+v 0.23598734 0.03971768 0.09878170
+v 0.42741209 0.09378380 0.04445713
+v 0.46179427 0.06527879 0.05506646
+v 0.14381752 0.01740694 0.10064658
+v 0.26636792 0.06930064 0.08246878
+v 0.43851820 0.09844846 0.02243468
+v 0.17477128 0.03217002 0.09837793
+v 0.43742037 0.09698556 0.03345988
+f 8 1 2
+f 9 5 2
+f 9 2 1
+f 9 1 5
+f 11 5 4
+f 11 10 6
+f 11 4 10
+f 11 2 5
+f 14 5 1
+f 14 4 5
+f 15 10 4
+f 15 3 10
+f 17 11 6
+f 17 2 11
+f 18 1 8
+f 18 8 12
+f 19 4 7
+f 19 7 13
+f 19 15 4
+f 19 13 15
+f 20 15 13
+f 20 3 15
+f 20 16 3
+f 21 12 20
+f 21 18 12
+f 21 14 1
+f 21 1 18
+f 22 10 3
+f 22 3 16
+f 23 12 8
+f 23 8 2
+f 23 2 17
+f 23 20 12
+f 23 16 20
+f 24 14 21
+f 24 7 4
+f 24 4 14
+f 25 21 20
+f 25 20 13
+f 25 13 7
+f 25 7 21
+f 26 6 10
+f 26 17 6
+f 27 24 21
+f 27 21 7
+f 27 7 24
+f 28 26 10
+f 28 10 22
+f 28 22 16
+f 28 16 23
+f 28 23 17
+f 28 17 26
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_10.obj b/cucumber/cucumber_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17d40009659b0779bf06bb09b066ea06b70f88c8
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.31357543 -0.14421013 -0.01321330
+v 0.30938424 -0.14593574 -0.02165484
+v 0.05235733 -0.09411053 0.08929612
+v -0.23439749 -0.12010662 0.09718257
+v 0.00810755 -0.16013889 -0.01061373
+v 0.31123031 -0.11627601 0.06456914
+v 0.30935332 -0.14369317 -0.00846020
+v -0.24019511 -0.14908485 -0.01328631
+v -0.09853584 -0.10098475 0.10030781
+v -0.02355481 -0.14401145 0.04426577
+v 0.14383663 -0.09905558 0.08205211
+v 0.30987910 -0.12893862 0.04423952
+v 0.00757561 -0.16181199 -0.02052926
+v -0.21882619 -0.14391847 0.05213148
+v -0.09990022 -0.12018776 0.08838723
+v 0.17343572 -0.14391928 0.02901310
+v -0.23407572 -0.14575728 0.03729066
+v -0.23518352 -0.13264868 0.07688054
+v -0.23367577 -0.15140850 -0.00364462
+v -0.09922751 -0.12871665 0.07448191
+f 6 1 2
+f 7 5 2
+f 7 2 1
+f 8 3 2
+f 9 4 6
+f 9 8 4
+f 9 3 8
+f 11 6 2
+f 11 2 3
+f 11 9 6
+f 11 3 9
+f 12 7 1
+f 12 1 6
+f 13 8 2
+f 13 2 5
+f 14 5 10
+f 14 13 5
+f 15 6 4
+f 15 12 6
+f 15 10 12
+f 16 12 10
+f 16 10 5
+f 16 5 7
+f 16 7 12
+f 17 13 14
+f 18 14 10
+f 18 17 14
+f 18 4 8
+f 18 8 17
+f 18 15 4
+f 19 17 8
+f 19 8 13
+f 19 13 17
+f 20 18 10
+f 20 10 15
+f 20 15 18
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_11.obj b/cucumber/cucumber_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03b31041be69da2d5e491676a8b1bca51ff493e2
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.23407572 -0.14575728 0.03729066
+v -0.23103540 -0.09081362 -0.12505219
+v -0.23869581 0.14009400 0.07566258
+v -0.35591602 0.16296148 0.02636707
+v -0.35191894 -0.12897399 -0.01782409
+v -0.23329950 0.08657736 -0.12717924
+v -0.35518570 -0.00756052 0.17552127
+v -0.23249479 -0.13443505 -0.07364731
+v -0.23494290 0.14466963 -0.05909262
+v -0.35016005 0.03146625 -0.12237725
+v -0.23717190 -0.06095961 0.14559134
+v -0.35719231 0.12993721 0.12802866
+v -0.35491379 -0.11363145 0.10452088
+v -0.34916906 -0.09705167 -0.08473696
+v -0.23314585 -0.14658750 -0.03315852
+v -0.35360223 0.13849296 -0.05520470
+v -0.23591414 0.15476417 -0.00242359
+v -0.23162944 -0.06213410 -0.14280887
+v -0.23945018 0.07047369 0.14509042
+v -0.23524475 -0.11493331 0.10560205
+v -0.31166159 0.15466611 0.06750097
+v -0.35324403 -0.12813738 0.06688255
+v -0.35676189 -0.04892230 0.16554365
+v -0.35577931 0.15551819 -0.01785167
+v -0.33456513 -0.12885752 -0.04019082
+v -0.26004520 -0.10526973 -0.10883580
+v -0.34954802 -0.00719222 -0.12280250
+v -0.35089351 0.08338144 -0.10760072
+v -0.23283392 0.06165132 -0.14292707
+v -0.25440693 0.03202473 0.15772527
+v -0.35599766 0.06450219 0.17107341
+v -0.27064532 0.11394488 0.12677815
+v -0.23924047 0.12265995 0.10458917
+v -0.23518352 -0.13264868 0.07688054
+v -0.31235029 0.14494716 0.09368142
+v -0.23741741 0.15295296 0.02193147
+v -0.29420195 -0.14425127 0.02182411
+v -0.28401121 -0.05237005 0.15766314
+v -0.31159799 -0.07621061 0.14553062
+v -0.26626626 0.15404894 -0.01744297
+v -0.34988756 -0.11418610 -0.05562895
+v -0.24754019 -0.14489813 -0.03293188
+v -0.23203473 -0.11689054 -0.10248724
+v -0.24563799 -0.08931512 -0.12265007
+v -0.30554149 -0.05990459 -0.12412717
+v -0.27734346 0.08367946 -0.12274240
+v -0.32079841 0.07078134 -0.12399718
+v -0.29199029 0.01687880 -0.13977144
+v -0.28425588 0.06265167 0.15965997
+v -0.32797874 0.00786904 0.17475901
+v -0.35588580 0.03252586 0.17668107
+v -0.28496779 0.11577156 0.12969999
+v -0.24018002 0.09917141 0.12736932
+v -0.33796547 -0.12767808 0.08199191
+v -0.29659325 0.15372310 0.06737772
+v -0.26933581 0.13866998 0.08994949
+v -0.23758401 -0.08946993 0.12758618
+v -0.29276046 -0.14328558 -0.00236731
+v -0.32027620 -0.10178558 -0.09368935
+v -0.24623168 -0.06063492 -0.14040612
+v -0.34869465 -0.05967173 -0.10872411
+v -0.26128030 0.06199139 -0.13782137
+v -0.32898011 0.03197183 0.17269149
+v -0.34322189 -0.00715741 0.17406444
+f 9 2 6
+f 15 8 2
+f 15 2 1
+f 16 9 6
+f 17 2 9
+f 19 11 17
+f 20 1 2
+f 20 17 11
+f 20 2 17
+f 21 4 12
+f 22 13 5
+f 24 5 13
+f 24 9 16
+f 24 10 5
+f 24 13 23
+f 24 23 12
+f 24 12 4
+f 27 14 5
+f 27 5 10
+f 28 24 16
+f 28 10 24
+f 29 6 2
+f 29 2 18
+f 30 11 19
+f 31 12 23
+f 33 19 17
+f 33 17 3
+f 34 20 13
+f 34 1 20
+f 35 21 12
+f 36 17 4
+f 36 3 17
+f 37 15 1
+f 37 22 5
+f 38 7 23
+f 39 23 13
+f 39 13 20
+f 39 38 23
+f 40 17 9
+f 40 9 24
+f 40 24 4
+f 40 4 17
+f 41 25 5
+f 41 5 14
+f 41 14 25
+f 42 25 8
+f 42 8 15
+f 43 26 2
+f 43 2 8
+f 44 18 2
+f 44 2 26
+f 46 28 16
+f 46 16 6
+f 46 6 29
+f 47 10 28
+f 47 46 29
+f 47 28 46
+f 48 27 10
+f 48 10 47
+f 48 29 18
+f 49 30 19
+f 50 38 11
+f 50 11 30
+f 51 31 23
+f 51 23 7
+f 51 7 50
+f 52 12 31
+f 52 31 49
+f 52 49 19
+f 52 35 12
+f 52 32 33
+f 53 33 32
+f 53 19 33
+f 53 52 19
+f 53 32 52
+f 54 1 34
+f 54 37 1
+f 54 22 37
+f 54 34 13
+f 54 13 22
+f 55 35 3
+f 55 21 35
+f 55 3 36
+f 55 36 4
+f 55 4 21
+f 56 33 3
+f 56 3 35
+f 56 52 33
+f 56 35 52
+f 57 39 20
+f 57 20 11
+f 57 11 38
+f 57 38 39
+f 58 42 15
+f 58 15 37
+f 58 37 5
+f 58 5 25
+f 58 25 42
+f 59 43 8
+f 59 8 25
+f 59 25 14
+f 59 26 43
+f 59 45 26
+f 60 44 26
+f 60 26 45
+f 60 18 44
+f 60 45 27
+f 60 48 18
+f 60 27 48
+f 61 14 27
+f 61 27 45
+f 61 59 14
+f 61 45 59
+f 62 48 47
+f 62 47 29
+f 62 29 48
+f 63 50 30
+f 63 30 49
+f 63 51 50
+f 63 49 31
+f 63 31 51
+f 64 50 7
+f 64 7 38
+f 64 38 50
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_12.obj b/cucumber/cucumber_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55cb01b58f0162ec8b0b091c68e584440e0a43d0
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00742025 -0.15975139 -0.00827370
+v 0.00766036 -0.15567192 -0.08006387
+v 0.00600453 0.12513502 -0.00804144
+v -0.23498234 0.15424991 -0.00500414
+v -0.23367577 -0.15140850 -0.00364462
+v 0.00716833 0.12056727 -0.08016838
+v -0.09819590 -0.16153958 -0.02252116
+v -0.23486607 0.13383125 -0.07655931
+v -0.10045586 0.13990856 -0.02087128
+v 0.00778952 -0.16121797 -0.04809667
+v -0.18616044 -0.14507185 -0.07087408
+v -0.06793687 -0.15955586 -0.00833363
+v -0.23494290 0.14466963 -0.05909262
+v 0.00627297 0.12367069 -0.06289825
+v -0.05210865 -0.15964650 -0.04785779
+v -0.21763804 -0.14339801 -0.06293434
+v -0.23249479 -0.13443505 -0.07364731
+v -0.09757832 -0.15982302 -0.03274215
+v -0.23287678 -0.14417887 -0.04791190
+f 5 1 3
+f 5 3 4
+f 6 3 1
+f 8 6 2
+f 9 4 3
+f 10 6 1
+f 10 2 6
+f 10 1 7
+f 12 7 1
+f 12 1 5
+f 12 5 7
+f 13 4 6
+f 13 6 8
+f 13 8 5
+f 13 5 4
+f 14 6 4
+f 14 4 9
+f 14 9 3
+f 14 3 6
+f 15 10 7
+f 15 2 10
+f 15 11 2
+f 16 11 7
+f 16 7 5
+f 17 8 2
+f 17 2 11
+f 17 11 16
+f 17 5 8
+f 18 15 7
+f 18 7 11
+f 18 11 15
+f 19 17 16
+f 19 16 5
+f 19 5 17
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_13.obj b/cucumber/cucumber_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a2a829c1fe5a9b237ab7da551d9a7e9b0e53271
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.40008832 -0.11223136 0.05263725
+v 0.48935892 -0.05086701 -0.03284879
+v 0.46603154 0.04114975 0.07081068
+v 0.39756587 0.10982604 0.02208906
+v 0.39570855 -0.06268967 -0.12867630
+v 0.46365646 0.07835980 -0.05449653
+v 0.39854522 0.03277560 0.10236455
+v 0.46351485 -0.06009843 0.06775601
+v 0.45502072 -0.09295394 -0.06105748
+v 0.49073195 0.04263538 0.00688879
+v 0.39711897 0.08318156 -0.10350708
+v 0.43668192 -0.00713154 -0.12520638
+v 0.41217062 0.07954474 0.07340837
+v 0.39776616 -0.07827586 0.08827288
+v 0.43658761 0.00159350 0.09963516
+v 0.39726043 -0.08010060 -0.11706378
+v 0.46339602 -0.08341493 0.04463281
+v 0.49105327 0.00207969 -0.05740046
+v 0.48934072 -0.00708107 0.04520453
+v 0.46527502 0.07822895 0.03269871
+v 0.39596957 0.07166809 -0.11234047
+v 0.39741759 0.11051260 -0.04807808
+v 0.46343069 -0.04848422 -0.09511127
+v 0.43608329 0.05377572 0.08285232
+v 0.39773368 0.08201142 0.07546546
+v 0.39792567 -0.10595159 0.06385712
+v 0.41256652 -0.05262433 0.09848201
+v 0.42797556 -0.10532791 0.04827471
+v 0.47369689 -0.07640574 -0.04771066
+v 0.49152690 0.04296996 -0.01780078
+v 0.46319825 0.03899828 -0.09428342
+v 0.49067271 -0.05128896 0.00712386
+v 0.47474904 0.03197975 0.06052762
+v 0.47384996 -0.04863291 0.05997050
+v 0.43717976 0.07994448 0.06005678
+v 0.39693678 0.04292204 -0.12997672
+v 0.43654734 0.09745516 -0.05772834
+v 0.42425617 -0.05224652 -0.12174318
+v 0.47680583 -0.04893662 -0.07292520
+v 0.44990043 0.03959212 0.08269402
+v 0.41301463 0.03223241 0.09927026
+v 0.39819181 -0.05322000 0.10177011
+v 0.43519102 -0.08845268 0.06944524
+v 0.45013372 -0.05038465 0.08331628
+v 0.46483159 -0.08673439 -0.05735431
+v 0.47306337 0.06989857 0.02151164
+v 0.47584387 0.04202688 -0.07200600
+v 0.43356253 0.05383128 -0.10883473
+v 0.47402636 -0.02244034 -0.08686706
+v 0.47327027 -0.07563949 0.03392801
+v 0.48897054 0.00149580 0.04484121
+v 0.47390519 0.05432253 0.04411977
+v 0.41189359 0.10644192 0.02149685
+v 0.42589578 0.09397085 -0.07045156
+v 0.45038352 0.09362031 0.00632201
+v 0.44834750 -0.03720372 -0.10965486
+v 0.42381877 -0.07473310 -0.10859197
+v 0.48946834 -0.02248059 -0.05670493
+v 0.43623791 -0.02199417 0.09843869
+v 0.42615871 -0.07436309 0.08212128
+v 0.42578847 -0.09904057 0.05946684
+v 0.43501420 -0.06121449 -0.11174811
+v 0.47401677 0.07065434 -0.03246321
+v 0.47349985 0.01683703 -0.08644843
+f 16 9 1
+f 22 21 4
+f 22 11 21
+f 25 13 4
+f 25 24 13
+f 25 7 24
+f 25 4 21
+f 25 21 5
+f 25 5 14
+f 26 14 5
+f 26 16 1
+f 26 5 16
+f 28 1 9
+f 28 26 1
+f 32 2 18
+f 32 18 30
+f 32 30 10
+f 32 10 19
+f 32 29 2
+f 33 3 19
+f 34 32 19
+f 34 8 17
+f 34 19 3
+f 34 3 15
+f 35 13 24
+f 35 24 3
+f 35 3 20
+f 36 12 5
+f 36 5 21
+f 38 5 12
+f 39 2 29
+f 40 15 3
+f 40 3 24
+f 41 24 7
+f 41 7 15
+f 41 40 24
+f 41 15 40
+f 42 25 14
+f 42 7 25
+f 42 14 27
+f 42 15 7
+f 43 14 26
+f 43 28 17
+f 43 17 8
+f 44 34 15
+f 44 8 34
+f 44 43 8
+f 45 28 9
+f 45 17 28
+f 45 39 29
+f 45 23 39
+f 46 10 30
+f 47 30 18
+f 47 31 6
+f 48 21 11
+f 48 37 6
+f 48 6 31
+f 48 36 21
+f 48 31 12
+f 48 12 36
+f 49 23 12
+f 49 39 23
+f 50 29 32
+f 50 45 29
+f 50 17 45
+f 50 34 17
+f 50 32 34
+f 51 33 19
+f 51 19 10
+f 51 10 33
+f 52 20 3
+f 52 3 33
+f 52 33 10
+f 52 46 20
+f 52 10 46
+f 53 35 20
+f 53 4 13
+f 53 13 35
+f 53 22 4
+f 54 11 22
+f 54 22 37
+f 54 48 11
+f 54 37 48
+f 55 6 37
+f 55 53 20
+f 55 37 22
+f 55 22 53
+f 56 38 12
+f 56 12 23
+f 57 16 5
+f 57 9 16
+f 58 18 2
+f 58 2 39
+f 58 49 18
+f 58 39 49
+f 59 42 27
+f 59 15 42
+f 59 44 15
+f 59 27 44
+f 60 27 14
+f 60 14 43
+f 60 44 27
+f 60 43 44
+f 61 43 26
+f 61 26 28
+f 61 28 43
+f 62 45 9
+f 62 23 45
+f 62 9 57
+f 62 56 23
+f 62 38 56
+f 62 57 5
+f 62 5 38
+f 63 46 30
+f 63 6 55
+f 63 55 20
+f 63 20 46
+f 63 47 6
+f 63 30 47
+f 64 47 18
+f 64 31 47
+f 64 18 49
+f 64 49 12
+f 64 12 31
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_14.obj b/cucumber/cucumber_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8060797825fc35fba8d53954fb18665a3c4f7178
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.38483217 -0.11950751 0.04774129
+v 0.40008832 -0.11223136 0.05263725
+v 0.00970205 -0.11610140 0.07900798
+v 0.00732214 -0.02503176 0.11336788
+v 0.39940131 -0.02385045 0.10669114
+v 0.14385285 -0.12979049 0.05415903
+v 0.39571457 -0.09969925 0.07503315
+v 0.00642929 -0.07809324 0.10310514
+v 0.21941335 -0.11610210 0.07062492
+v 0.41231607 -0.03371715 0.10196409
+v 0.00679295 -0.09577548 0.09199231
+v 0.38397557 -0.11278510 0.05870341
+v 0.14343565 -0.12090198 0.06846586
+v 0.39662039 -0.06074184 0.09963076
+v 0.39583168 -0.08940484 0.08186784
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 9 6 1
+f 9 7 3
+f 10 7 2
+f 10 2 5
+f 11 8 4
+f 11 4 3
+f 12 9 1
+f 12 1 7
+f 12 7 9
+f 13 9 3
+f 13 3 6
+f 13 6 9
+f 14 10 5
+f 14 5 4
+f 14 4 8
+f 15 11 3
+f 15 3 7
+f 15 7 10
+f 15 10 14
+f 15 14 8
+f 15 8 11
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_15.obj b/cucumber/cucumber_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2e9c5bc62c81847e076ce48896942e339b71c07
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.24853535 -0.13587859 -0.08956793
+v 0.26495096 -0.13004728 -0.09536432
+v 0.26481197 0.10362352 -0.09176497
+v 0.14378013 0.10828375 -0.09465609
+v 0.08286420 -0.05316978 -0.17207089
+v 0.08395833 -0.11282569 -0.14527300
+v 0.26332235 0.01708684 -0.15509829
+v 0.26235920 -0.08956556 -0.13810607
+v 0.12752765 -0.13280031 -0.11792380
+v 0.08524395 0.09813457 -0.11663535
+v 0.26366539 0.05566135 -0.14112827
+v 0.21701027 -0.07485993 -0.15397398
+v 0.26292964 -0.05266589 -0.15396759
+v 0.23212627 -0.11485305 -0.12690909
+v 0.12875484 -0.14631678 -0.09605916
+v 0.08257261 0.05588452 -0.15664652
+v 0.26345540 0.08389585 -0.12362467
+v 0.08324192 -0.07041380 -0.16909594
+v 0.26314066 -0.11663850 -0.11731552
+v 0.17225905 -0.02250199 -0.16994858
+v 0.12755052 -0.10856256 -0.14429684
+v 0.08452161 -0.13607922 -0.11799353
+v 0.18705712 -0.12810577 -0.11500259
+v 0.21811320 0.03985789 -0.15522548
+v 0.26449548 0.09684282 -0.10270437
+v 0.12727789 -0.05264484 -0.16904475
+v 0.08278001 0.01731268 -0.17158834
+v 0.18695342 -0.10539111 -0.13918604
+v 0.24807131 0.03208045 -0.15417644
+v 0.12738091 0.05447529 -0.15435029
+v 0.15701567 -0.03750698 -0.16911934
+v 0.11228110 0.01702541 -0.16984290
+v 0.20278907 0.06917969 -0.13849206
+v 0.17245789 -0.01326965 -0.16989197
+f 1 2 3
+f 1 3 4
+f 10 4 3
+f 11 3 2
+f 11 2 7
+f 13 7 2
+f 13 8 12
+f 14 9 6
+f 14 12 8
+f 15 1 4
+f 15 4 10
+f 17 16 10
+f 18 6 5
+f 19 13 2
+f 19 8 13
+f 19 14 8
+f 19 2 1
+f 19 1 14
+f 20 7 13
+f 21 14 6
+f 21 18 12
+f 21 6 18
+f 22 15 10
+f 22 6 9
+f 22 9 15
+f 22 10 16
+f 22 16 5
+f 22 5 6
+f 23 14 1
+f 23 1 15
+f 23 15 9
+f 23 9 14
+f 25 3 11
+f 25 11 17
+f 25 17 10
+f 25 10 3
+f 26 13 12
+f 26 12 18
+f 26 18 5
+f 27 5 16
+f 27 16 24
+f 28 21 12
+f 28 12 14
+f 28 14 21
+f 29 24 11
+f 29 11 7
+f 30 24 16
+f 31 20 13
+f 31 13 26
+f 31 26 5
+f 31 5 20
+f 32 27 24
+f 32 24 29
+f 33 30 16
+f 33 16 17
+f 33 24 30
+f 33 17 11
+f 33 11 24
+f 34 27 32
+f 34 20 5
+f 34 5 27
+f 34 7 20
+f 34 32 29
+f 34 29 7
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_16.obj b/cucumber/cucumber_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4bf07ee15132471b59d52dcd20274dc5872f5fc
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.41047370 -0.12672290 -0.02514460
+v 0.40451957 -0.10810719 -0.08545614
+v 0.39870306 0.11538684 -0.01863819
+v 0.26528601 0.12025549 -0.02151527
+v 0.26824222 -0.14723877 -0.01269729
+v 0.26332235 0.01708684 -0.15509829
+v 0.39586113 0.09460180 -0.08604497
+v 0.26335249 -0.07856087 -0.14478797
+v 0.39454346 0.05422086 -0.12382832
+v 0.39668774 0.10809108 -0.06272087
+v 0.26449548 0.09684282 -0.10270437
+v 0.26395973 -0.09624747 -0.13372132
+v 0.39448343 -0.02219046 -0.13829688
+v 0.36903635 0.10911427 -0.07060082
+v 0.26366539 0.05566135 -0.14112827
+v 0.38317705 0.08356329 -0.10862818
+v 0.39301025 -0.07413612 -0.12270226
+v 0.29340523 -0.02260496 -0.15538001
+v 0.35313420 0.04156003 -0.14001265
+v 0.39501613 0.00164661 -0.13873886
+v 0.26509030 0.11164508 -0.07865200
+v 0.35368852 0.09273869 -0.10009996
+v 0.33720806 -0.09124180 -0.12566284
+v 0.35239947 -0.06236959 -0.14012969
+v 0.26323573 -0.03794178 -0.15645748
+v 0.35282165 0.06898883 -0.12304075
+v 0.29356294 0.00182512 -0.15445510
+v 0.32298150 -0.07456187 -0.13835163
+v 0.27816661 -0.03763568 -0.15467429
+v 0.29377929 0.05439092 -0.13908135
+v 0.27831164 0.01681772 -0.15352735
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 8 5 4
+f 9 7 1
+f 9 1 2
+f 10 3 1
+f 10 1 7
+f 12 2 5
+f 12 5 8
+f 14 4 3
+f 14 3 10
+f 14 10 7
+f 15 6 4
+f 15 4 11
+f 16 7 9
+f 16 15 11
+f 16 14 7
+f 17 13 2
+f 19 6 15
+f 19 16 9
+f 20 9 2
+f 20 2 13
+f 20 19 9
+f 20 13 18
+f 21 11 4
+f 21 4 14
+f 22 16 11
+f 22 14 16
+f 22 21 14
+f 22 11 21
+f 23 17 2
+f 23 2 12
+f 24 13 17
+f 24 18 13
+f 24 17 23
+f 25 6 18
+f 25 8 4
+f 25 4 6
+f 25 24 8
+f 26 15 16
+f 26 16 19
+f 27 20 18
+f 27 18 6
+f 27 19 20
+f 28 23 12
+f 28 12 8
+f 28 24 23
+f 28 8 24
+f 29 25 18
+f 29 18 24
+f 29 24 25
+f 30 26 19
+f 30 19 15
+f 30 15 26
+f 31 27 6
+f 31 6 19
+f 31 19 27
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_17.obj b/cucumber/cucumber_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6d381c3abc533d898fc246ca2853c858647f9ba
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.09877365 -0.12454154 0.08123629
+v -0.09990022 -0.12018776 0.08838723
+v -0.23492151 -0.12846800 0.08364788
+v -0.23617915 0.13557786 0.08211992
+v -0.11455152 0.10672197 0.08299002
+v -0.23945018 0.07047369 0.14509042
+v -0.20711297 0.13050868 0.07904504
+v -0.19009191 -0.11370504 0.10487275
+v -0.09258445 -0.06192941 0.12006612
+v -0.23902546 0.11498552 0.11715574
+v -0.13152993 0.11353659 0.07791115
+v -0.23717190 -0.06095961 0.14559134
+v -0.09909803 0.00433016 0.12795789
+v -0.23770716 0.12912052 0.09335082
+v -0.23700858 -0.10709374 0.11633758
+v -0.11616190 0.10128234 0.09249837
+v -0.10052335 -0.07658205 0.11596191
+v -0.17791360 -0.02204259 0.14235809
+v -0.23524475 -0.11493331 0.10560205
+v -0.14811948 0.05495544 0.12930520
+v -0.14687161 -0.06669775 0.12849132
+v -0.22230372 -0.05997028 0.14401478
+v -0.10148254 -0.02233306 0.12865253
+v -0.17851399 0.01687796 0.14264256
+v -0.11812678 0.06932831 0.11290383
+v -0.20901987 0.06130074 0.14223221
+v -0.10196561 0.00195698 0.12893539
+v -0.11750030 0.03195021 0.12705875
+f 7 3 4
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 9 1 5
+f 11 1 3
+f 11 3 7
+f 11 5 1
+f 11 7 4
+f 11 4 5
+f 13 9 5
+f 14 4 3
+f 14 3 10
+f 14 10 5
+f 14 5 4
+f 15 10 3
+f 15 6 10
+f 15 12 6
+f 15 8 2
+f 15 2 12
+f 16 10 6
+f 16 5 10
+f 16 13 5
+f 17 12 2
+f 17 2 9
+f 19 15 3
+f 19 3 8
+f 19 8 15
+f 21 17 9
+f 22 18 12
+f 22 21 9
+f 22 12 17
+f 22 17 21
+f 23 9 13
+f 23 22 9
+f 23 18 22
+f 24 6 12
+f 24 12 18
+f 25 16 6
+f 25 13 16
+f 26 6 24
+f 26 25 6
+f 26 20 25
+f 27 23 13
+f 27 26 24
+f 27 13 26
+f 27 24 18
+f 27 18 23
+f 28 25 20
+f 28 13 25
+f 28 26 13
+f 28 20 26
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_18.obj b/cucumber/cucumber_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dd49f1d0572cf12ae854c9a5f248e8bbc9dbe64
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.12777495 -0.15012852 -0.09008642
+v 0.13173599 -0.13340601 -0.11633915
+v 0.12821426 -0.09759117 -0.15103842
+v -0.15813379 -0.09782565 -0.13628235
+v -0.00692409 -0.12868536 -0.13055431
+v -0.15873336 -0.14428100 -0.07965683
+v 0.06758389 -0.12880139 -0.13058936
+v -0.03642974 -0.12057345 -0.13927026
+v 0.00766036 -0.15567192 -0.08006387
+v 0.12752765 -0.13280031 -0.11792380
+v -0.12661247 -0.09350715 -0.14450391
+v 0.11184164 -0.12019521 -0.13862426
+v -0.15584988 -0.11695260 -0.12477344
+v -0.06639295 -0.14351363 -0.10010114
+v -0.14246439 -0.14870324 -0.07641669
+v 0.00605443 -0.14353249 -0.10741867
+v 0.12755052 -0.10856256 -0.14429684
+v -0.16355979 -0.13127868 -0.09962144
+v -0.12544417 -0.10451488 -0.13785193
+v -0.14121629 -0.14357653 -0.08504528
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 8 7 5
+f 10 2 1
+f 10 1 7
+f 11 4 3
+f 11 3 8
+f 12 8 3
+f 12 7 8
+f 12 10 7
+f 12 2 10
+f 13 4 11
+f 14 8 5
+f 14 13 8
+f 15 9 1
+f 15 1 6
+f 15 14 9
+f 16 7 1
+f 16 1 9
+f 16 5 7
+f 16 14 5
+f 16 9 14
+f 17 12 3
+f 17 3 2
+f 17 2 12
+f 18 6 4
+f 18 4 13
+f 18 15 6
+f 18 13 15
+f 19 13 11
+f 19 11 8
+f 19 8 13
+f 20 15 13
+f 20 13 14
+f 20 14 15
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_19.obj b/cucumber/cucumber_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb2929400f80ac8809d9da3e72171d7fd42314c5
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.36080151 -0.09936428 -0.07392451
+v -0.35014906 -0.07705711 -0.09717537
+v -0.36548738 0.08800275 -0.10061928
+v -0.44780260 0.06565862 -0.06677825
+v -0.45023845 -0.01085745 -0.06895432
+v -0.35268631 0.06338099 -0.11559616
+v -0.41305025 -0.08169365 -0.06130258
+v -0.39097536 -0.00726446 -0.10804474
+v -0.38050773 0.06179709 -0.10737225
+v -0.39070617 -0.07575828 -0.08030062
+v -0.35120607 -0.04835528 -0.11481445
+v -0.42206760 0.03121356 -0.09286165
+v -0.43753343 0.06164318 -0.07830887
+v -0.39199093 0.03143775 -0.10865396
+v -0.40669775 -0.03769025 -0.09403769
+v -0.36471297 -0.04584387 -0.11082617
+v -0.43821953 -0.00774502 -0.08101315
+v -0.42145457 0.00783609 -0.09320317
+v -0.36364362 -0.07453046 -0.09317838
+v -0.37974440 -0.03743582 -0.10739204
+f 1 3 4
+f 6 1 2
+f 6 3 1
+f 7 1 4
+f 7 4 5
+f 9 3 6
+f 10 2 1
+f 10 1 7
+f 11 6 2
+f 13 4 3
+f 13 3 9
+f 13 5 4
+f 14 9 6
+f 14 13 9
+f 14 12 13
+f 14 11 8
+f 14 6 11
+f 15 10 7
+f 15 7 5
+f 16 11 2
+f 16 10 15
+f 17 13 12
+f 17 5 13
+f 17 15 5
+f 18 14 8
+f 18 12 14
+f 18 17 12
+f 18 8 15
+f 18 15 17
+f 19 16 2
+f 19 2 10
+f 19 10 16
+f 20 16 15
+f 20 15 8
+f 20 8 11
+f 20 11 16
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_2.obj b/cucumber/cucumber_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..881d112df9e10dd0d5648d857ff553976d24d261
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.19085196 -0.10778465 -0.13716369
+v 0.19269480 -0.08579410 -0.15055510
+v 0.00672133 0.01296779 -0.17372041
+v -0.16307343 0.01109360 -0.16208655
+v -0.09743784 -0.09556759 -0.14779362
+v 0.08278559 -0.06788735 -0.16954423
+v -0.09992959 -0.10902677 -0.13913902
+v 0.14219653 -0.09018831 -0.15426234
+v 0.08302097 -0.02373513 -0.17712419
+v -0.06651864 -0.05265443 -0.16888983
+v -0.16392695 -0.03124014 -0.16075499
+v -0.00700868 -0.06796920 -0.16994887
+v 0.18802977 -0.06887562 -0.16016068
+v 0.18731417 -0.07669969 -0.15693993
+v -0.11115529 -0.02250376 -0.16972412
+v -0.08117837 -0.08960714 -0.15337095
+v 0.08484554 -0.03384173 -0.17533083
+v -0.11164507 0.00172909 -0.16950969
+v -0.15818733 0.00341826 -0.16398730
+v 0.00778791 0.00281900 -0.17549033
+v -0.15779159 -0.02391390 -0.16286159
+f 1 2 3
+f 1 3 4
+f 7 1 4
+f 8 1 7
+f 11 7 4
+f 11 5 7
+f 12 8 7
+f 12 6 8
+f 12 9 6
+f 13 9 3
+f 13 3 2
+f 14 2 1
+f 14 1 8
+f 14 13 2
+f 14 8 6
+f 14 6 13
+f 15 12 10
+f 15 9 12
+f 15 10 11
+f 16 11 10
+f 16 5 11
+f 16 10 12
+f 16 12 7
+f 16 7 5
+f 17 13 6
+f 17 6 9
+f 17 9 13
+f 18 4 3
+f 19 11 4
+f 19 18 15
+f 19 4 18
+f 20 18 3
+f 20 3 9
+f 20 9 15
+f 20 15 18
+f 21 19 15
+f 21 15 11
+f 21 11 19
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_20.obj b/cucumber/cucumber_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25b29c8156cbb862db12779c33c832db85e782c6
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.30843045 0.12527436 0.12470800
+v -0.30744973 0.16018460 0.03325743
+v -0.34200669 0.15399495 0.08253763
+v -0.41449600 0.15431459 0.05177905
+v -0.42185908 0.12528978 -0.04394363
+v -0.31120821 0.16210147 0.02333910
+v -0.42204633 0.12255042 0.12414255
+v -0.31166159 0.15466611 0.06750097
+v -0.35994599 0.13912530 -0.05270951
+v -0.36907679 0.15394841 0.08212343
+v -0.31336631 0.13830341 0.10475294
+v -0.38244847 0.15287765 -0.01779174
+v -0.41054182 0.14132012 0.10526093
+v -0.41062667 0.13961208 -0.02606296
+v -0.41286164 0.15323431 0.02766290
+v -0.35542201 0.15171352 -0.03287867
+v -0.39920945 0.15324524 0.06671582
+v -0.35577931 0.15551819 -0.01785167
+f 7 5 1
+f 7 4 5
+f 8 1 2
+f 8 6 3
+f 8 2 6
+f 9 2 1
+f 9 1 5
+f 9 6 2
+f 10 6 4
+f 10 3 6
+f 11 8 3
+f 11 3 1
+f 11 1 8
+f 13 4 7
+f 13 7 1
+f 13 1 3
+f 13 3 10
+f 14 12 9
+f 14 9 5
+f 15 4 6
+f 15 12 14
+f 15 14 5
+f 15 5 4
+f 16 6 9
+f 16 9 12
+f 17 13 10
+f 17 10 4
+f 17 4 13
+f 18 15 6
+f 18 12 15
+f 18 16 12
+f 18 6 16
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_21.obj b/cucumber/cucumber_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8a1540b80311ba6c6ce0e5b23cae783950f6d6d
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.14366166 -0.15688513 -0.02135388
+v 0.14283207 -0.14925438 -0.08927577
+v 0.14641597 0.09125658 -0.12176665
+v 0.00996351 0.09694645 -0.12534149
+v 0.00778952 -0.16121797 -0.04809667
+v 0.00757576 0.05029217 -0.02052639
+v 0.09731232 -0.15961089 -0.04778051
+v 0.00786927 -0.15366632 -0.09121260
+v 0.14393940 0.05029217 -0.02052639
+v 0.00744262 -0.16223027 -0.02300814
+v 0.09758290 -0.15981642 -0.02340135
+f 1 2 3
+f 3 2 4
+f 7 2 1
+f 8 4 2
+f 8 7 5
+f 8 2 7
+f 8 6 4
+f 9 6 1
+f 9 1 3
+f 9 3 4
+f 9 4 6
+f 10 1 6
+f 10 5 7
+f 10 8 5
+f 10 6 8
+f 11 10 7
+f 11 7 1
+f 11 1 10
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_22.obj b/cucumber/cucumber_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d3f0e1c99c3b327d826cad5493f8ee1548aa2b1
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.28425588 0.06265167 0.15965997
+v -0.27181735 0.08414073 0.14574375
+v -0.41045693 0.11511470 0.14135546
+v -0.42719306 0.13118343 0.10869686
+v -0.46525883 0.07016615 0.13045035
+v -0.28290413 0.13022039 0.10917571
+v -0.34461367 0.11452073 0.14285731
+v -0.42620357 0.06259149 0.16265786
+v -0.43754169 0.10976046 0.13471116
+v -0.28533744 0.06952192 0.15871846
+v -0.28496779 0.11577156 0.12969999
+v -0.40038264 0.12311378 0.13447374
+v -0.44438121 0.06412875 0.15493633
+v -0.41016843 0.08537794 0.16015507
+v -0.44486124 0.12055772 0.11247623
+v -0.28443297 0.12376619 0.12041178
+v -0.29915387 0.09954005 0.14305534
+v -0.44236037 0.08762993 0.14649359
+v -0.42528929 0.07561919 0.16033480
+v -0.32939553 0.08457697 0.15850942
+v -0.32861784 0.12230094 0.13447788
+f 6 5 4
+f 6 2 1
+f 6 1 5
+f 9 3 4
+f 10 1 2
+f 11 10 2
+f 12 6 4
+f 12 4 3
+f 12 3 7
+f 13 5 1
+f 13 1 8
+f 14 7 3
+f 14 3 9
+f 14 8 1
+f 15 9 4
+f 15 4 5
+f 15 5 9
+f 16 11 2
+f 16 2 6
+f 17 11 7
+f 17 10 11
+f 18 9 5
+f 18 5 13
+f 18 14 9
+f 19 13 8
+f 19 8 14
+f 19 18 13
+f 19 14 18
+f 20 7 14
+f 20 17 7
+f 20 10 17
+f 20 14 1
+f 20 1 10
+f 21 7 11
+f 21 11 16
+f 21 12 7
+f 21 16 6
+f 21 6 12
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_23.obj b/cucumber/cucumber_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bea71770ae269d9d7295bf2f0273a4012c5638cb
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.14332678 0.06068715 -0.14922410
+v 0.14278683 0.07164626 -0.14246736
+v 0.14378013 0.10828375 -0.09465609
+v 0.00717192 0.11823691 -0.09141191
+v 0.00755247 0.06387550 -0.15436912
+v 0.08243788 0.08441395 -0.13893851
+v 0.09773582 0.11294182 -0.09167789
+v 0.14575727 0.09551262 -0.11498891
+v 0.00742688 0.08572434 -0.14077874
+v 0.02181385 0.09305073 -0.13062261
+v 0.14296163 0.09472528 -0.11652630
+v 0.00669088 0.09360839 -0.13096994
+v 0.00682095 0.11144702 -0.10232929
+f 5 1 4
+f 6 2 1
+f 6 1 5
+f 7 1 3
+f 7 4 1
+f 8 1 2
+f 8 3 1
+f 8 7 3
+f 9 6 5
+f 10 7 6
+f 10 4 7
+f 11 8 2
+f 11 2 6
+f 11 6 7
+f 11 7 8
+f 12 9 5
+f 12 4 10
+f 12 10 6
+f 12 6 9
+f 13 12 5
+f 13 5 4
+f 13 4 12
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_24.obj b/cucumber/cucumber_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b1bda838083c6476b9a0e25bb66f13fb6123131
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.35606060 0.06544369 -0.03567791
+v -0.35268631 0.06338099 -0.11559616
+v -0.35542201 0.15171352 -0.03287867
+v -0.39682603 0.14335622 -0.02821339
+v -0.47549135 0.06508043 -0.03501603
+v -0.38031740 0.12442977 -0.07148890
+v -0.35180413 0.10087268 -0.09596394
+v -0.46282363 0.06171519 -0.05214948
+v -0.45326489 0.11347812 -0.02881208
+v -0.35451212 0.14510324 -0.04404169
+v -0.39223491 0.08371270 -0.09385848
+v -0.36657344 0.06260807 -0.11147775
+v -0.41007436 0.12291506 -0.05546643
+v -0.46473550 0.08711820 -0.03873769
+v -0.35419506 0.12768810 -0.07299152
+v -0.35251680 0.07316639 -0.11381174
+v -0.40748219 0.06187287 -0.09414216
+v -0.44795368 0.11291931 -0.03668627
+v -0.43231705 0.11419799 -0.05057117
+v -0.46085192 0.07635791 -0.05026205
+v -0.46698350 0.09046921 -0.03217899
+v -0.36618192 0.07419394 -0.10942358
+v -0.37929094 0.11475488 -0.07943968
+v -0.44602702 0.07644220 -0.06572622
+v -0.40629107 0.07588851 -0.09188073
+v -0.44799874 0.06179947 -0.06761366
+v -0.44641930 0.09819778 -0.04946769
+v -0.42239438 0.08335972 -0.07829795
+f 1 3 4
+f 6 4 3
+f 7 1 2
+f 8 1 5
+f 9 5 1
+f 9 1 4
+f 10 3 1
+f 10 1 7
+f 12 2 1
+f 13 4 6
+f 15 10 7
+f 15 7 6
+f 15 6 3
+f 15 3 10
+f 16 7 2
+f 17 12 1
+f 17 1 8
+f 18 9 4
+f 18 14 9
+f 19 13 6
+f 19 18 4
+f 19 4 13
+f 20 8 5
+f 20 5 14
+f 21 14 5
+f 21 5 9
+f 21 9 14
+f 22 7 16
+f 22 12 17
+f 22 16 2
+f 22 2 12
+f 23 19 6
+f 23 22 11
+f 23 6 7
+f 23 7 22
+f 24 20 14
+f 25 22 17
+f 25 11 22
+f 25 23 11
+f 26 17 8
+f 26 8 20
+f 26 20 24
+f 26 25 17
+f 26 24 25
+f 27 18 19
+f 27 19 24
+f 27 24 14
+f 27 14 18
+f 28 25 24
+f 28 24 19
+f 28 19 23
+f 28 23 25
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_25.obj b/cucumber/cucumber_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6f30d7ad0529004dc8b7821878014fb58bb8d7c
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.08333334 -0.02546540 -0.09628397
+v 0.08302097 -0.02373513 -0.17712419
+v 0.08524395 0.09813457 -0.11663535
+v 0.00940585 0.10120176 -0.11855504
+v 0.00757576 -0.02546540 -0.09628397
+v 0.06755757 0.03212115 -0.16958822
+v 0.00788055 -0.02388822 -0.17798972
+v 0.08257261 0.05588452 -0.15664652
+v 0.00787990 0.03224673 -0.17041594
+v 0.08278001 0.01731268 -0.17158834
+v 0.00745625 0.05708413 -0.15859401
+f 1 2 3
+f 5 1 3
+f 5 3 4
+f 7 2 1
+f 7 1 5
+f 8 4 3
+f 9 2 7
+f 10 8 3
+f 10 3 2
+f 10 6 8
+f 10 9 6
+f 10 2 9
+f 11 8 6
+f 11 6 9
+f 11 4 8
+f 11 5 4
+f 11 9 7
+f 11 7 5
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_26.obj b/cucumber/cucumber_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8303c2a868f723a2a624dc4da4c08ba040bece92
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.09816466 0.07406564 -0.14641934
+v -0.09795677 0.08497764 -0.13962093
+v -0.09498117 0.13553268 -0.04275113
+v -0.11387181 0.13853904 -0.03520310
+v -0.11511042 0.09404253 -0.13291005
+v -0.09883244 0.13725408 -0.03497617
+v -0.11287673 0.07366537 -0.14582351
+v -0.09883919 0.12578577 -0.08669598
+v -0.09881520 0.09783987 -0.13157345
+v -0.11398866 0.12604158 -0.08684790
+v -0.11001963 0.13681643 -0.04297936
+v -0.09763474 0.10201986 -0.12479178
+v -0.11324015 0.09936684 -0.12970436
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 9 2 1
+f 9 1 7
+f 10 5 4
+f 11 4 3
+f 11 3 8
+f 11 10 4
+f 11 8 10
+f 12 9 8
+f 12 8 3
+f 12 3 2
+f 12 2 9
+f 13 5 10
+f 13 9 7
+f 13 7 5
+f 13 10 8
+f 13 8 9
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_27.obj b/cucumber/cucumber_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b13148ee181230dce212ad257a4a8f246a803786
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.10033520 -0.15691969 0.00416281
+v -0.09709147 -0.10773180 0.09585988
+v -0.23439749 -0.12010662 0.09718257
+v -0.23869581 0.14009400 0.07566258
+v -0.09904026 0.13729406 -0.00600933
+v -0.24019511 -0.14908485 -0.01328631
+v -0.10224253 0.10886444 0.07504962
+v -0.23498234 0.15424991 -0.00500414
+v -0.10172884 0.12636527 0.04617989
+v -0.19356470 0.13894965 0.05980472
+v -0.11595718 0.14002627 -0.00802597
+v -0.11629135 0.13767546 0.00674382
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 4 2
+f 7 2 5
+f 8 6 4
+f 9 7 5
+f 9 4 7
+f 10 8 4
+f 10 4 9
+f 11 5 6
+f 11 6 8
+f 11 8 10
+f 12 10 9
+f 12 9 5
+f 12 11 10
+f 12 5 11
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_28.obj b/cucumber/cucumber_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1621a772e11c222cb8ab85b5708879a7647a7247
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.26431214 -0.14919140 -0.02266546
+v 0.26348851 -0.13441614 -0.08865841
+v 0.26528601 0.12025549 -0.02151527
+v 0.14377494 0.11936294 -0.02165818
+v 0.14283207 -0.14925438 -0.08927577
+v 0.14316774 0.11169187 -0.08924233
+v 0.14366166 -0.15688513 -0.02135388
+v 0.23313080 -0.14341611 -0.07793299
+v 0.26429923 0.10786177 -0.08498178
+v 0.20235673 -0.14453598 -0.08551605
+v 0.26363846 -0.14574404 -0.04804955
+f 1 2 3
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 8 5
+f 10 5 2
+f 10 2 8
+f 11 8 2
+f 11 2 1
+f 11 1 5
+f 11 5 8
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_29.obj b/cucumber/cucumber_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51447f71193211cc7d3aa2c36cb981acdfd8c94c
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.44716984 -0.07113860 -0.03578128
+v -0.44059805 -0.05208452 -0.06073638
+v -0.44048822 0.06377118 -0.07492804
+v -0.47779861 0.06246123 -0.03024372
+v -0.47593169 -0.02232114 -0.03871594
+v -0.44274821 -0.06859158 -0.04685483
+v -0.47875913 -0.02244797 -0.03076829
+v -0.44037446 -0.03517275 -0.07288727
+v -0.47429361 0.06138863 -0.04026580
+v -0.46705002 -0.05144848 -0.03108615
+v -0.44637352 -0.03151203 -0.06817038
+v -0.46243137 0.06943348 -0.05047867
+v -0.44799874 0.06179947 -0.06761366
+v -0.45616270 -0.06441062 -0.03260037
+v -0.45098333 -0.06477683 -0.04034291
+f 1 3 4
+f 6 2 3
+f 6 3 1
+f 8 3 2
+f 8 2 6
+f 9 7 4
+f 9 5 7
+f 10 7 5
+f 10 4 7
+f 11 3 8
+f 11 10 5
+f 11 8 10
+f 12 9 4
+f 12 4 3
+f 12 3 9
+f 13 9 3
+f 13 5 9
+f 13 11 5
+f 13 3 11
+f 14 1 4
+f 14 4 10
+f 15 10 8
+f 15 8 6
+f 15 14 10
+f 15 6 1
+f 15 1 14
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_3.obj b/cucumber/cucumber_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce23e93bcc03d6036ef30a685f18e1f834e24cf9
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.39525746 -0.12745639 0.02156318
+v 0.46780505 -0.09323101 -0.02196916
+v 0.44209433 -0.09494977 0.05110336
+v 0.31123031 -0.11627601 0.06456914
+v 0.26395973 -0.09624747 -0.13372132
+v 0.41059597 -0.11389833 0.04419483
+v 0.43522581 -0.11427846 0.02153607
+v 0.36738718 -0.12907707 -0.07014620
+v 0.35330690 -0.07864509 -0.12977760
+v 0.36897381 -0.12991843 0.03419335
+v 0.45655697 -0.09406339 0.03536860
+v 0.43631351 -0.10266304 0.04620893
+v 0.26431214 -0.14919140 -0.02266546
+v 0.41019654 -0.12826073 -0.01719099
+v 0.38183895 -0.10180167 -0.10883116
+v 0.33871366 -0.08015069 -0.13220253
+v 0.44999947 -0.10066162 0.03308607
+v 0.45334115 -0.07894382 -0.08538636
+v 0.26824222 -0.14723877 -0.01269729
+v 0.26348851 -0.13441614 -0.08865841
+v 0.30938424 -0.14593574 -0.02165484
+v 0.41051560 -0.12778390 -0.00868251
+v 0.43508679 -0.11404784 -0.04738605
+v 0.29276902 -0.10525735 -0.12382502
+v 0.43704754 -0.07801666 -0.09912032
+v 0.31015677 -0.13571420 0.03328640
+v 0.26296569 -0.10725308 -0.12703922
+v 0.32325886 -0.12850510 -0.08498861
+v 0.39495955 -0.12822784 -0.04756480
+v 0.26363846 -0.14574404 -0.04804955
+v 0.44880116 -0.10086234 -0.05674487
+v 0.39355506 -0.11328653 -0.08482849
+v 0.35180129 -0.08973619 -0.12323791
+v 0.31032398 -0.12472387 0.05101156
+v 0.34729981 -0.11528423 -0.09930283
+v 0.27863367 -0.14437019 -0.04781191
+v 0.43312886 -0.08932864 -0.09487888
+v 0.29300664 -0.11369288 -0.11549609
+v 0.30890282 -0.14409210 -0.03262127
+v 0.44825658 -0.08382210 -0.08488491
+v 0.40843756 -0.09751859 -0.09959286
+v 0.26314066 -0.11663850 -0.11731552
+f 6 3 4
+f 7 6 1
+f 10 6 4
+f 10 1 6
+f 12 3 6
+f 12 6 7
+f 12 11 3
+f 16 5 4
+f 16 4 3
+f 16 3 9
+f 16 9 15
+f 17 7 2
+f 17 2 11
+f 17 12 7
+f 17 11 12
+f 18 3 11
+f 18 11 2
+f 19 4 5
+f 19 5 13
+f 21 1 10
+f 21 19 13
+f 22 14 7
+f 22 7 1
+f 22 21 14
+f 22 1 21
+f 23 2 7
+f 23 7 14
+f 24 5 16
+f 25 9 3
+f 25 3 18
+f 25 15 9
+f 26 10 4
+f 26 21 10
+f 26 19 21
+f 27 13 5
+f 27 5 24
+f 28 8 20
+f 29 21 8
+f 29 14 21
+f 29 23 14
+f 29 8 23
+f 30 21 13
+f 30 13 27
+f 31 18 2
+f 31 2 23
+f 32 23 8
+f 32 8 15
+f 33 24 16
+f 33 16 15
+f 33 15 24
+f 34 26 4
+f 34 4 19
+f 34 19 26
+f 35 15 8
+f 35 8 28
+f 36 30 20
+f 36 20 8
+f 36 21 30
+f 37 31 23
+f 37 23 32
+f 37 25 18
+f 37 15 25
+f 38 24 15
+f 38 15 35
+f 38 27 24
+f 38 35 28
+f 38 28 20
+f 39 36 8
+f 39 8 21
+f 39 21 36
+f 40 37 18
+f 40 18 31
+f 40 31 37
+f 41 37 32
+f 41 32 15
+f 41 15 37
+f 42 38 20
+f 42 27 38
+f 42 30 27
+f 42 20 30
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_30.obj b/cucumber/cucumber_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcd981b650e886b59638d5354c7cc57e3c5655a7
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.41047370 -0.12672290 -0.02514460
+v 0.40354259 -0.10711012 0.05891701
+v 0.00810755 -0.16013889 -0.01061373
+v 0.01329955 -0.03525165 0.11095926
+v 0.40151515 -0.02546540 -0.02052639
+v 0.00970205 -0.11610140 0.07900798
+v 0.41231607 -0.03371715 0.10196409
+v 0.00757576 -0.02546540 -0.02052639
+f 1 2 3
+f 6 3 2
+f 7 2 1
+f 7 1 5
+f 7 6 2
+f 7 4 6
+f 8 5 1
+f 8 1 3
+f 8 7 5
+f 8 4 7
+f 8 6 4
+f 8 3 6
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_31.obj b/cucumber/cucumber_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16f48030b60f41d1b9dbdc4a0ea5f920d87af43d
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.08333334 0.05029217 -0.02052639
+v 0.14641597 0.09125658 -0.12176665
+v 0.14467963 0.09368553 0.05179694
+v 0.08259180 0.11415542 0.02224335
+v 0.08588057 0.09387580 -0.12341652
+v 0.14316774 0.11169187 -0.08924233
+v 0.08665259 0.09510136 0.05260506
+v 0.08263032 0.11376935 -0.09177934
+v 0.14359070 0.11191829 0.02238085
+f 1 2 3
+f 5 2 1
+f 7 1 3
+f 7 3 4
+f 7 4 1
+f 8 5 1
+f 8 1 4
+f 8 4 6
+f 8 6 2
+f 8 2 5
+f 9 3 2
+f 9 2 6
+f 9 6 4
+f 9 4 3
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_4.obj b/cucumber/cucumber_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1e350fe72cdacc3f3eba92e5c808c35ff60b983
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.15873336 -0.14428100 -0.07965683
+v -0.09743784 -0.09556759 -0.14779362
+v -0.09924718 0.06583846 -0.15151674
+v -0.23748537 0.05333715 -0.14369015
+v -0.23162944 -0.06213410 -0.14280887
+v -0.23249479 -0.13443505 -0.07364731
+v -0.10073623 -0.12431352 -0.12572024
+v -0.10366912 -0.03517204 -0.16848839
+v -0.23868915 -0.12119991 -0.09334650
+v -0.21601775 -0.11238893 -0.11488644
+v -0.09789250 0.04809071 -0.16262573
+v -0.17151708 -0.06588240 -0.15382581
+v -0.21614705 -0.02228094 -0.15312776
+v -0.20033171 -0.10487137 -0.12329887
+v -0.23103540 -0.09081362 -0.12505219
+v -0.16355979 -0.13127868 -0.09962144
+v -0.09696268 -0.07786656 -0.15885348
+v -0.16470213 0.01365205 -0.16145297
+v -0.14072744 -0.07467915 -0.15375360
+v -0.21552803 -0.07469302 -0.13865369
+v -0.18569589 -0.12751288 -0.09970332
+v -0.19642497 0.01301083 -0.15720031
+v -0.17229507 0.04723318 -0.15468326
+v -0.21683491 0.01666217 -0.15341255
+v -0.20161912 0.03176146 -0.15306112
+f 6 1 3
+f 6 3 4
+f 7 2 3
+f 7 3 1
+f 9 6 4
+f 9 4 5
+f 11 3 2
+f 11 4 3
+f 13 5 4
+f 13 12 5
+f 13 8 12
+f 14 2 7
+f 14 7 10
+f 15 10 9
+f 15 9 5
+f 15 14 10
+f 16 10 7
+f 16 7 1
+f 17 11 2
+f 17 8 11
+f 17 12 8
+f 18 11 8
+f 19 14 12
+f 19 2 14
+f 19 17 2
+f 19 12 17
+f 20 5 12
+f 20 12 14
+f 20 15 5
+f 20 14 15
+f 21 16 1
+f 21 1 6
+f 21 10 16
+f 21 6 9
+f 21 9 10
+f 22 18 8
+f 22 8 13
+f 23 4 11
+f 23 11 18
+f 23 18 22
+f 24 22 13
+f 24 13 4
+f 25 23 22
+f 25 4 23
+f 25 24 4
+f 25 22 24
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_5.obj b/cucumber/cucumber_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71acfca33a1a645bbdbaa099e59dac477c6d9454
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.00778791 0.00281900 -0.17549033
+v 0.00757576 0.05029217 -0.08113245
+v -0.33925249 0.12920165 -0.07390335
+v -0.23306527 0.04821929 -0.14528319
+v 0.00716833 0.12056727 -0.08016838
+v -0.10133042 0.01216348 -0.16864921
+v -0.35364574 0.08996777 -0.10256219
+v -0.05434677 0.12573822 -0.07839531
+v 0.00742688 0.08572434 -0.14077874
+v -0.02241346 0.03215474 -0.16988265
+v -0.08228412 0.00213648 -0.17168409
+v -0.35915022 0.10314043 -0.09248514
+v 0.00787990 0.03224673 -0.17041594
+v 0.00682095 0.11144702 -0.10232929
+v -0.15790136 0.05457661 -0.15469026
+v -0.09835908 0.00451385 -0.17018253
+v -0.08211162 0.01684389 -0.16913421
+v -0.09795677 0.08497764 -0.13962093
+v -0.05375465 0.12429405 -0.08626915
+v -0.23287565 0.06891681 -0.13834686
+v -0.24714518 0.11409460 -0.10816483
+v -0.11404617 0.10822121 -0.11549816
+v -0.18748404 0.09963483 -0.12384319
+v -0.33834066 0.12259676 -0.08507579
+v -0.30773437 0.09918929 -0.10815494
+v 0.00669088 0.09360839 -0.13096994
+v -0.24004231 0.08103768 -0.12995073
+v -0.35570861 0.12350007 -0.07959641
+v -0.33561334 0.11357630 -0.09218633
+v -0.35278521 0.11833498 -0.08437846
+f 8 3 2
+f 8 2 5
+f 11 1 2
+f 11 10 1
+f 12 7 2
+f 12 2 3
+f 13 1 10
+f 13 2 1
+f 13 9 5
+f 13 5 2
+f 14 5 9
+f 16 11 2
+f 16 2 7
+f 16 7 4
+f 16 15 6
+f 16 4 15
+f 17 10 11
+f 17 15 10
+f 17 6 15
+f 17 16 6
+f 17 11 16
+f 18 13 10
+f 18 9 13
+f 18 10 15
+f 19 8 5
+f 19 5 14
+f 19 3 8
+f 20 15 4
+f 20 4 7
+f 21 3 19
+f 22 21 19
+f 22 9 21
+f 23 21 9
+f 23 9 18
+f 23 18 15
+f 23 15 20
+f 24 3 21
+f 25 20 7
+f 25 24 21
+f 26 22 19
+f 26 19 14
+f 26 14 9
+f 26 9 22
+f 27 23 20
+f 27 21 23
+f 27 25 21
+f 27 20 25
+f 28 12 3
+f 28 3 24
+f 29 25 7
+f 29 24 25
+f 30 28 24
+f 30 24 29
+f 30 12 28
+f 30 29 7
+f 30 7 12
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_6.obj b/cucumber/cucumber_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a96b4a10fe593e1ea89dc25579b4425174f6766f
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.14380261 -0.02376043 0.10598381
+v 0.14393940 -0.02546540 -0.02052639
+v 0.14393246 0.11049124 0.02467615
+v 0.00600453 0.12513502 -0.00804144
+v 0.00732214 -0.02503176 0.11336788
+v 0.08588057 0.09387580 -0.12341652
+v 0.00584339 0.04292274 0.10396494
+v 0.14393940 0.05029217 -0.02052639
+v 0.08263032 0.11376935 -0.09177934
+v 0.00757576 -0.02546540 -0.02052639
+v 0.14381752 0.01740694 0.10064658
+v 0.00574859 0.09750592 0.06214812
+v 0.00996351 0.09694645 -0.12534149
+v 0.05201509 0.12319395 -0.04767802
+v 0.00546503 0.07160947 0.08621226
+v 0.00609256 0.11515588 0.03337658
+v 0.00717192 0.11823691 -0.09141191
+v 0.05197327 0.12366919 -0.02346956
+v 0.14374178 0.08327073 0.06864422
+v 0.11332019 0.11275991 0.02185559
+v 0.00645818 0.12624946 -0.04819220
+v 0.14379845 0.05604133 0.08551339
+v 0.11349177 0.03217969 0.09839025
+f 1 2 3
+f 5 2 1
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 3 6
+f 10 5 7
+f 10 6 2
+f 10 2 5
+f 11 7 5
+f 11 5 1
+f 11 1 3
+f 13 9 6
+f 13 6 10
+f 14 3 9
+f 15 10 7
+f 15 4 10
+f 15 12 4
+f 16 12 3
+f 16 4 12
+f 17 13 10
+f 17 9 13
+f 18 4 3
+f 18 3 14
+f 19 15 7
+f 19 3 12
+f 19 12 15
+f 20 16 3
+f 20 3 4
+f 20 4 16
+f 21 17 10
+f 21 10 4
+f 21 14 9
+f 21 9 17
+f 21 18 14
+f 21 4 18
+f 22 19 7
+f 22 11 3
+f 22 3 19
+f 23 22 7
+f 23 7 11
+f 23 11 22
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_7.obj b/cucumber/cucumber_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7c23ea24ae116a0213b02a924d9fe9952d1e1b7
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.35518570 -0.00756052 0.17552127
+v -0.37232628 -0.01813092 -0.11314943
+v -0.35994599 0.13912530 -0.05270951
+v -0.41054182 0.14132012 0.10526093
+v -0.49127546 -0.00844313 0.08076015
+v -0.35719231 0.12993721 0.12802866
+v -0.36548738 0.08800275 -0.10061928
+v -0.43936516 -0.00747076 0.15948335
+v -0.47476060 0.10050536 0.00196990
+v -0.47800302 -0.00802128 0.11989644
+v -0.44236037 0.08762993 0.14649359
+v -0.42523829 0.14214009 -0.01248258
+v -0.44780260 0.06565862 -0.06677825
+v -0.45301493 0.03114815 0.15824361
+v -0.46067025 0.12839035 0.06459313
+v -0.35599766 0.06450219 0.17107341
+v -0.41277710 0.14557231 -0.01433467
+v -0.41437081 0.13483798 -0.03202318
+v -0.48009660 -0.00892072 -0.03128237
+v -0.46134679 0.10272957 -0.03026219
+v -0.47466057 0.07600843 0.11679551
+v -0.45929618 0.00769444 0.14746598
+v -0.40963319 0.00759858 0.17531591
+v -0.44676410 0.11423537 0.11878006
+v -0.46313664 0.12542454 0.02657159
+v -0.43663264 0.13694235 0.08027447
+v -0.45023845 -0.01085745 -0.06895432
+v -0.49146152 -0.00850717 0.00038671
+v -0.43635558 0.12613442 -0.02744935
+v -0.48752085 0.04618004 -0.01305184
+v -0.44545312 0.08397029 0.14675394
+v -0.46104736 0.03098423 0.14827986
+v -0.48832453 0.04621731 0.09489883
+v -0.45339836 0.02305628 0.15830862
+v -0.38546511 -0.00721686 0.17394648
+v -0.35588580 0.03252586 0.17668107
+v -0.41013864 0.03182336 0.17557218
+v -0.47499463 0.08414035 0.10994772
+v -0.43597450 0.13906650 -0.00279242
+v -0.49076177 0.07706094 0.06530238
+v -0.46039637 0.11533467 -0.01404447
+v -0.45295239 0.12398449 0.09602042
+v -0.47517942 0.07707864 -0.02927056
+v -0.48819771 0.00702757 -0.01361697
+v -0.48881977 0.00699022 0.09519244
+v -0.43927569 0.06153516 0.15755234
+v -0.46034388 0.09787470 0.11753055
+v -0.49005973 0.07708576 0.02534081
+v -0.47509101 0.09935603 0.07967725
+v -0.44943486 0.12432670 -0.01247097
+v -0.42312887 0.13753204 0.10242242
+v -0.48967192 0.06177262 0.00129796
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 10 5 2
+f 10 2 8
+f 11 6 4
+f 13 7 2
+f 16 1 6
+f 16 6 11
+f 17 4 3
+f 18 3 7
+f 18 17 3
+f 18 12 17
+f 20 7 13
+f 22 10 8
+f 24 11 4
+f 26 4 17
+f 27 19 13
+f 27 13 2
+f 27 2 19
+f 28 19 2
+f 28 2 5
+f 29 12 18
+f 29 18 7
+f 29 7 20
+f 31 21 14
+f 31 11 24
+f 32 14 21
+f 33 32 21
+f 33 10 32
+f 34 22 8
+f 34 14 32
+f 34 32 10
+f 34 10 22
+f 34 8 23
+f 35 23 8
+f 35 8 1
+f 35 1 23
+f 36 23 1
+f 36 1 16
+f 37 16 11
+f 37 34 23
+f 37 14 34
+f 37 36 16
+f 37 23 36
+f 39 25 15
+f 39 15 26
+f 39 26 17
+f 39 17 12
+f 40 15 25
+f 40 33 21
+f 40 21 38
+f 40 28 5
+f 40 5 33
+f 41 20 9
+f 41 9 25
+f 41 25 39
+f 41 29 20
+f 42 26 15
+f 43 9 20
+f 43 20 13
+f 43 13 19
+f 43 19 30
+f 44 30 19
+f 44 19 28
+f 44 28 30
+f 45 33 5
+f 45 5 10
+f 45 10 33
+f 46 37 11
+f 46 11 31
+f 46 31 14
+f 46 14 37
+f 47 31 24
+f 47 42 38
+f 47 24 42
+f 47 38 21
+f 47 21 31
+f 48 40 25
+f 48 25 9
+f 48 28 40
+f 49 40 38
+f 49 15 40
+f 49 42 15
+f 49 38 42
+f 50 41 39
+f 50 39 12
+f 50 12 29
+f 50 29 41
+f 51 42 24
+f 51 24 4
+f 51 4 26
+f 51 26 42
+f 52 30 28
+f 52 28 48
+f 52 43 30
+f 52 48 9
+f 52 9 43
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_8.obj b/cucumber/cucumber_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1975022f11f7f03182f0c1866ff338419d9cab4
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.08452161 -0.13607922 -0.11799353
+v 0.08395833 -0.11282569 -0.14527300
+v 0.00757576 0.05029217 -0.08113245
+v -0.24004231 0.08103768 -0.12995073
+v -0.23868915 -0.12119991 -0.09334650
+v 0.00781715 0.06654147 -0.15270825
+v 0.08333334 -0.02546540 -0.09628397
+v -0.09992959 -0.10902677 -0.13913902
+v 0.08484554 -0.03384173 -0.17533083
+v 0.00605443 -0.14353249 -0.10741867
+v -0.23643451 -0.07524967 -0.13352760
+v -0.23748537 0.05333715 -0.14369015
+v -0.23583962 -0.10392872 -0.11577282
+f 5 3 4
+f 6 4 3
+f 7 6 3
+f 9 7 1
+f 9 1 2
+f 9 6 7
+f 9 2 8
+f 10 1 7
+f 10 5 8
+f 10 8 2
+f 10 2 1
+f 10 7 3
+f 10 3 5
+f 11 5 4
+f 11 9 8
+f 12 4 6
+f 12 6 9
+f 12 11 4
+f 12 9 11
+f 13 11 8
+f 13 8 5
+f 13 5 11
\ No newline at end of file
diff --git a/cucumber/cucumber_3/collision/model_normalized_collision_9.obj b/cucumber/cucumber_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed383e9ae7fc0f9e416a5a863b4d35940df8ad1d
--- /dev/null
+++ b/cucumber/cucumber_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00810070 -0.15765426 0.00413507
+v 0.00679295 -0.09577548 0.09199231
+v -0.11463905 -0.05472146 0.12512054
+v -0.09904026 0.13729406 -0.00600933
+v 0.00743328 0.12459285 -0.00561668
+v -0.10033520 -0.15691969 0.00416281
+v -0.00901217 0.12656714 -0.00779720
+v 0.00486774 0.05392390 0.09727862
+v -0.11616190 0.10128234 0.09249837
+v -0.09998021 -0.09423771 0.10475574
+v 0.00582778 -0.02247679 0.11397004
+v -0.11714472 0.08692766 0.10169136
+v -0.11455152 0.10672197 0.08299002
+v 0.00518405 0.10848307 0.04442226
+v -0.10052335 -0.07658205 0.11596191
+v 0.00642929 -0.07809324 0.10310514
+v -0.11651014 0.05823308 0.11941474
+v -0.01011105 0.09231571 0.07410832
+v -0.10172884 0.12636527 0.04617989
+v -0.10731904 -0.06236474 0.12250612
+v 0.00559746 -0.01314406 0.11421586
+v -0.04085410 0.12374321 0.03130057
+v -0.07023400 -0.07491449 0.11325231
+f 5 2 1
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
+f 10 6 1
+f 10 1 2
+f 10 3 6
+f 11 2 5
+f 11 5 8
+f 12 9 6
+f 12 6 3
+f 12 8 9
+f 13 4 6
+f 13 6 9
+f 14 8 5
+f 14 13 9
+f 15 10 2
+f 15 3 10
+f 16 11 3
+f 16 2 11
+f 16 15 2
+f 17 12 3
+f 17 8 12
+f 18 14 9
+f 18 9 8
+f 18 8 14
+f 19 4 13
+f 19 13 14
+f 20 16 3
+f 20 3 15
+f 21 17 3
+f 21 3 11
+f 21 11 8
+f 21 8 17
+f 22 19 14
+f 22 14 5
+f 22 5 4
+f 22 4 19
+f 23 20 15
+f 23 15 16
+f 23 16 20
\ No newline at end of file
diff --git a/cucumber/cucumber_3/model.xml b/cucumber/cucumber_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..feaef246a25fa84116c333de2c2e8abf37e1c2b5
--- /dev/null
+++ b/cucumber/cucumber_3/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="cucumber_3">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="cucumber_lp" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="cucumber_lp"/>
+        <geom solimp="0.998 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"/>
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diff --git a/cucumber/cucumber_3/visual/image0.png b/cucumber/cucumber_3/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..10b167191c1230da99e2b1a9ede22d635391b0df
--- /dev/null
+++ b/cucumber/cucumber_3/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30bbfa34e0f069f2acaff8cf677fc7573b8379c0c303d15052668b341f15bc6b
+size 525563
diff --git a/cucumber/cucumber_3/visual/material.mtl b/cucumber/cucumber_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/cucumber/cucumber_3/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/cucumber/cucumber_3/visual/material_0.png b/cucumber/cucumber_3/visual/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..10b167191c1230da99e2b1a9ede22d635391b0df
--- /dev/null
+++ b/cucumber/cucumber_3/visual/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30bbfa34e0f069f2acaff8cf677fc7573b8379c0c303d15052668b341f15bc6b
+size 525563
diff --git a/cucumber/cucumber_3/visual/model_normalized_0.obj b/cucumber/cucumber_3/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a15994166856e07e8d7cf3ce5bb601082ad3168
--- /dev/null
+++ b/cucumber/cucumber_3/visual/model_normalized_0.obj
@@ -0,0 +1,1674 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+f 313/313/313 316/316/316 319/319/319
+f 313/313/313 319/319/319 317/317/317
+f 24/24/24 22/22/22 311/311/311
+f 24/24/24 311/311/311 320/320/320
+f 22/22/22 21/21/21 312/312/312
+f 22/22/22 312/312/312 311/311/311
+f 21/21/21 20/20/20 315/315/315
+f 21/21/21 315/315/315 312/312/312
+f 20/20/20 19/19/19 321/321/321
+f 20/20/20 321/321/321 315/315/315
+f 315/315/315 321/321/321 322/322/322
+f 315/315/315 322/322/322 316/316/316
+f 316/316/316 322/322/322 323/323/323
+f 316/316/316 323/323/323 319/319/319
+f 319/319/319 323/323/323 324/324/324
+f 319/319/319 324/324/324 325/325/325
+f 317/317/317 319/319/319 325/325/325
+f 317/317/317 325/325/325 326/326/326
+f 318/318/318 317/317/317 326/326/326
+f 318/318/318 326/326/326 327/327/327
+f 328/328/328 318/318/318 327/327/327
+f 328/328/328 327/327/327 329/329/329
+f 330/330/330 314/314/314 318/318/318
+f 330/330/330 318/318/318 328/328/328
+f 320/320/320 311/311/311 314/314/314
+f 320/320/320 314/314/314 330/330/330
+f 331/331/331 332/332/332 333/333/333
+f 331/331/331 333/333/333 334/334/334
+f 332/332/332 335/335/335 336/336/336
+f 332/332/332 336/336/336 333/333/333
+f 334/334/334 333/333/333 337/337/337
+f 334/334/334 337/337/337 338/338/338
+f 333/333/333 336/336/336 339/339/339
+f 333/333/333 339/339/339 337/337/337
+f 329/329/329 327/327/327 331/331/331
+f 329/329/329 331/331/331 340/340/340
+f 327/327/327 326/326/326 332/332/332
+f 327/327/327 332/332/332 331/331/331
+f 326/326/326 325/325/325 335/335/335
+f 326/326/326 335/335/335 332/332/332
+f 325/325/325 324/324/324 341/341/341
+f 325/325/325 341/341/341 335/335/335
+f 335/335/335 341/341/341 342/342/342
+f 335/335/335 342/342/342 336/336/336
+f 336/336/336 342/342/342 343/343/343
+f 336/336/336 343/343/343 339/339/339
+f 339/339/339 343/343/343 344/344/344
+f 339/339/339 344/344/344 345/345/345
+f 337/337/337 339/339/339 345/345/345
+f 337/337/337 345/345/345 346/346/346
+f 338/338/338 337/337/337 346/346/346
+f 338/338/338 346/346/346 347/347/347
+f 348/348/348 338/338/338 347/347/347
+f 348/348/348 347/347/347 349/349/349
+f 350/350/350 334/334/334 338/338/338
+f 350/350/350 338/338/338 348/348/348
+f 340/340/340 331/331/331 334/334/334
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+f 351/351/351 352/352/352 353/353/353
+f 351/351/351 353/353/353 354/354/354
+f 352/352/352 355/355/355 356/356/356
+f 352/352/352 356/356/356 353/353/353
+f 354/354/354 353/353/353 357/357/357
+f 354/354/354 357/357/357 358/358/358
+f 353/353/353 356/356/356 359/359/359
+f 353/353/353 359/359/359 357/357/357
+f 349/349/349 347/347/347 351/351/351
+f 349/349/349 351/351/351 360/360/360
+f 347/347/347 346/346/346 352/352/352
+f 347/347/347 352/352/352 351/351/351
+f 346/346/346 345/345/345 355/355/355
+f 346/346/346 355/355/355 352/352/352
+f 345/345/345 344/344/344 361/361/361
+f 345/345/345 361/361/361 355/355/355
+f 355/355/355 361/361/361 362/362/362
+f 355/355/355 362/362/362 356/356/356
+f 356/356/356 362/362/362 363/363/363
+f 356/356/356 363/363/363 359/359/359
+f 359/359/359 363/363/363 40/40/40
+f 359/359/359 40/40/40 39/39/39
+f 357/357/357 359/359/359 39/39/39
+f 357/357/357 39/39/39 38/38/38
+f 358/358/358 357/357/357 38/38/38
+f 358/358/358 38/38/38 36/36/36
+f 364/364/364 358/358/358 36/36/36
+f 364/364/364 36/36/36 35/35/35
+f 365/365/365 354/354/354 358/358/358
+f 365/365/365 358/358/358 364/364/364
+f 360/360/360 351/351/351 354/354/354
+f 360/360/360 354/354/354 365/365/365
\ No newline at end of file
diff --git a/cucumber/cucumber_4/.DS_Store b/cucumber/cucumber_4/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..70dc6052d21744af38667bb8ff064099bb0a5189
Binary files /dev/null and b/cucumber/cucumber_4/.DS_Store differ
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_0.obj b/cucumber/cucumber_4/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..681c99c410621d899118fdb62044be3ff9001211
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_0.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.09158818 -0.11331157 0.14404669
+v 0.14291336 -0.05943260 -0.15905162
+v 0.13228613 -0.07155520 0.11295172
+v 0.14990504 -0.01664329 0.00794945
+v 0.14936059 -0.01772048 -0.15931499
+v 0.14491602 -0.04323804 0.00804001
+v 0.12649929 -0.07720496 0.14378741
+v 0.11422211 -0.10920924 -0.16021266
+v 0.14890356 -0.02398775 0.00555119
+v 0.11353282 -0.09501916 0.14232888
+v 0.09839251 -0.12361295 -0.15911276
+v 0.11498379 -0.09299793 0.14565899
+v 0.10043799 -0.10708347 0.14261577
+v 0.12647964 -0.08120670 0.11267038
+f 5 1 4
+f 6 3 2
+f 7 3 4
+f 7 4 1
+f 8 2 3
+f 8 5 2
+f 9 5 4
+f 9 2 5
+f 9 6 2
+f 9 4 3
+f 9 3 6
+f 11 1 5
+f 11 5 8
+f 12 7 1
+f 13 1 11
+f 13 12 1
+f 13 10 12
+f 13 11 8
+f 13 8 10
+f 14 3 7
+f 14 7 12
+f 14 8 3
+f 14 12 10
+f 14 10 8
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_1.obj b/cucumber/cucumber_4/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcc6d84a6b73dfb845eb8642b77b37153a2e138b
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_1.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.10581490 -0.10265647 0.14465874
+v 0.14491602 -0.04323804 0.00804001
+v 0.13050953 0.06730525 0.14284778
+v -0.07673537 0.11545734 0.08552708
+v -0.08263938 -0.11682583 0.00957349
+v 0.12166195 0.09776769 0.00729429
+v -0.09306963 0.09262980 0.14855195
+v 0.14376592 -0.00424363 0.14339187
+v 0.11043989 -0.10547461 0.00817379
+v 0.09745156 0.12021218 0.08542722
+v -0.08109899 0.11850396 0.00773515
+v -0.07633812 -0.10852232 0.14498300
+v 0.12971265 -0.07095971 0.14256527
+v 0.14414350 0.05429457 0.00709564
+v 0.11986916 0.09720032 0.05202431
+v 0.13354545 -0.07313063 0.00770734
+v 0.14095427 -0.04297830 0.12835602
+v 0.14196003 0.04005944 0.11208588
+v 0.13275137 0.08151911 0.00699578
+v 0.14214968 0.05245997 0.06779221
+v 0.14245317 0.01073885 0.14148696
+v 0.13077519 0.08025154 0.05190663
+f 8 7 1
+f 8 3 7
+f 9 1 5
+f 10 7 3
+f 10 4 7
+f 11 10 6
+f 11 4 10
+f 11 7 4
+f 11 5 7
+f 12 7 5
+f 12 5 1
+f 12 1 7
+f 13 8 1
+f 13 1 9
+f 14 8 2
+f 15 10 3
+f 15 6 10
+f 16 9 5
+f 16 5 11
+f 16 14 2
+f 16 13 9
+f 17 2 8
+f 17 8 13
+f 17 16 2
+f 17 13 16
+f 18 8 14
+f 19 11 6
+f 19 6 15
+f 19 16 11
+f 19 14 16
+f 20 18 14
+f 20 3 18
+f 20 14 19
+f 21 18 3
+f 21 3 8
+f 21 8 18
+f 22 19 15
+f 22 15 3
+f 22 20 19
+f 22 3 20
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_10.obj b/cucumber/cucumber_4/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce8110e6c883992499d60be22baea6a900898621
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_10.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.10657583 -0.10030841 -0.41211503
+v 0.12762796 -0.07234166 -0.41030765
+v -0.08470338 -0.05911337 -0.40951065
+v 0.01076397 0.09072915 -0.40943978
+v 0.06188630 0.00521512 -0.49052768
+v 0.09109489 0.07533025 -0.40906907
+v -0.04502870 -0.10999307 -0.41104422
+v 0.08396179 -0.06604363 -0.47554441
+v -0.03967841 0.01718455 -0.46109020
+v -0.06941852 0.03400690 -0.40924377
+v 0.07418249 0.06934508 -0.43367037
+v 0.12493023 0.00673384 -0.43607961
+v -0.07227776 -0.08503899 -0.41019936
+v 0.09847739 -0.06620186 -0.46177916
+v -0.01666923 -0.10980342 -0.43863679
+v -0.00118898 0.03018942 -0.47358983
+v -0.08026059 -0.00725622 -0.42205709
+v -0.04026152 0.05657174 -0.42112561
+v 0.05139886 0.09110668 -0.41024886
+v 0.13017558 0.02176853 -0.41162113
+v 0.11164340 0.01942818 -0.44883848
+v -0.02509336 -0.06896709 -0.47395938
+v 0.12397206 -0.06820979 -0.42377842
+v 0.09938235 -0.09196473 -0.43440114
+v -0.02105115 -0.11911805 -0.41523926
+v 0.07366985 0.03006956 -0.47325424
+v -0.05228225 0.01784521 -0.44833432
+v -0.08539821 -0.00476067 -0.41059373
+v -0.04389894 0.06087487 -0.40937758
+v -0.02615945 0.03191190 -0.46126915
+v 0.05057628 0.08511946 -0.42162867
+v 0.11534874 0.04935598 -0.41025627
+v 0.12682833 -0.04339163 -0.43681719
+v 0.11147017 0.04637000 -0.42219649
+v 0.12603450 0.02031242 -0.42382939
+v 0.07402647 -0.00666261 -0.48921880
+v -0.06619193 -0.07050282 -0.43406606
+v 0.02379047 -0.06829203 -0.48983224
+v -0.00179132 0.00470774 -0.48751770
+v -0.05191776 -0.04488994 -0.46256084
+v 0.08621475 -0.07915343 -0.46239906
+v 0.06240414 -0.08064931 -0.47680700
+v -0.04052092 -0.10728413 -0.42239000
+v -0.06537643 0.03062993 -0.42001341
+v -0.00075205 0.07153339 -0.43383923
+v 0.07442102 -0.04571479 -0.49051179
+v 0.08769396 0.07021669 -0.42050524
+v 0.08603707 0.01704608 -0.47390753
+v -0.06762562 -0.08233417 -0.42138292
+v -0.01328767 -0.07898608 -0.47447701
+v -0.00061302 -0.05643765 -0.49029634
+v -0.02753826 0.00553174 -0.47523347
+v -0.05300075 -0.00768958 -0.46006675
+v -0.07904324 -0.05753222 -0.42109881
+v -0.02720632 0.05588539 -0.43432426
+v 0.01246919 0.08469434 -0.42062649
+v 0.05007044 -0.06752040 -0.49015679
+v -0.02890045 -0.10506871 -0.43715604
+f 6 3 2
+f 7 1 2
+f 10 6 4
+f 10 3 6
+f 13 7 2
+f 13 2 3
+f 19 4 6
+f 19 6 11
+f 23 2 1
+f 24 23 1
+f 24 14 23
+f 25 15 1
+f 25 1 7
+f 26 5 16
+f 28 17 3
+f 28 3 10
+f 29 18 10
+f 29 10 4
+f 30 27 18
+f 30 9 27
+f 31 4 19
+f 31 19 11
+f 31 26 16
+f 31 11 26
+f 32 6 2
+f 32 2 20
+f 33 20 2
+f 33 12 20
+f 33 2 23
+f 33 23 14
+f 34 6 32
+f 35 20 12
+f 35 12 21
+f 35 21 34
+f 35 34 32
+f 35 32 20
+f 36 21 12
+f 36 12 33
+f 39 16 5
+f 39 30 16
+f 40 22 37
+f 41 8 14
+f 41 14 24
+f 42 24 1
+f 42 1 15
+f 42 41 24
+f 42 15 38
+f 42 8 41
+f 43 25 7
+f 43 15 25
+f 43 7 13
+f 44 27 17
+f 44 10 18
+f 44 18 27
+f 44 28 10
+f 44 17 28
+f 45 29 4
+f 45 18 29
+f 45 16 30
+f 45 31 16
+f 46 33 14
+f 46 14 8
+f 46 36 33
+f 46 5 36
+f 47 11 6
+f 47 6 34
+f 47 26 11
+f 47 34 21
+f 47 21 26
+f 48 26 21
+f 48 21 36
+f 48 36 5
+f 48 5 26
+f 49 13 3
+f 49 3 37
+f 49 43 13
+f 50 38 15
+f 51 22 40
+f 51 50 22
+f 51 38 50
+f 51 39 5
+f 51 5 46
+f 52 9 30
+f 52 30 39
+f 52 51 40
+f 52 39 51
+f 53 27 9
+f 53 52 40
+f 53 9 52
+f 53 40 17
+f 53 17 27
+f 54 40 37
+f 54 37 3
+f 54 3 17
+f 54 17 40
+f 55 45 30
+f 55 30 18
+f 55 18 45
+f 56 45 4
+f 56 4 31
+f 56 31 45
+f 57 42 38
+f 57 51 46
+f 57 38 51
+f 57 46 8
+f 57 8 42
+f 58 49 37
+f 58 37 22
+f 58 43 49
+f 58 22 50
+f 58 50 15
+f 58 15 43
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_11.obj b/cucumber/cucumber_4/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4133e703826c0c6ca2f859c6fa2c4793d71d8f8
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_11.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.03187697 -0.10950468 0.32276228
+v -0.03621949 -0.12029647 0.26368522
+v -0.03063371 0.10506436 0.29146999
+v -0.03388976 0.11152667 0.26327801
+v -0.09571142 0.00845608 0.31969723
+v -0.09747026 -0.06882335 0.26288649
+v -0.03481721 0.04002973 0.39884901
+v -0.08088496 0.05995787 0.30405805
+v -0.06773210 -0.09105713 0.30363798
+v -0.09682623 0.04996954 0.26074536
+v -0.02960135 0.09001305 0.33374683
+v -0.05409156 0.08592968 0.30410926
+v -0.07876092 0.00693105 0.36022121
+v -0.07265892 -0.09472097 0.26409286
+v -0.04036711 -0.10494005 0.32025461
+v -0.04486402 0.10550840 0.26225935
+v -0.04662567 -0.11336287 0.26277769
+v -0.09406416 0.04749637 0.27601464
+v -0.03401781 -0.07433472 0.39953382
+v -0.06705962 0.06058455 0.33287630
+v -0.04173496 0.08426564 0.33084194
+v -0.07987660 -0.03039897 0.36089602
+v -0.04048260 0.10014934 0.29005025
+v -0.05379807 -0.09036716 0.33414256
+v -0.05101120 0.03269841 0.38692391
+v -0.09558870 -0.02985502 0.32131226
+v -0.08173557 -0.06728750 0.31945862
+v -0.05192049 -0.05392360 0.39348184
+v -0.09411011 -0.06945038 0.27549468
+v -0.06884045 -0.07769386 0.33354877
+v -0.05246445 -0.06772701 0.37714516
+v -0.04115939 -0.06960968 0.39466185
+f 1 2 3
+f 3 2 4
+f 10 6 5
+f 11 1 3
+f 13 8 5
+f 14 9 6
+f 15 9 2
+f 15 2 1
+f 16 4 2
+f 16 10 8
+f 16 8 12
+f 17 6 10
+f 17 14 6
+f 17 2 9
+f 17 9 14
+f 17 16 2
+f 17 10 16
+f 18 10 5
+f 18 5 8
+f 18 8 10
+f 19 11 7
+f 19 1 11
+f 20 8 13
+f 20 12 8
+f 21 12 20
+f 21 20 7
+f 21 7 11
+f 22 13 5
+f 23 16 12
+f 23 3 4
+f 23 4 16
+f 23 12 21
+f 23 21 11
+f 23 11 3
+f 24 15 1
+f 24 1 19
+f 24 9 15
+f 25 20 13
+f 25 7 20
+f 26 22 5
+f 26 5 6
+f 27 22 26
+f 28 25 13
+f 28 13 22
+f 28 19 7
+f 28 7 25
+f 28 22 27
+f 29 6 9
+f 29 9 27
+f 29 27 26
+f 29 26 6
+f 30 24 19
+f 30 27 9
+f 30 9 24
+f 31 28 27
+f 31 27 30
+f 32 31 30
+f 32 30 19
+f 32 19 28
+f 32 28 31
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_12.obj b/cucumber/cucumber_4/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8af8d34cdd17cb4d783e7060647e3e06f503859
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_12.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.06159414 -0.12715834 0.03756874
+v -0.05045767 -0.11917375 -0.37024435
+v -0.08888379 -0.08705982 -0.36741541
+v -0.12049926 -0.08671495 0.00699991
+v -0.10059947 -0.10686035 -0.17265135
+v -0.05038769 -0.13372184 -0.23464283
+v -0.10066982 -0.10607014 0.00656779
+v -0.08374842 -0.10698957 -0.30763832
+v -0.11891788 -0.08580486 -0.18749265
+v -0.04624991 -0.12668004 -0.32472763
+v -0.08263938 -0.11682583 0.00957349
+v -0.07881258 -0.11697317 0.03742887
+v -0.11321289 -0.09480756 0.00560932
+v -0.06982501 -0.10732186 -0.36626691
+v -0.07129438 -0.12117771 -0.24889032
+v -0.11213410 -0.09424801 -0.18689497
+v -0.10251409 -0.08604941 -0.30837760
+v -0.07179119 -0.12154327 0.03692342
+v -0.08418243 -0.09513877 -0.36523209
+v -0.06535452 -0.10849734 -0.37504366
+v -0.07180426 -0.12156450 -0.23637079
+v -0.05834785 -0.12075359 -0.32335099
+v -0.09687302 -0.09376465 -0.30720988
+v -0.06797449 -0.12365569 0.03787374
+f 1 2 3
+f 1 3 4
+f 10 2 1
+f 10 1 6
+f 11 6 1
+f 11 5 6
+f 11 7 5
+f 12 1 4
+f 13 5 7
+f 13 12 4
+f 13 7 12
+f 14 2 8
+f 15 5 8
+f 16 4 9
+f 16 13 4
+f 16 5 13
+f 16 8 5
+f 17 9 4
+f 17 4 3
+f 18 12 7
+f 18 7 11
+f 19 14 8
+f 19 17 3
+f 20 3 2
+f 20 2 14
+f 20 19 3
+f 20 14 19
+f 21 15 6
+f 21 6 5
+f 21 5 15
+f 22 10 6
+f 22 6 15
+f 22 2 10
+f 22 15 8
+f 22 8 2
+f 23 16 9
+f 23 9 17
+f 23 8 16
+f 23 19 8
+f 23 17 19
+f 24 1 12
+f 24 12 18
+f 24 18 11
+f 24 11 1
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_13.obj b/cucumber/cucumber_4/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b3eb08231394d084212a4c7cb1cc30c1f14cb22
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_13.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.07399126 -0.13649949 -0.09805378
+v 0.08786354 -0.13694183 -0.23633196
+v 0.13411938 0.07395601 -0.10025861
+v -0.12216856 0.07379763 -0.09805125
+v -0.10299848 -0.09819729 -0.23523465
+v 0.09045657 -0.12656880 -0.09833269
+v -0.04475263 -0.13631138 -0.23460486
+v -0.10682523 -0.10376085 -0.09815264
+v 0.12778018 0.07558849 -0.23591416
+v -0.04696623 -0.13808573 -0.09828172
+v -0.06236862 -0.12769692 -0.23415454
+v -0.10796517 0.06631564 -0.23680388
+v -0.06322745 -0.13019013 -0.09867558
+f 1 3 4
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 8 1 4
+f 8 4 5
+f 9 3 2
+f 9 4 3
+f 10 7 2
+f 10 2 1
+f 10 1 8
+f 11 8 5
+f 11 5 7
+f 12 9 2
+f 12 2 5
+f 12 5 4
+f 12 4 9
+f 13 10 8
+f 13 8 11
+f 13 11 7
+f 13 7 10
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_14.obj b/cucumber/cucumber_4/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..432880a9b2ce10a34f3a77cfa936f942351d1b67
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_14.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.12569887 -0.07901256 -0.16264499
+v -0.07837555 0.09723815 -0.23301560
+v -0.07764726 0.11117908 -0.15791426
+v -0.09701436 0.10205769 -0.09839036
+v -0.14051008 0.02275333 -0.17225512
+v -0.09636553 0.08871251 -0.20074319
+v -0.11924804 -0.07651703 -0.23744830
+v -0.14916060 -0.01652704 -0.09843935
+v -0.08422859 0.10167188 -0.18779508
+v -0.12533838 0.06270074 -0.14116543
+v -0.12683397 0.03600315 -0.23294754
+v -0.07580891 0.10725763 -0.18746692
+v -0.14767373 -0.02566735 -0.10141187
+v -0.14182983 -0.03024513 -0.17335559
+v -0.08671663 0.10426996 -0.15702211
+v -0.10924261 0.08224263 -0.16283830
+v -0.14212350 0.03576458 -0.09785502
+v -0.10017617 0.07443386 -0.23950274
+v -0.14043113 0.03558385 -0.12695030
+v -0.14328764 -0.03034617 -0.15717775
+v -0.13542456 -0.05965648 -0.15818529
+v -0.12803830 -0.05888199 -0.23359775
+v -0.12765517 0.06516816 -0.09733239
+v -0.11222683 0.06198338 -0.23212171
+v -0.08616681 0.09101937 -0.23107781
+v -0.10468231 0.09467547 -0.09868022
+v -0.12499359 0.04783073 -0.20176155
+v -0.11097723 0.07453251 -0.18591607
+f 1 3 4
+f 9 2 6
+f 12 7 2
+f 12 3 1
+f 12 1 7
+f 12 9 3
+f 12 2 9
+f 13 1 4
+f 13 4 8
+f 14 8 5
+f 14 5 11
+f 15 9 6
+f 15 4 3
+f 15 3 9
+f 16 15 6
+f 16 4 15
+f 17 5 8
+f 18 2 7
+f 18 7 11
+f 19 11 5
+f 19 5 17
+f 20 13 8
+f 20 8 14
+f 21 7 1
+f 21 20 14
+f 21 1 13
+f 21 13 20
+f 22 14 11
+f 22 11 7
+f 22 21 14
+f 22 7 21
+f 23 16 10
+f 23 19 17
+f 23 10 19
+f 23 17 8
+f 23 8 4
+f 24 18 11
+f 24 16 6
+f 24 6 18
+f 25 18 6
+f 25 6 2
+f 25 2 18
+f 26 23 4
+f 26 4 16
+f 26 16 23
+f 27 24 11
+f 27 10 24
+f 27 19 10
+f 27 11 19
+f 28 24 10
+f 28 10 16
+f 28 16 24
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_15.obj b/cucumber/cucumber_4/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ffda0111918ad3ec86adec5fdb8e0d6e1bc368c
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_15.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.06377892 -0.11680026 0.14281514
+v -0.06891739 -0.12525179 0.00770986
+v -0.10735090 0.09414163 0.00923068
+v -0.10177661 0.08028798 0.15220932
+v -0.14414207 -0.04333599 0.00740555
+v -0.11301471 -0.09362402 0.02188643
+v -0.12498439 -0.03117217 0.18425092
+v -0.11321289 -0.09480756 0.00560932
+v -0.14396479 0.03467554 0.00692627
+v -0.09148315 -0.11241836 0.00580927
+v -0.10173021 0.07046144 0.19223286
+v -0.09397018 -0.08823880 0.19162058
+v -0.12563291 -0.06719007 0.11131737
+v -0.13407069 0.05228391 0.00722366
+v -0.14250934 -0.01637979 0.08224472
+v -0.12472409 0.04807242 0.12468407
+v -0.12519902 0.01011801 0.18616714
+v -0.09936622 -0.09386815 0.14198621
+v -0.11010598 -0.06891057 0.18518446
+v -0.12421396 -0.05491554 0.15465810
+v -0.14106755 0.03546835 0.03580814
+v -0.12526863 0.03591988 0.15582996
+v -0.08695092 -0.10481759 0.12628711
+v -0.11218761 -0.08038631 0.14183129
+v -0.14120196 0.02354954 0.08106382
+v -0.11213325 0.05193326 0.18750807
+f 1 2 3
+f 1 3 4
+f 9 8 5
+f 10 2 1
+f 10 6 8
+f 10 3 2
+f 11 1 4
+f 12 1 11
+f 13 8 6
+f 13 5 8
+f 14 4 3
+f 14 3 10
+f 14 10 8
+f 14 8 9
+f 15 9 5
+f 16 11 4
+f 16 4 14
+f 17 12 11
+f 17 7 12
+f 17 15 7
+f 18 6 10
+f 19 12 7
+f 20 7 15
+f 20 19 7
+f 20 15 5
+f 20 5 13
+f 21 16 14
+f 21 14 9
+f 23 18 10
+f 23 10 1
+f 23 1 12
+f 23 12 18
+f 24 13 6
+f 24 6 18
+f 24 18 12
+f 24 12 19
+f 24 20 13
+f 24 19 20
+f 25 21 9
+f 25 9 15
+f 25 15 17
+f 25 17 22
+f 25 22 16
+f 25 16 21
+f 26 22 17
+f 26 17 11
+f 26 11 16
+f 26 16 22
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_16.obj b/cucumber/cucumber_4/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b87b5443362a2b51b8d9690234f81ff9cf07a863
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_16.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.04752546 -0.09135454 0.44108654
+v 0.07565079 -0.08394975 0.39871229
+v 0.07111937 -0.01036227 0.47802382
+v -0.00328384 0.06257952 0.39405287
+v -0.05594219 -0.04437977 0.39498751
+v 0.07510226 0.04745331 0.39391335
+v 0.07100277 -0.05317616 0.47928721
+v -0.00225803 -0.09565755 0.39735446
+v 0.00320341 -0.01064570 0.48901905
+v 0.08563609 -0.05593979 0.44386792
+v 0.03549763 0.02491869 0.46610308
+v -0.03129904 0.04811996 0.39291158
+v 0.06223462 -0.09285443 0.39816775
+v -0.04115939 -0.06960968 0.39466185
+v 0.05852607 -0.02187959 0.49062275
+v 0.00173475 -0.06660899 0.47917086
+v 0.08516381 0.00286166 0.44153835
+v 0.08117680 -0.04343935 0.47076051
+v 0.06885979 -0.07510051 0.45485081
+v 0.04987732 0.06231577 0.39409767
+v 0.05651235 0.02513589 0.45313407
+v 0.01527583 0.01354560 0.47802327
+v -0.05771103 0.00844288 0.39373881
+v 0.04705228 -0.00057163 0.48854533
+v 0.05702774 -0.07658214 0.46862356
+v 0.01248274 -0.05551135 0.49093365
+v -0.01994360 -0.05246581 0.46589101
+v -0.01045357 -0.07506504 0.45419186
+v 0.07907945 -0.00917484 0.46623797
+v 0.06208061 -0.09010140 0.41382827
+v 0.08205100 -0.05495116 0.45649857
+v 0.08012145 0.00194319 0.45376076
+v 0.02495636 0.02509246 0.46539075
+v -0.01973422 -0.00970375 0.46615075
+v 0.04712038 0.01264950 0.47724513
+v 0.02489338 -0.00030484 0.49072363
+v 0.00192471 -0.07721087 0.46685784
+v 0.05761492 -0.05454870 0.48796918
+v 0.00046718 -0.04292770 0.49017628
+v -0.02783582 -0.08145808 0.39610346
+v -0.00967637 -0.05508575 0.47795962
+v -0.04382129 0.03571377 0.39324374
+v -0.00021022 -0.08902611 0.42805648
+v 0.01216440 -0.08986224 0.44351821
+f 10 2 6
+f 13 1 8
+f 13 6 2
+f 14 13 8
+f 14 6 13
+f 14 12 6
+f 17 10 6
+f 18 15 7
+f 18 3 15
+f 18 10 17
+f 19 2 10
+f 20 4 11
+f 20 12 4
+f 20 6 12
+f 21 20 11
+f 21 6 20
+f 22 4 12
+f 23 14 5
+f 23 12 14
+f 24 15 3
+f 25 19 7
+f 25 1 19
+f 26 16 25
+f 27 5 14
+f 27 23 5
+f 28 27 14
+f 29 18 17
+f 29 3 18
+f 30 13 2
+f 30 2 19
+f 30 19 1
+f 30 1 13
+f 31 18 7
+f 31 7 19
+f 31 19 10
+f 31 10 18
+f 32 17 6
+f 32 6 21
+f 32 29 17
+f 32 21 3
+f 32 3 29
+f 33 22 11
+f 33 11 4
+f 33 4 22
+f 34 9 22
+f 34 23 27
+f 35 11 22
+f 35 21 11
+f 35 24 3
+f 35 3 21
+f 36 22 9
+f 36 15 24
+f 36 26 15
+f 36 35 22
+f 36 24 35
+f 37 25 16
+f 37 16 28
+f 38 7 15
+f 38 15 26
+f 38 26 25
+f 38 25 7
+f 39 34 27
+f 39 9 34
+f 39 36 9
+f 39 26 36
+f 39 16 26
+f 40 28 14
+f 40 14 8
+f 41 28 16
+f 41 27 28
+f 41 39 27
+f 41 16 39
+f 42 34 22
+f 42 22 12
+f 42 12 23
+f 42 23 34
+f 43 37 28
+f 43 40 8
+f 43 28 40
+f 44 43 8
+f 44 8 1
+f 44 37 43
+f 44 1 25
+f 44 25 37
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_17.obj b/cucumber/cucumber_4/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c1a34508d694b94e70231e46684ac841c2856b5
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_17.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.03770769 -0.15255838 -0.20459730
+v 0.12170105 -0.10282724 -0.35473220
+v 0.12411195 -0.10479895 -0.23524631
+v -0.06245086 -0.12754173 -0.23600550
+v -0.01621441 -0.13691821 -0.35230494
+v -0.05765967 -0.11749514 -0.35727223
+v 0.00771451 -0.15341830 -0.20456126
+v 0.08841440 -0.13584138 -0.30952197
+v -0.04367127 -0.13571439 -0.26421651
+v 0.07412671 -0.13520992 -0.35120268
+v 0.11735056 -0.11301700 -0.23571137
+v -0.02871433 -0.13435353 -0.33919589
+v -0.04475263 -0.13631138 -0.23460486
+v -0.00216962 -0.15088257 -0.27908001
+v 0.10087687 -0.12046432 -0.35233181
+v 0.05004953 -0.15197380 -0.29446515
+v 0.11513437 -0.10951094 -0.35326517
+v 0.08786354 -0.13694183 -0.23633196
+v -0.04553593 -0.12430868 -0.35398501
+v -0.00345221 -0.15130192 -0.21977389
+v 0.03629901 -0.15286377 -0.30884110
+v 0.04865748 -0.15124604 -0.22061427
+v 0.03524700 -0.15299212 -0.20497962
+v 0.01142844 -0.15169245 -0.30896389
+v 0.00847558 -0.15346366 -0.20488676
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 9 4 6
+f 10 6 2
+f 10 5 6
+f 11 2 3
+f 11 3 1
+f 13 7 4
+f 13 4 9
+f 14 13 9
+f 14 12 5
+f 14 9 12
+f 15 10 2
+f 15 8 10
+f 16 10 8
+f 17 11 8
+f 17 2 11
+f 17 15 2
+f 17 8 15
+f 18 11 1
+f 18 8 11
+f 18 16 8
+f 19 12 9
+f 19 9 6
+f 19 6 5
+f 19 5 12
+f 20 14 7
+f 20 7 13
+f 20 13 14
+f 21 5 10
+f 21 10 16
+f 22 18 1
+f 22 16 18
+f 23 21 16
+f 23 1 7
+f 23 22 1
+f 23 16 22
+f 24 7 14
+f 24 14 5
+f 24 5 21
+f 25 23 7
+f 25 21 23
+f 25 24 21
+f 25 7 24
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_18.obj b/cucumber/cucumber_4/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a33a48b8b70eb14737a83486c8662179494cc41
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_18.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.09915212 0.12170965 0.05435685
+v 0.09531549 0.12001245 -0.16100897
+v 0.06115160 0.14590571 -0.09756892
+v -0.00548947 0.14697562 0.08104985
+v -0.07673537 0.11545734 0.08552708
+v 0.05209330 0.14367364 0.08259065
+v -0.06541400 0.11981151 -0.16207476
+v 0.06273608 0.14579126 0.02096264
+v 0.06371955 0.13993386 0.08853731
+v -0.00449035 0.14716891 -0.15797215
+v 0.07716690 0.13675638 0.05208665
+v 0.02112163 0.14701813 0.08137322
+v 0.03535489 0.14643799 -0.15779268
+v -0.06045808 0.13570865 0.00766314
+v 0.04941323 0.14574857 0.05111287
+v 0.07600136 0.13372462 -0.15670090
+v -0.03108549 0.14538676 -0.11251741
+v -0.08109899 0.11850396 0.00773515
+v -0.04605663 0.13557702 0.08072589
+v 0.04899374 0.14588157 -0.14200000
+v -0.04526533 0.13362343 -0.15628437
+v -0.03126518 0.14594988 0.03619218
+v -0.06291833 0.12570614 0.08192337
+v -0.01787302 0.14656545 -0.14136824
+v -0.01901887 0.14621308 0.06650077
+v -0.05726470 0.13129314 0.06600007
+f 1 2 3
+f 5 2 1
+f 7 2 5
+f 9 5 1
+f 9 8 6
+f 9 4 5
+f 10 2 7
+f 11 1 3
+f 11 3 8
+f 11 9 1
+f 11 8 9
+f 12 9 6
+f 12 4 9
+f 12 10 4
+f 12 8 3
+f 13 2 10
+f 13 12 3
+f 13 10 12
+f 15 12 6
+f 15 6 8
+f 15 8 12
+f 16 3 2
+f 16 2 13
+f 18 14 7
+f 18 7 5
+f 18 5 14
+f 19 5 4
+f 20 16 13
+f 20 13 3
+f 20 3 16
+f 21 10 7
+f 21 7 14
+f 21 14 17
+f 22 17 14
+f 22 4 10
+f 22 14 19
+f 23 14 5
+f 23 5 19
+f 24 21 17
+f 24 10 21
+f 24 22 10
+f 24 17 22
+f 25 22 19
+f 25 19 4
+f 25 4 22
+f 26 23 19
+f 26 19 14
+f 26 14 23
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_19.obj b/cucumber/cucumber_4/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ad427e78496548a4e94c1eb3b99a7f3e6bbf64e
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_19.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.05313212 0.07312138 0.08333333
+v 0.08889811 0.11573866 0.15017898
+v -0.11873830 0.05380830 0.14183242
+v -0.03120103 0.13344529 0.14163408
+v 0.05209330 0.14367364 0.08259065
+v -0.10177661 0.08028798 0.15220932
+v 0.04918555 0.13663002 0.14269800
+v -0.12691987 0.05712366 0.08310158
+v -0.04605663 0.13557702 0.08072589
+v -0.11099981 0.07541978 0.12541000
+v -0.11596670 0.07843541 0.08180899
+v -0.08454100 0.10328400 0.14264416
+v -0.11383117 0.06500613 0.14057128
+v -0.04353212 0.13107232 0.12530667
+v -0.07253552 0.11928233 0.08111697
+v -0.09670860 0.08992748 0.14075767
+v -0.10299200 0.09266837 0.08964888
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 4
+f 7 5 4
+f 7 4 2
+f 7 2 5
+f 8 1 3
+f 9 5 1
+f 9 4 5
+f 11 9 1
+f 11 1 8
+f 11 8 10
+f 12 6 4
+f 13 10 8
+f 13 8 3
+f 13 3 6
+f 13 6 10
+f 14 12 4
+f 14 4 9
+f 15 9 11
+f 15 14 9
+f 15 12 14
+f 16 11 10
+f 16 10 6
+f 16 6 12
+f 17 15 11
+f 17 12 15
+f 17 16 12
+f 17 11 16
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_2.obj b/cucumber/cucumber_4/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aa44fd107f05cbf5acbc24137dc5f56e9737385
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_2.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.04818590 -0.11992047 0.32167096
+v 0.10182093 -0.09721400 0.26564317
+v 0.08787234 0.07535173 0.33414134
+v -0.01814659 0.11757152 0.26186350
+v -0.03621949 -0.12029647 0.26368522
+v 0.09316857 0.09658271 0.26337199
+v -0.02960135 0.09001305 0.33374683
+v 0.09471917 -0.08925596 0.33934894
+v 0.06194846 -0.12464062 0.26400042
+v 0.03583992 0.09993668 0.33384617
+v -0.02898341 -0.10662484 0.33392479
+v -0.03388976 0.11152667 0.26327801
+v -0.01836559 -0.12526043 0.26304325
+v 0.06302016 -0.11065836 0.33716482
+v 0.04991476 0.11883639 0.26138932
+v -0.00217073 0.10064527 0.33287731
+v -0.00368157 -0.11865750 0.32087212
+v 0.05938794 -0.12131626 0.29210419
+v 0.06122844 0.09936412 0.31866051
+v -0.02870331 0.10190925 0.30504735
+v -0.01692048 0.11457202 0.27539258
+v 0.04962924 0.11525650 0.27532042
+v -0.01689881 -0.12114401 0.29345879
+v 0.07262905 0.08729991 0.33323844
+v 0.07708769 0.10802640 0.26282674
+v 0.08486727 0.08535740 0.31804850
+v 0.07240530 0.09893196 0.30382798
+f 6 3 2
+f 8 2 3
+f 9 2 8
+f 9 6 2
+f 10 8 3
+f 10 7 8
+f 11 7 5
+f 11 8 7
+f 12 4 5
+f 12 5 7
+f 13 9 1
+f 13 5 4
+f 14 8 11
+f 15 6 9
+f 15 13 4
+f 15 9 13
+f 16 7 10
+f 17 13 1
+f 17 14 11
+f 17 1 14
+f 18 9 8
+f 18 8 14
+f 18 14 1
+f 18 1 9
+f 20 12 7
+f 20 7 16
+f 21 16 15
+f 21 15 4
+f 21 20 16
+f 21 4 12
+f 21 12 20
+f 22 16 10
+f 22 15 16
+f 22 19 15
+f 22 10 19
+f 23 17 11
+f 23 11 5
+f 23 5 13
+f 23 13 17
+f 24 19 10
+f 24 10 3
+f 25 6 15
+f 25 15 19
+f 26 24 3
+f 26 3 6
+f 27 26 6
+f 27 6 25
+f 27 25 19
+f 27 19 24
+f 27 24 26
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_20.obj b/cucumber/cucumber_4/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cccc8c3715c03aae552502bf4e0ea571ae18e9e
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_20.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.06378024 -0.13972670 -0.35208008
+v 0.11399254 -0.10951126 -0.35907226
+v -0.04553593 -0.12430868 -0.35398501
+v -0.08294897 -0.09330439 -0.37107690
+v 0.06434695 -0.08648337 -0.47067831
+v -0.06597637 -0.11165833 -0.35976945
+v 0.09143089 -0.12525502 -0.35339122
+v 0.08927194 -0.08417649 -0.45410174
+v -0.00232061 -0.12147497 -0.42616445
+v -0.01621441 -0.13691821 -0.35230494
+v -0.07227776 -0.08503899 -0.41019936
+v 0.07473351 -0.12192235 -0.40810175
+v -0.05372204 -0.10565359 -0.40901998
+v 0.03843789 -0.13654850 -0.39705308
+v -0.01694775 -0.08560171 -0.46719809
+v 0.09008029 -0.10685870 -0.42226217
+v 0.08958540 -0.12096285 -0.38286997
+v -0.04387582 -0.12005682 -0.38039701
+v -0.07637245 -0.10102867 -0.36895393
+v -0.06667984 -0.09384110 -0.40700201
+v 0.02527744 -0.13631105 -0.39603855
+v 0.06014883 -0.10666417 -0.44898586
+v -0.00222765 -0.10744146 -0.45092952
+v -0.01649064 -0.13396376 -0.36504490
+v 0.06081486 -0.12114925 -0.42376364
+v 0.08554489 -0.09210554 -0.44837746
+v -0.01421303 -0.09341353 -0.46149093
+v 0.06190729 -0.09401103 -0.46379401
+v -0.00110953 -0.13421712 -0.37994539
+f 6 3 2
+f 6 2 4
+f 7 2 3
+f 8 4 2
+f 10 7 3
+f 10 1 7
+f 11 4 8
+f 14 12 1
+f 15 11 8
+f 15 8 5
+f 15 13 11
+f 16 8 2
+f 17 2 7
+f 17 7 1
+f 17 1 12
+f 17 16 2
+f 17 12 16
+f 18 3 6
+f 18 6 13
+f 18 10 3
+f 18 13 9
+f 19 13 6
+f 19 6 4
+f 20 4 11
+f 20 11 13
+f 20 19 4
+f 20 13 19
+f 21 9 14
+f 21 14 1
+f 21 1 10
+f 23 9 13
+f 24 18 9
+f 24 10 18
+f 25 14 9
+f 25 23 22
+f 25 9 23
+f 25 12 14
+f 25 22 16
+f 25 16 12
+f 26 5 8
+f 26 8 16
+f 26 16 22
+f 27 23 13
+f 27 13 15
+f 27 15 5
+f 27 5 23
+f 28 23 5
+f 28 22 23
+f 28 26 22
+f 28 5 26
+f 29 21 10
+f 29 10 24
+f 29 24 9
+f 29 9 21
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_21.obj b/cucumber/cucumber_4/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f44643876242be03d7f19ff1d56659bd3aeb30d6
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_21.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.14301270 0.05762551 0.00753960
+v 0.13675826 0.05590485 -0.23468848
+v 0.12700250 0.09113997 -0.05252346
+v 0.07716690 0.13675638 0.05208665
+v 0.08859474 0.12016553 -0.23377509
+v 0.11341850 0.10596238 0.05270138
+v 0.12324453 0.08297685 -0.23637952
+v 0.07894286 0.12524567 -0.23439493
+v 0.13001645 0.08583560 0.00996871
+v 0.11986916 0.09720032 0.05202431
+v 0.08743130 0.13025518 -0.11157443
+v 0.12655583 0.07772026 -0.23421022
+v 0.13025798 0.08665045 -0.00452815
+v 0.09915212 0.12170965 0.05435685
+v 0.07650349 0.13669931 -0.11235973
+v 0.09920426 0.11767661 -0.15712333
+v 0.12727443 0.09068165 0.00668424
+v 0.08763517 0.13077898 0.05160132
+v 0.11163243 0.10586930 -0.12706577
+f 1 2 3
+f 2 1 4
+f 8 2 4
+f 8 7 2
+f 8 5 7
+f 10 4 1
+f 10 1 9
+f 12 7 3
+f 12 3 2
+f 12 2 7
+f 13 9 1
+f 13 1 3
+f 14 10 6
+f 14 4 10
+f 14 6 3
+f 15 8 4
+f 15 11 5
+f 15 5 8
+f 16 7 5
+f 16 5 11
+f 17 13 3
+f 17 3 6
+f 17 6 10
+f 17 10 9
+f 17 9 13
+f 18 14 11
+f 18 4 14
+f 18 15 4
+f 18 11 15
+f 19 3 7
+f 19 7 16
+f 19 14 3
+f 19 16 11
+f 19 11 14
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_22.obj b/cucumber/cucumber_4/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1751f274edab59653973575a3253c2c490f3a8ad
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_22.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.02282909 -0.01778772 0.40151515
+v 0.02282909 -0.01778772 0.26515151
+v 0.02441115 0.11801404 0.27477541
+v 0.02385762 0.09338274 0.35066755
+v -0.05786677 -0.01653384 0.39974022
+v -0.03777697 -0.01778772 0.26515151
+v 0.02151420 0.05597934 0.41057541
+v -0.05484277 0.09588375 0.27398328
+v -0.05099971 -0.01666866 0.40999235
+v -0.04067634 0.07738664 0.34340312
+v -0.03481721 0.04002973 0.39884901
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 3 2
+f 7 1 4
+f 8 4 3
+f 8 6 5
+f 8 3 6
+f 9 6 1
+f 9 5 6
+f 9 1 7
+f 10 7 4
+f 10 4 8
+f 10 8 5
+f 11 9 7
+f 11 7 10
+f 11 10 5
+f 11 5 9
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_23.obj b/cucumber/cucumber_4/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50a093bf39637cccaa2747befeb2bd8cbf232d9d
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_23.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.06302016 -0.11065836 0.33716482
+v 0.11312406 -0.10788853 -0.09902827
+v 0.07436681 -0.12078701 0.21946334
+v 0.09471917 -0.08925596 0.33934894
+v 0.07356413 -0.10284368 0.34409095
+v 0.08701101 -0.10561288 0.29358921
+v 0.06291658 -0.14241286 -0.09794661
+v 0.08833957 -0.12106449 0.03708020
+v 0.08769630 -0.09661860 0.33651592
+v 0.06217209 -0.12691242 0.21964379
+v 0.09045657 -0.12656880 -0.09833269
+v 0.07343533 -0.10567828 0.33524490
+v 0.06342454 -0.14108892 -0.07010395
+v 0.09005066 -0.12682742 -0.09889225
+v 0.07399126 -0.13649949 -0.09805378
+f 5 4 2
+f 6 2 4
+f 7 5 2
+f 7 1 5
+f 8 6 3
+f 8 2 6
+f 9 6 4
+f 9 4 5
+f 10 6 1
+f 10 3 6
+f 10 1 7
+f 11 2 8
+f 11 8 3
+f 12 9 5
+f 12 5 1
+f 12 1 6
+f 12 6 9
+f 13 10 7
+f 13 3 10
+f 14 7 2
+f 14 2 11
+f 15 11 3
+f 15 3 13
+f 15 14 11
+f 15 13 7
+f 15 7 14
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_24.obj b/cucumber/cucumber_4/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cc010a8521be29ab29f2544690ac7e0c8bd4cbd
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_24.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.03755922 -0.13653224 0.15889081
+v 0.09005066 -0.12682742 -0.09889225
+v 0.08272417 -0.11887188 0.14345917
+v -0.07633812 -0.10852232 0.14498300
+v -0.04696623 -0.13808573 -0.09828172
+v 0.06291658 -0.14241286 -0.09794661
+v -0.03276193 -0.13612917 0.08186452
+v -0.08232917 -0.11863533 -0.09806155
+v 0.06340951 -0.12875246 0.14391450
+v 0.00791187 -0.13750459 0.15898222
+v -0.06322745 -0.13019013 -0.09867558
+v 0.06005688 -0.13544287 0.05302035
+v -0.05744005 -0.12077232 0.14126600
+v 0.03434498 -0.13733105 0.15755257
+v -0.00629434 -0.13733710 0.14222813
+v -0.04659491 -0.13562473 0.00623882
+v 0.04750481 -0.13620349 0.11257052
+v 0.00991301 -0.13787730 0.15816848
+f 1 3 4
+f 3 2 4
+f 6 2 3
+f 6 5 2
+f 8 4 2
+f 9 6 3
+f 9 3 1
+f 10 1 4
+f 11 8 2
+f 11 2 5
+f 12 6 9
+f 13 10 4
+f 14 6 1
+f 15 7 5
+f 15 13 7
+f 15 10 13
+f 16 11 5
+f 16 5 7
+f 16 7 13
+f 16 8 11
+f 16 13 4
+f 16 4 8
+f 17 12 9
+f 17 9 1
+f 17 1 6
+f 17 6 12
+f 18 6 14
+f 18 10 15
+f 18 15 5
+f 18 5 6
+f 18 14 1
+f 18 1 10
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_25.obj b/cucumber/cucumber_4/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34b814daa6984fdde502626aeb9c63e4554c1df1
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_25.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.09254589 -0.08896560 0.34520535
+v 0.11572297 -0.05677730 0.33668350
+v 0.07902584 0.00934416 0.44518554
+v 0.07825578 0.08141925 0.33767349
+v 0.10611279 -0.07457368 0.33867635
+v 0.11675386 0.03719396 0.33482940
+v 0.07507238 -0.07221438 0.44472701
+v 0.08787234 0.07535173 0.33414134
+v 0.11062735 -0.01780409 0.37972866
+v 0.07510226 0.04745331 0.39391335
+v 0.07493668 0.07714741 0.34961515
+v 0.07996319 -0.06644257 0.44239303
+v 0.09770333 0.05825371 0.34632648
+v 0.09445645 -0.00824834 0.42523419
+v 0.08476272 0.07128567 0.34622445
+v 0.09396649 -0.04253203 0.42814797
+v 0.08516381 0.00286166 0.44153835
+v 0.10002720 0.06208086 0.33502185
+v 0.10992052 0.02101407 0.36370730
+v 0.10951183 -0.03078444 0.38050908
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 8 2 5
+f 8 6 2
+f 9 2 6
+f 10 7 3
+f 11 4 1
+f 11 1 7
+f 11 7 10
+f 12 7 5
+f 12 5 2
+f 12 3 7
+f 15 8 4
+f 15 4 11
+f 15 13 8
+f 15 11 10
+f 15 10 3
+f 15 3 13
+f 16 12 2
+f 16 9 14
+f 17 13 3
+f 17 6 13
+f 17 14 6
+f 17 16 14
+f 17 3 12
+f 17 12 16
+f 18 13 6
+f 18 6 8
+f 18 8 13
+f 19 14 9
+f 19 9 6
+f 19 6 14
+f 20 16 2
+f 20 2 9
+f 20 9 16
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_26.obj b/cucumber/cucumber_4/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c2c2497b91f0861bb046be59253b4bd9ad596fd
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_26.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.13050953 0.06730525 0.14284778
+v 0.13661380 0.06938660 0.05264899
+v 0.10168396 0.11970347 0.05201289
+v 0.04918555 0.13663002 0.14269800
+v 0.05313212 0.07312138 0.08333333
+v 0.08889811 0.11573866 0.15017898
+v 0.11174359 0.10552176 0.08041809
+v 0.05248504 0.14507841 0.05284394
+v 0.13077519 0.08025154 0.05190663
+v 0.12566058 0.07601126 0.14199790
+v 0.10018786 0.11677651 0.09465612
+v 0.11341850 0.10596238 0.05270138
+v 0.07716690 0.13675638 0.05208665
+v 0.11899794 0.09765936 0.05699631
+v 0.06448325 0.14200559 0.05486647
+v 0.07456276 0.13121501 0.10972071
+v 0.06106622 0.13258532 0.14242943
+v 0.08636754 0.11896969 0.14198073
+f 5 2 1
+f 5 1 4
+f 6 4 1
+f 8 2 5
+f 8 5 4
+f 9 1 2
+f 9 2 8
+f 10 6 1
+f 10 1 9
+f 11 7 3
+f 11 10 7
+f 11 6 10
+f 12 9 3
+f 12 3 7
+f 13 9 8
+f 13 3 9
+f 13 11 3
+f 14 10 9
+f 14 7 10
+f 14 12 7
+f 14 9 12
+f 15 13 8
+f 15 8 4
+f 16 11 13
+f 16 13 15
+f 17 4 6
+f 17 16 15
+f 17 15 4
+f 18 6 11
+f 18 11 16
+f 18 17 6
+f 18 16 17
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_27.obj b/cucumber/cucumber_4/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0de07b9461e77d279529934a375ee064a8a90c8d
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_27.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.07942057 0.03938898 0.39899060
+v 0.09793366 0.05516249 0.35014969
+v 0.06363653 0.09149849 0.33553522
+v -0.02960135 0.09001305 0.33374683
+v -0.07785513 0.03990976 0.33810906
+v 0.02462574 0.07061894 0.38988937
+v 0.07133585 0.07269150 0.36133642
+v -0.07289574 0.03698918 0.34941802
+v 0.07825578 0.08141925 0.33767349
+v -0.07301824 0.05087597 0.33510900
+v -0.00173243 0.08629043 0.36050642
+v 0.06955060 0.05539155 0.38889454
+v 0.04884467 0.08398704 0.36041038
+v -0.04382129 0.03571377 0.39324374
+v 0.06159325 0.08663225 0.34738809
+v -0.06834374 0.04800782 0.34639395
+v 0.03387744 0.06980161 0.38937595
+v -0.05647590 0.03520502 0.37873151
+v -0.02602803 0.05586532 0.38768408
+v -0.05209165 0.05686322 0.35959858
+v -0.02645605 0.08559877 0.34527611
+v -0.05257443 0.04523252 0.37350371
+v -0.03929221 0.04516398 0.38865850
+f 7 1 2
+f 8 5 2
+f 8 2 1
+f 9 2 5
+f 9 7 2
+f 10 4 3
+f 10 9 5
+f 10 3 9
+f 11 3 4
+f 12 1 7
+f 13 11 6
+f 13 3 11
+f 14 1 6
+f 15 9 3
+f 15 7 9
+f 15 3 13
+f 15 13 12
+f 15 12 7
+f 16 10 5
+f 16 5 8
+f 17 6 1
+f 17 1 12
+f 17 13 6
+f 17 12 13
+f 18 8 1
+f 18 1 14
+f 18 16 8
+f 19 14 6
+f 19 6 11
+f 20 4 10
+f 20 10 16
+f 21 19 11
+f 21 11 4
+f 21 20 19
+f 21 4 20
+f 22 20 16
+f 22 16 18
+f 22 18 14
+f 23 22 14
+f 23 14 19
+f 23 19 20
+f 23 20 22
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_28.obj b/cucumber/cucumber_4/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc117e46ea3ea68d8c572d44ea79607f00dabe1d
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_28.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.12468974 0.08318769 -0.16265179
+v 0.12324453 0.08297685 -0.23637952
+v 0.07600136 0.13372462 -0.15670090
+v -0.04526533 0.13362343 -0.15628437
+v -0.08354121 0.08977974 -0.24378380
+v -0.08907831 0.10142247 -0.16431203
+v 0.06331673 0.13256320 -0.23335654
+v -0.04535883 0.12140897 -0.23243147
+v 0.07894286 0.12524567 -0.23439493
+v -0.02862551 0.13066262 -0.23162216
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 4 3
+f 8 6 4
+f 8 5 6
+f 9 7 3
+f 9 3 2
+f 9 2 5
+f 9 5 7
+f 10 7 5
+f 10 5 8
+f 10 8 4
+f 10 4 7
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_29.obj b/cucumber/cucumber_4/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44d02169cef213ac715c0539cebdfcc5b56e736d
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.13001645 0.08583560 0.00996871
+v 0.12468974 0.08318769 -0.16265179
+v 0.09531549 0.12001245 -0.16100897
+v -0.07335849 0.12560106 0.00935565
+v -0.05292849 0.05796986 0.00757575
+v 0.10448292 0.12001214 0.00885901
+v -0.08907831 0.10142247 -0.16431203
+v -0.06541400 0.11981151 -0.16207476
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 2 5
+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/cucumber/cucumber_4/collision/model_normalized_collision_3.obj b/cucumber/cucumber_4/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c637d65c817b7df7f45c951983a913d4f9091fe3
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_3.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.08995204 -0.09857824 0.32290926
+v 0.14384940 -0.03008427 0.12781245
+v 0.12466538 0.02398768 0.32011168
+v 0.09116674 0.09424541 0.27778140
+v 0.09846471 -0.10854751 0.14393159
+v 0.13050953 0.06730525 0.14284778
+v 0.09305107 0.06809128 0.33819842
+v 0.12467355 -0.04316209 0.32173642
+v 0.09138537 0.11037367 0.17338988
+v 0.14370549 -0.00277144 0.23441820
+v 0.12528022 0.06208462 0.24719791
+v 0.09369704 0.11274965 0.14308636
+v 0.08994230 0.07945394 0.32183348
+v 0.09471917 -0.08925596 0.33934894
+v 0.11154548 0.04763087 0.33311558
+v 0.12588030 -0.06785037 0.24785530
+v 0.14603874 -0.00367784 0.12644164
+v 0.14300180 0.00947668 0.21897973
+v 0.11297777 0.08995215 0.17038823
+v 0.11094869 0.07419307 0.27625420
+v 0.10992934 -0.06889518 0.33535744
+v 0.12464104 0.04806478 0.29230872
+v 0.09819828 0.07283476 0.31852228
+v 0.12971265 -0.07095971 0.14256527
+v 0.14135876 -0.02904752 0.23354698
+v 0.10966497 -0.08233335 0.30703559
+v 0.11414657 0.09164193 0.14174552
+v 0.09816799 0.08876036 0.27601069
+v 0.10002720 0.06208086 0.33502185
+v 0.11316591 -0.09327244 0.17330760
+v 0.11353282 -0.09501916 0.14232888
+v 0.12594952 -0.05614690 0.29164182
+v 0.14321500 -0.03276140 0.12873581
+v 0.09899918 -0.09142476 0.32089559
+v 0.10091989 -0.08321045 0.33649966
+v 0.10012452 0.10614452 0.14215900
+f 9 5 1
+f 10 3 8
+f 12 5 9
+f 13 1 7
+f 13 9 1
+f 13 4 9
+f 14 7 1
+f 15 8 3
+f 17 10 2
+f 17 2 5
+f 17 5 12
+f 18 6 11
+f 18 17 6
+f 18 10 17
+f 19 11 6
+f 20 11 19
+f 21 8 15
+f 21 15 7
+f 21 7 14
+f 22 15 3
+f 22 11 20
+f 22 18 11
+f 22 3 10
+f 22 10 18
+f 23 13 7
+f 23 22 20
+f 23 15 22
+f 25 10 8
+f 25 2 10
+f 25 16 24
+f 27 6 17
+f 27 19 6
+f 27 12 19
+f 28 19 12
+f 28 12 9
+f 28 9 4
+f 28 20 19
+f 28 23 20
+f 28 4 13
+f 28 13 23
+f 29 23 7
+f 29 7 15
+f 29 15 23
+f 30 24 16
+f 30 16 26
+f 31 5 2
+f 31 30 5
+f 31 24 30
+f 32 25 8
+f 32 16 25
+f 32 26 16
+f 32 8 21
+f 32 21 26
+f 33 25 24
+f 33 2 25
+f 33 31 2
+f 33 24 31
+f 34 14 1
+f 34 30 26
+f 34 1 5
+f 34 5 30
+f 35 26 21
+f 35 21 14
+f 35 34 26
+f 35 14 34
+f 36 27 17
+f 36 17 12
+f 36 12 27
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_30.obj b/cucumber/cucumber_4/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38c4362565970db2f5ce4f772304a33aa8c8a922
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.11043989 -0.10547461 0.00817379
+v 0.14917754 -0.02057510 -0.09973265
+v 0.14890356 -0.02398775 0.00555119
+v -0.14739873 -0.03295702 0.01033093
+v -0.10682523 -0.10376085 -0.09815264
+v -0.14767373 -0.02566735 -0.10141187
+v 0.11312406 -0.10788853 -0.09902827
+v -0.10560229 -0.10164977 0.00828048
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 2 3
+f 7 3 1
+f 7 6 2
+f 7 5 6
+f 8 1 4
+f 8 4 5
+f 8 7 1
+f 8 5 7
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_31.obj b/cucumber/cucumber_4/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8caf38007b8ea18f3b13422f0e9f026b3e96696
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_31.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.14990504 -0.01664329 0.00794945
+v 0.14940089 -0.01721027 -0.09831300
+v 0.14414350 0.05429457 0.00709564
+v -0.13407069 0.05228391 0.00722366
+v -0.15077046 -0.01688262 0.00750688
+v -0.13388838 0.05262947 -0.09773974
+v 0.14165406 0.05359246 -0.09786439
+v -0.14396479 0.03467554 0.00692627
+v -0.14916060 -0.01652704 -0.09843935
+v -0.14212350 0.03576458 -0.09785502
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 7 6 3
+f 7 3 2
+f 8 5 4
+f 8 4 6
+f 9 2 5
+f 9 5 8
+f 9 7 2
+f 9 6 7
+f 10 9 8
+f 10 8 6
+f 10 6 9
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_4.obj b/cucumber/cucumber_4/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b104d9cdc8b4320620839ddfa51a18d08939292
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_4.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.09186233 -0.12827831 -0.16004767
+v 0.14105567 -0.04396204 -0.39787407
+v 0.14940089 -0.01721027 -0.09831300
+v 0.09549197 0.11467215 -0.23473527
+v 0.09157301 -0.11119417 -0.41159606
+v 0.14117205 0.02243472 -0.35416946
+v 0.13411938 0.07395601 -0.10025861
+v 0.14096898 -0.07342787 -0.25026037
+v 0.09037683 0.10750070 -0.30860856
+v 0.14188547 -0.01893840 -0.39789997
+v 0.12566390 0.07777248 -0.24843591
+v 0.14165406 0.05359246 -0.09786439
+v 0.14138256 -0.07195802 -0.33974371
+v 0.11422211 -0.10920924 -0.16021266
+v 0.09109489 0.07533025 -0.40906907
+v 0.12762796 -0.07234166 -0.41030765
+v 0.12655583 0.07772026 -0.23421022
+v 0.11249658 0.09005590 -0.29340912
+v 0.14137204 0.05287494 -0.11313299
+v 0.14152153 -0.07316864 -0.27989231
+v 0.14291336 -0.05943260 -0.15905162
+v 0.14917754 -0.02057510 -0.09973265
+v 0.10352147 -0.12602349 -0.23598457
+v 0.12625357 0.03226700 -0.40973339
+v 0.11352635 -0.10820701 -0.36786292
+v 0.14068571 -0.05693116 -0.38304542
+v 0.10371115 0.10761196 -0.23457005
+v 0.11243946 0.07337615 -0.36673287
+v 0.12665198 -0.09681602 -0.19076903
+v 0.10004050 -0.12239453 -0.16063206
+v 0.09462786 -0.13264636 -0.23539617
+v 0.14077761 0.00883322 -0.38368667
+v 0.12647643 -0.09405821 -0.36767049
+v 0.11476232 -0.09415466 -0.40977379
+v 0.09849210 0.10165706 -0.30752322
+v 0.09940858 0.08655242 -0.36539814
+v 0.09874878 0.07070484 -0.40635650
+v 0.12649013 0.04742305 -0.38235984
+v 0.12741165 -0.08349510 -0.39638024
+v 0.10133439 -0.10585421 -0.40909754
+v 0.09113152 0.09183497 -0.36739581
+v 0.12593166 0.06203726 -0.33832092
+f 7 1 3
+f 7 4 1
+f 9 5 1
+f 9 1 4
+f 10 6 3
+f 10 3 2
+f 12 7 3
+f 12 3 6
+f 13 2 3
+f 15 5 9
+f 16 10 2
+f 17 6 11
+f 19 12 6
+f 19 7 12
+f 19 17 7
+f 19 6 17
+f 21 8 20
+f 22 3 1
+f 22 14 21
+f 22 21 20
+f 22 20 13
+f 22 13 3
+f 24 10 16
+f 24 16 5
+f 24 5 15
+f 26 16 2
+f 26 2 13
+f 27 17 11
+f 27 4 7
+f 27 7 17
+f 27 11 18
+f 29 21 14
+f 29 8 21
+f 29 14 23
+f 29 20 8
+f 30 22 1
+f 30 14 22
+f 30 23 14
+f 31 1 5
+f 31 25 23
+f 31 5 25
+f 31 30 1
+f 31 23 30
+f 32 6 10
+f 32 10 24
+f 33 13 20
+f 33 20 29
+f 33 29 23
+f 33 23 25
+f 34 5 16
+f 34 33 25
+f 35 27 18
+f 35 9 4
+f 35 4 27
+f 35 18 28
+f 36 35 28
+f 36 9 35
+f 37 24 15
+f 37 36 28
+f 37 15 36
+f 38 37 28
+f 38 24 37
+f 38 32 24
+f 38 6 32
+f 39 26 13
+f 39 13 33
+f 39 16 26
+f 39 34 16
+f 39 33 34
+f 40 34 25
+f 40 25 5
+f 40 5 34
+f 41 36 15
+f 41 15 9
+f 41 9 36
+f 42 11 6
+f 42 6 38
+f 42 18 11
+f 42 38 28
+f 42 28 18
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_5.obj b/cucumber/cucumber_4/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b85d696b5d3a3b503608db390ce2049b4a2a1b46
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_5.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.13200926 0.05174763 0.06732027
+v -0.04535883 0.12140897 -0.23243147
+v -0.05292849 0.05796986 0.00757575
+v -0.06291833 0.12570614 0.08192337
+v -0.09767194 0.10272903 -0.08177999
+v -0.04925201 0.14125658 0.00715380
+v -0.12691987 0.05712366 0.08310158
+v -0.10017617 0.07443386 -0.23950274
+v -0.09928390 0.10256250 0.02254973
+v -0.05602032 0.13164299 -0.12622168
+v -0.08354121 0.08977974 -0.24378380
+v -0.13388838 0.05262947 -0.09773974
+v -0.06045808 0.13570865 0.00766314
+v -0.10299200 0.09266837 0.08964888
+v -0.04703032 0.13712224 -0.12707565
+v -0.07026483 0.11702845 -0.15642821
+v -0.12765517 0.06516816 -0.09733239
+v -0.07253552 0.11928233 0.08111697
+v -0.11596670 0.07843541 0.08180899
+v -0.07206140 0.10265255 -0.23068350
+v -0.12589044 0.06401120 0.06595724
+v -0.05400376 0.11572795 -0.23133098
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 11 2 3
+f 11 3 8
+f 12 8 3
+f 12 3 1
+f 13 5 9
+f 13 10 5
+f 13 4 6
+f 14 7 4
+f 15 6 2
+f 15 2 10
+f 15 13 6
+f 15 10 13
+f 16 10 2
+f 16 5 10
+f 16 11 8
+f 16 8 5
+f 17 5 8
+f 17 8 12
+f 17 9 5
+f 17 12 1
+f 18 13 9
+f 18 9 14
+f 18 14 4
+f 18 4 13
+f 19 14 9
+f 19 7 14
+f 19 9 17
+f 20 11 16
+f 21 1 7
+f 21 7 19
+f 21 19 17
+f 21 17 1
+f 22 20 16
+f 22 16 2
+f 22 2 11
+f 22 11 20
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_6.obj b/cucumber/cucumber_4/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88623b333616b1e2079c37e67719f5db330226d0
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_6.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v 0.11002538 -0.12019294 -0.23380029
+v 0.10297967 -0.09922876 -0.41969319
+v 0.08859474 0.12016553 -0.23377509
+v -0.01763031 0.13465110 -0.23229752
+v -0.12803830 -0.05888199 -0.23359775
+v 0.07396048 0.08524120 -0.40738612
+v -0.07206140 0.10265255 -0.23068350
+v 0.09109489 0.07533025 -0.40906907
+v -0.05765967 -0.11749514 -0.35727223
+v 0.03644943 0.13086354 -0.29245556
+v 0.06331673 0.13256320 -0.23335654
+v -0.11545401 -0.08330624 -0.23284883
+v -0.01307098 0.08404798 -0.40657202
+v 0.07565128 0.11400341 -0.32114557
+v 0.10425944 -0.11713577 -0.35740455
+v -0.11222683 0.06198338 -0.23212171
+v -0.06245086 -0.12754173 -0.23600550
+v -0.09358248 -0.07025321 -0.37868934
+v -0.03966942 0.10003674 -0.33346339
+v 0.01236547 0.10022118 -0.39252760
+v 0.08619264 0.10038665 -0.35061502
+v 0.06292749 0.12987589 -0.26247407
+v 0.04971408 0.11409796 -0.35038808
+v -0.12683397 0.03600315 -0.23294754
+v -0.11082815 -0.08203244 -0.27696612
+v -0.07227776 -0.08503899 -0.41019936
+v -0.04119913 0.11506373 -0.27515832
+v -0.08181289 0.07259684 -0.30477338
+v -0.02397189 0.08591568 -0.39127911
+v 0.01001628 0.11540869 -0.35079277
+v 0.08803531 0.08419442 -0.39329640
+v 0.08747470 0.11552650 -0.27775182
+v 0.04994422 0.09888970 -0.39380240
+v -0.11104041 0.00800435 -0.33565133
+v -0.10942960 -0.06012240 -0.33616735
+v -0.07895767 0.01949157 -0.40682488
+v -0.09599710 -0.08229988 -0.35135842
+v -0.08218676 0.08695430 -0.26019640
+v -0.06696357 0.05684481 -0.37809843
+v 0.01064298 0.13072168 -0.29197386
+v -0.02834148 0.11495213 -0.30575353
+v -0.12529210 0.00904510 -0.27582538
+v -0.09448669 0.04543023 -0.33417524
+v -0.12427540 -0.05713733 -0.26180236
+v -0.09521588 -0.01998719 -0.39317094
+v -0.08148585 -0.08215442 -0.39444936
+v -0.06801614 0.08578042 -0.30506303
+v -0.07001559 0.10053893 -0.24624937
+v -0.09609349 0.07271570 -0.26018666
+v -0.05259490 0.07106405 -0.37744852
+v -0.05210687 0.05715591 -0.40545808
+v -0.01533339 0.13024312 -0.26132045
+v -0.12486070 0.03524268 -0.24499582
+v -0.12559099 -0.04354274 -0.27618884
+v -0.08081740 0.03011778 -0.39302022
+v -0.09398886 -0.04584857 -0.39410140
+v -0.09571662 0.00798855 -0.37954374
+v -0.11008338 0.06165472 -0.24519579
+v -0.11014637 0.03315618 -0.30520541
+v -0.08068140 -0.07189967 -0.40812457
+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 11 7 3
+f 11 4 7
+f 11 10 4
+f 12 1 7
+f 13 8 2
+f 13 6 8
+f 15 9 2
+f 15 2 1
+f 16 12 7
+f 17 12 9
+f 17 1 12
+f 17 15 1
+f 17 9 15
+f 20 6 13
+f 22 11 3
+f 22 14 10
+f 22 10 11
+f 23 10 14
+f 23 21 6
+f 23 14 21
+f 24 5 12
+f 24 12 16
+f 25 12 5
+f 25 9 12
+f 26 2 9
+f 27 7 4
+f 29 20 13
+f 30 10 23
+f 30 29 19
+f 30 20 29
+f 31 21 8
+f 31 8 6
+f 31 6 21
+f 32 21 14
+f 32 3 8
+f 32 8 21
+f 32 22 3
+f 32 14 22
+f 33 23 6
+f 33 6 20
+f 33 30 23
+f 33 20 30
+f 36 13 2
+f 36 2 26
+f 37 35 18
+f 37 25 35
+f 37 9 25
+f 38 16 7
+f 40 4 10
+f 40 10 30
+f 41 30 19
+f 41 19 27
+f 41 40 30
+f 42 5 24
+f 43 28 39
+f 44 35 25
+f 44 25 5
+f 45 35 34
+f 46 37 18
+f 46 26 9
+f 46 9 37
+f 47 27 19
+f 47 28 38
+f 48 38 7
+f 48 7 27
+f 48 47 38
+f 48 27 47
+f 49 38 28
+f 50 19 29
+f 50 47 19
+f 50 39 28
+f 50 28 47
+f 51 13 36
+f 51 39 50
+f 51 50 29
+f 51 29 13
+f 52 41 27
+f 52 27 4
+f 52 4 40
+f 52 40 41
+f 53 42 24
+f 53 34 42
+f 54 42 34
+f 54 34 35
+f 54 35 44
+f 54 44 5
+f 54 5 42
+f 55 43 39
+f 55 51 36
+f 55 39 51
+f 56 18 35
+f 56 35 45
+f 57 45 34
+f 57 36 45
+f 57 55 36
+f 57 34 43
+f 57 43 55
+f 58 16 38
+f 58 38 49
+f 58 53 24
+f 58 24 16
+f 58 49 28
+f 58 28 43
+f 59 43 34
+f 59 34 53
+f 59 58 43
+f 59 53 58
+f 60 46 18
+f 60 18 56
+f 60 26 46
+f 60 36 26
+f 60 56 45
+f 60 45 36
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_7.obj b/cucumber/cucumber_4/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c685e22db91744084ca0535ac1d4542891464eae
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_7.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.06194846 -0.12464062 0.26400042
+v 0.10581490 -0.10265647 0.14465874
+v 0.08608876 0.10279418 0.26104669
+v -0.03005933 0.11444804 0.26023360
+v -0.09936622 -0.09386815 0.14198621
+v 0.06106622 0.13258532 0.14242943
+v 0.10182093 -0.09721400 0.26564317
+v -0.04759359 -0.12601771 0.14292917
+v -0.09747026 -0.06882335 0.26288649
+v 0.08636754 0.11896969 0.14198073
+v 0.06296854 0.11558037 0.26057890
+v -0.11383117 0.06500613 0.14057128
+v -0.05406533 0.10013133 0.26089750
+v 0.06340951 -0.12875246 0.14391450
+v -0.05534265 -0.10718009 0.26257320
+v -0.01813872 0.13009409 0.18646296
+v 0.07388698 0.11640272 0.23160976
+v -0.11510989 -0.05719136 0.18629914
+v -0.03120103 0.13344529 0.14163408
+v -0.11134372 0.00943944 0.26102537
+v -0.03397005 -0.12236209 0.26107094
+v -0.08375642 -0.09318542 0.21745674
+v 0.04949976 0.13041198 0.18706403
+v 0.08391888 0.11702087 0.17250594
+v -0.11873830 0.05380830 0.14183242
+v -0.08388058 0.10253424 0.15464858
+v -0.09525664 0.06157852 0.24443128
+v -0.08160915 0.07436654 0.26076938
+v -0.11162828 -0.03023062 0.26185952
+v 0.06008021 0.13159525 0.15741902
+v -0.08454100 0.10328400 0.14264416
+v -0.04403911 0.11411509 0.23114924
+v -0.10902437 0.05005785 0.21471072
+v -0.09656401 0.07600868 0.20063591
+v -0.09682623 0.04996954 0.26074536
+v -0.08275668 0.08779758 0.21543821
+v -0.11080679 -0.04204994 0.24615840
+v -0.05770884 0.11556819 0.16985636
+f 7 1 2
+f 7 2 3
+f 10 3 2
+f 12 10 5
+f 13 7 3
+f 13 9 7
+f 13 11 4
+f 13 3 11
+f 14 2 1
+f 14 10 2
+f 14 8 5
+f 14 5 10
+f 15 1 7
+f 15 7 9
+f 16 4 11
+f 17 11 3
+f 18 5 9
+f 19 6 10
+f 19 10 12
+f 19 4 16
+f 21 1 15
+f 21 14 1
+f 21 8 14
+f 21 15 5
+f 21 5 8
+f 22 15 9
+f 22 9 5
+f 22 5 15
+f 23 16 11
+f 23 19 16
+f 23 6 19
+f 24 17 3
+f 24 3 10
+f 24 10 17
+f 25 12 5
+f 25 5 18
+f 28 9 13
+f 29 9 28
+f 29 25 18
+f 29 20 25
+f 30 6 23
+f 30 17 10
+f 30 10 6
+f 30 23 11
+f 30 11 17
+f 31 26 19
+f 31 19 12
+f 31 12 26
+f 32 26 13
+f 32 13 4
+f 32 4 19
+f 33 25 20
+f 33 12 25
+f 34 26 12
+f 34 33 27
+f 34 12 33
+f 34 27 28
+f 35 28 27
+f 35 29 28
+f 35 20 29
+f 35 33 20
+f 35 27 33
+f 36 28 13
+f 36 13 26
+f 36 34 28
+f 36 26 34
+f 37 29 18
+f 37 18 9
+f 37 9 29
+f 38 32 19
+f 38 19 26
+f 38 26 32
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_8.obj b/cucumber/cucumber_4/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b01bc0c269abdb2ee44a91a5e8045db0eb9c650a
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_8.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.06302016 -0.11065836 0.33716482
+v 0.10611279 -0.07457368 0.33867635
+v 0.06223462 -0.09285443 0.39816775
+v 0.02288106 0.08623766 0.36452498
+v -0.05984325 -0.08442310 0.33637995
+v 0.07942057 0.03938898 0.39899060
+v 0.08769630 -0.09661860 0.33651592
+v 0.09793366 0.05516249 0.35014969
+v -0.00443197 -0.10588898 0.36447083
+v 0.08731320 -0.07070037 0.39805303
+v -0.05099971 -0.01666866 0.40999235
+v -0.04462680 -0.09630100 0.33646948
+v 0.10091989 -0.08321045 0.33649966
+v 0.08703321 0.06397433 0.35435427
+v 0.05955873 -0.10427497 0.36458715
+v 0.10267635 -0.07328167 0.35227307
+v 0.08232342 -0.07802207 0.39558157
+v 0.02151420 0.05597934 0.41057541
+v -0.01343811 -0.09122756 0.39638756
+v -0.07923496 -0.02325712 0.36376848
+v -0.01788305 -0.11044850 0.33748147
+v 0.09802451 -0.08079909 0.35011553
+v -0.05786334 -0.06991721 0.36511417
+v -0.02783582 -0.08145808 0.39610346
+v -0.06610919 -0.07687981 0.33981605
+v -0.04148758 -0.09386243 0.34858971
+v -0.01522521 -0.10762416 0.34985225
+v -0.05278587 -0.07845357 0.36165242
+f 7 3 1
+f 8 5 4
+f 10 8 6
+f 12 7 1
+f 12 5 7
+f 13 7 5
+f 13 5 8
+f 13 8 2
+f 14 8 4
+f 14 4 6
+f 14 6 8
+f 15 9 1
+f 15 1 3
+f 15 3 9
+f 16 2 8
+f 16 8 10
+f 16 13 2
+f 17 10 3
+f 17 3 7
+f 18 10 6
+f 18 6 4
+f 18 4 11
+f 18 11 3
+f 18 3 10
+f 19 9 3
+f 19 3 11
+f 20 11 4
+f 21 12 1
+f 21 1 9
+f 22 16 10
+f 22 13 16
+f 22 10 17
+f 22 17 7
+f 22 7 13
+f 23 11 20
+f 24 19 11
+f 24 11 23
+f 25 20 4
+f 25 4 5
+f 25 23 20
+f 26 12 21
+f 26 19 24
+f 26 5 12
+f 27 21 9
+f 27 9 19
+f 27 26 21
+f 27 19 26
+f 28 24 23
+f 28 23 25
+f 28 25 5
+f 28 26 24
+f 28 5 26
\ No newline at end of file
diff --git a/cucumber/cucumber_4/collision/model_normalized_collision_9.obj b/cucumber/cucumber_4/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d89c09b58632bdbe3afbdb7574e2c7e4cd56e4ee
--- /dev/null
+++ b/cucumber/cucumber_4/collision/model_normalized_collision_9.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.10560229 -0.10164977 0.00828048
+v -0.10299848 -0.09819729 -0.23523465
+v -0.14497295 -0.01640656 -0.15757809
+v -0.15077046 -0.01688262 0.00750688
+v -0.12543573 -0.08389360 -0.12876716
+v -0.13209703 -0.07014793 0.00685776
+v -0.12657281 -0.06244145 -0.23460337
+v -0.14121657 -0.04378485 -0.14269308
+v -0.12620590 -0.08224140 -0.02357182
+v -0.14739873 -0.03295702 0.01033093
+v -0.11545401 -0.08330624 -0.23284883
+v -0.14328764 -0.03034617 -0.15717775
+v -0.12537417 -0.07019944 -0.21923858
+v -0.12049926 -0.08671495 0.00699991
+v -0.14414207 -0.04333599 0.00740555
+v -0.11924804 -0.07651703 -0.23744830
+v -0.14365349 -0.02292238 -0.16351603
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 7 3 2
+f 9 6 5
+f 9 5 1
+f 10 1 4
+f 10 4 8
+f 11 2 5
+f 12 8 4
+f 12 4 3
+f 12 7 8
+f 13 8 7
+f 13 5 8
+f 13 11 5
+f 14 9 1
+f 14 6 9
+f 14 10 6
+f 14 1 10
+f 15 10 8
+f 15 8 5
+f 15 5 6
+f 15 6 10
+f 16 7 2
+f 16 2 11
+f 16 13 7
+f 16 11 13
+f 17 12 3
+f 17 3 7
+f 17 7 12
\ No newline at end of file
diff --git a/cucumber/cucumber_4/model.xml b/cucumber/cucumber_4/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..982970b5b46f8d147e3de78a38e966cdf8c5210e
--- /dev/null
+++ b/cucumber/cucumber_4/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="cucumber_5">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.16999999999999998 0.16999999999999998 0.16999999999999998" refquat="0.7071067811865475 0.7071067811865476 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="cucumber" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="cucumber"/>
+        <geom solimp="0.998 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="-7.356070000000048e-05 3.450744999999811e-05 -0.025018714699999996" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-7.356070000000048e-05 3.450744999999811e-05 0.026088822199999997" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.025483856799999996 0.08345872049999999 0.0005350537500000013" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/cucumber/cucumber_4/visual/image0.png b/cucumber/cucumber_4/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..44623123f0b6602724309f2daab19b92659e2fb9
--- /dev/null
+++ b/cucumber/cucumber_4/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce025a8ddc737e88ad7cbf8ba1dff1a179b9bf49e46b529f23eb88a1ad4c14cf
+size 1480789
diff --git a/cucumber/cucumber_4/visual/material.mtl b/cucumber/cucumber_4/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/cucumber/cucumber_4/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
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+f 4113/4113/4113 4092/4092/4092 4127/4127/4127
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+f 4099/4099/4099 4130/4130/4130 4098/4098/4098
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+f 4134/4134/4134 4118/4118/4118 4127/4127/4127
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+f 4150/4150/4150 4131/4131/4131 4121/4121/4121
+f 4136/4136/4136 4135/4135/4135 4104/4104/4104
+f 4151/4151/4151 4122/4122/4122 4135/4135/4135
+f 4152/4152/4152 4153/4153/4153 4142/4142/4142
+f 4138/4138/4138 4124/4124/4124 4137/4137/4137
+f 4154/4154/4154 4139/4139/4139 4138/4138/4138
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+f 4152/4152/4152 4142/4142/4142 4140/4140/4140
+f 4143/4143/4143 4122/4122/4122 4151/4151/4151
+f 4155/4155/4155 4144/4144/4144 4125/4125/4125
+f 4155/4155/4155 4125/4125/4125 4145/4145/4145
+f 4134/4134/4134 4127/4127/4127 4128/4128/4128
+f 4128/4128/4128 4144/4144/4144 4148/4148/4148
+f 4129/4129/4129 4156/4156/4156 4132/4132/4132
+f 4130/4130/4130 4156/4156/4156 4129/4129/4129
+f 4131/4131/4131 4157/4157/4157 4130/4130/4130
+f 4132/4132/4132 4138/4138/4138 4137/4137/4137
+f 4147/4147/4147 4116/4116/4116 4146/4146/4146
+f 4146/4146/4146 4133/4133/4133 4158/4158/4158
+f 4150/4150/4150 4121/4121/4121 4147/4147/4147
+f 4134/4134/4134 4128/4128/4128 4148/4148/4148
+f 4120/4120/4120 4148/4148/4148 4149/4149/4149
+f 4133/4133/4133 4149/4149/4149 4158/4158/4158
+f 4150/4150/4150 4157/4157/4157 4131/4131/4131
+f 4136/4136/4136 4151/4151/4151 4135/4135/4135
+f 4159/4159/4159 4153/4153/4153 4152/4152/4152
+f 4160/4160/4160 4154/4154/4154 4138/4138/4138
+f 4161/4161/4161 4140/4140/4140 4154/4154/4154
+f 4161/4161/4161 4152/4152/4152 4140/4140/4140
+f 4162/4162/4162 4145/4145/4145 4163/4163/4163
+f 4164/4164/4164 4144/4144/4144 4155/4155/4155
+f 4162/4162/4162 4155/4155/4155 4145/4145/4145
+f 4164/4164/4164 4148/4148/4148 4144/4144/4144
+f 4160/4160/4160 4132/4132/4132 4156/4156/4156
+f 4157/4157/4157 4156/4156/4156 4130/4130/4130
+f 4160/4160/4160 4138/4138/4138 4132/4132/4132
+f 4147/4147/4147 4146/4146/4146 4165/4165/4165
+f 4165/4165/4165 4146/4146/4146 4158/4158/4158
+f 4150/4150/4150 4147/4147/4147 4166/4166/4166
+f 4149/4149/4149 4148/4148/4148 4164/4164/4164
+f 4149/4149/4149 4164/4164/4164 4158/4158/4158
+f 4150/4150/4150 4167/4167/4167 4157/4157/4157
+f 4159/4159/4159 4163/4163/4163 4153/4153/4153
+f 4168/4168/4168 4159/4159/4159 4152/4152/4152
+f 4160/4160/4160 4161/4161/4161 4154/4154/4154
+f 4161/4161/4161 4167/4167/4167 4152/4152/4152
+f 4159/4159/4159 4162/4162/4162 4163/4163/4163
+f 4169/4169/4169 4164/4164/4164 4155/4155/4155
+f 4169/4169/4169 4155/4155/4155 4162/4162/4162
+f 4157/4157/4157 4160/4160/4160 4156/4156/4156
+f 4147/4147/4147 4165/4165/4165 4166/4166/4166
+f 4165/4165/4165 4158/4158/4158 4169/4169/4169
+f 4150/4150/4150 4166/4166/4166 4167/4167/4167
+f 4169/4169/4169 4158/4158/4158 4164/4164/4164
+f 4157/4157/4157 4167/4167/4167 4160/4160/4160
+f 4168/4168/4168 4162/4162/4162 4159/4159/4159
+f 4168/4168/4168 4152/4152/4152 4166/4166/4166
+f 4160/4160/4160 4167/4167/4167 4161/4161/4161
+f 4166/4166/4166 4152/4152/4152 4167/4167/4167
+f 4168/4168/4168 4169/4169/4169 4162/4162/4162
+f 4165/4165/4165 4168/4168/4168 4166/4166/4166
+f 4165/4165/4165 4169/4169/4169 4168/4168/4168
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_0.obj b/cucumber/cucumber_5/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e28832766c82fb33cff7a5d8c40baac661ca08a9
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_0.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.23169793 -0.17744090 0.01589719
+v -0.23601721 -0.15255887 -0.09985314
+v -0.23484848 -0.01817312 0.00999056
+v -0.35606060 -0.01817312 0.00999056
+v -0.37395603 -0.17718252 0.01505005
+v -0.28102811 -0.01465790 -0.17272687
+v -0.23496267 -0.01763529 -0.16964773
+v -0.35201675 -0.17284635 -0.07706758
+v -0.35247953 -0.01429866 -0.17035566
+v -0.23506768 -0.16647565 -0.07878638
+v -0.31165333 -0.11435286 -0.13820293
+v -0.37096269 -0.15386418 -0.09558682
+v -0.23595828 -0.12597337 -0.12579087
+v -0.35025353 -0.16923836 -0.08488844
+v -0.29626996 -0.17098131 -0.07674245
+v -0.23581925 -0.07238452 -0.15377491
+v -0.35178841 -0.02870243 -0.16714744
+v -0.36756484 -0.15985375 -0.08900421
+v -0.29663558 -0.16699336 -0.08418932
+v -0.36851491 -0.14729037 -0.10602805
+v -0.28120689 -0.02894268 -0.16921273
+v -0.35046281 -0.11436218 -0.13682438
+f 1 3 4
+f 5 1 4
+f 7 3 1
+f 7 6 3
+f 8 1 5
+f 9 4 3
+f 9 3 6
+f 10 7 1
+f 12 5 4
+f 12 4 9
+f 13 10 2
+f 13 7 10
+f 13 2 11
+f 14 11 2
+f 15 10 1
+f 15 1 8
+f 15 8 14
+f 16 13 11
+f 16 7 13
+f 17 9 6
+f 18 8 5
+f 18 5 12
+f 18 14 8
+f 19 14 2
+f 19 2 10
+f 19 15 14
+f 19 10 15
+f 20 11 14
+f 20 12 9
+f 20 9 17
+f 20 18 12
+f 20 14 18
+f 21 6 7
+f 21 7 16
+f 21 17 6
+f 21 16 11
+f 21 11 17
+f 22 20 17
+f 22 17 11
+f 22 11 20
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_1.obj b/cucumber/cucumber_5/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39dd1f12d186d0609cac9e04b240c8727bc4dd7d
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_1.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.23169793 -0.17744090 0.01589719
+v -0.23292161 -0.15247481 -0.09966155
+v -0.35528421 -0.10771305 -0.13877122
+v -0.45479565 -0.11896484 0.00971349
+v -0.35229897 -0.18411580 -0.03391657
+v -0.23588931 -0.16768679 -0.07576261
+v -0.36477429 -0.18094310 0.00817043
+v -0.35025353 -0.16923836 -0.08488844
+v -0.31153317 -0.18378440 -0.01892671
+v -0.42133987 -0.15288233 0.00858073
+v -0.35126057 -0.12848088 -0.12755367
+v -0.32670902 -0.18336030 -0.03404212
+v -0.23523067 -0.17838533 0.00927404
+v -0.31159065 -0.18295059 0.00808701
+v -0.36511141 -0.18146394 -0.01843695
+v -0.44594463 -0.11312240 -0.07307526
+v -0.38939498 -0.16543639 -0.05918862
+v -0.44735714 -0.12423850 -0.04554946
+v -0.41653570 -0.12619309 -0.09694849
+v -0.45181517 -0.10221096 -0.07604502
+v -0.42009057 -0.15108308 -0.04442935
+v -0.44954737 -0.12624262 0.00906674
+v -0.37996664 -0.14025482 -0.10827387
+v -0.39459530 -0.10182994 -0.12748679
+v -0.45579142 -0.10496423 -0.06328220
+v -0.40477652 -0.15074596 -0.07417970
+v -0.39149182 -0.11115464 -0.12412125
+v -0.39063836 -0.15348295 -0.08385722
+v -0.36537659 -0.12612854 -0.12453979
+v -0.37214737 -0.15245855 -0.09693172
+v -0.36416699 -0.16584331 -0.08242160
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 8 2 6
+f 10 7 1
+f 10 1 4
+f 11 3 2
+f 11 2 8
+f 12 8 6
+f 12 5 8
+f 12 9 5
+f 12 6 9
+f 13 9 6
+f 13 6 1
+f 14 7 5
+f 14 5 9
+f 14 1 7
+f 14 13 1
+f 14 9 13
+f 15 5 7
+f 15 7 10
+f 17 8 5
+f 17 5 15
+f 20 19 16
+f 21 17 15
+f 21 15 10
+f 21 18 16
+f 22 10 4
+f 22 4 18
+f 22 21 10
+f 22 18 21
+f 23 11 8
+f 24 20 4
+f 24 4 3
+f 24 19 20
+f 25 18 4
+f 25 4 20
+f 25 20 16
+f 25 16 18
+f 26 17 21
+f 26 21 16
+f 26 16 19
+f 27 23 19
+f 27 19 24
+f 27 24 3
+f 28 26 19
+f 28 19 23
+f 28 17 26
+f 29 11 23
+f 29 23 27
+f 29 27 3
+f 29 3 11
+f 30 28 23
+f 30 23 8
+f 31 8 17
+f 31 17 28
+f 31 30 8
+f 31 28 30
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_10.obj b/cucumber/cucumber_5/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3180c4ac0760aa0180afc9ba783ace27ead0dc56
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_10.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.29174500 -0.16680231 0.00794748
+v 0.41493357 -0.02532139 -0.12395933
+v 0.40151513 -0.01817312 0.00999056
+v 0.00757575 -0.01817312 0.00999056
+v 0.00777448 -0.10007289 -0.13949574
+v 0.37779912 -0.01565208 -0.15713020
+v 0.00765506 -0.17707150 0.00916746
+v 0.40826757 -0.11533732 0.00934412
+v 0.00761739 -0.01707791 -0.16732054
+v 0.33298604 -0.13771654 -0.09895904
+v 0.32238312 -0.07141406 -0.15208343
+v 0.00773382 -0.17055699 -0.06144519
+v 0.37398247 -0.08128551 -0.12715613
+v 0.36068654 -0.13879421 -0.06059935
+v 0.34976732 -0.05436994 -0.15341462
+v 0.00773133 -0.05830348 -0.15645049
+v 0.29512777 -0.12399175 -0.12638667
+v 0.21796367 -0.16680238 -0.07739121
+v 0.37537633 -0.02667351 -0.15474306
+v 0.38833746 -0.09603661 -0.10143436
+v 0.27857909 -0.16689980 -0.04710723
+v 0.34644539 -0.11186313 -0.12252677
+v 0.20472843 -0.07245815 -0.15353461
+v 0.27997701 -0.13917889 -0.11127018
+v 0.00779664 -0.14141843 -0.11076358
+v 0.37758671 -0.12717773 -0.06138587
+v 0.29141455 -0.16698722 -0.01959876
+v 0.31990426 -0.15241035 -0.07408525
+v 0.32243844 -0.09862601 -0.13922659
+v 0.37232156 -0.12197491 -0.08643079
+v 0.30658577 -0.14938141 -0.08748192
+v 0.03808519 -0.16667617 -0.07543482
+v 0.23361147 -0.15043248 -0.10152931
+v 0.08356994 -0.12559797 -0.12515013
+v 0.35854772 -0.13559529 -0.07470078
+v 0.34612011 -0.12147911 -0.11162358
+v 0.08357428 -0.15211294 -0.09954730
+f 6 3 2
+f 6 4 3
+f 7 3 4
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 4 6
+f 9 7 4
+f 12 7 9
+f 14 8 1
+f 15 11 9
+f 15 9 6
+f 16 5 9
+f 18 7 12
+f 19 6 2
+f 19 2 13
+f 19 15 6
+f 19 13 15
+f 20 13 2
+f 20 2 8
+f 21 7 18
+f 22 15 13
+f 22 10 17
+f 22 13 20
+f 23 5 16
+f 23 17 5
+f 23 16 9
+f 23 9 11
+f 24 17 10
+f 25 12 9
+f 25 9 5
+f 26 20 8
+f 26 8 14
+f 27 14 1
+f 27 1 7
+f 27 7 21
+f 28 27 21
+f 28 14 27
+f 28 21 18
+f 29 11 15
+f 29 15 22
+f 29 22 17
+f 29 23 11
+f 29 17 23
+f 30 22 20
+f 30 20 26
+f 31 24 10
+f 31 18 24
+f 31 28 18
+f 31 10 28
+f 32 18 12
+f 32 12 25
+f 33 24 18
+f 33 25 17
+f 33 17 24
+f 34 25 5
+f 34 5 17
+f 34 17 25
+f 35 28 10
+f 35 14 28
+f 35 10 30
+f 35 30 26
+f 35 26 14
+f 36 30 10
+f 36 10 22
+f 36 22 30
+f 37 32 25
+f 37 25 33
+f 37 33 18
+f 37 18 32
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_11.obj b/cucumber/cucumber_5/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3085f4d0e14088a4e6b4c7b75d277f4134f19616
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_11.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.34090908 0.07273597 -0.08091853
+v 0.34030564 0.07168475 -0.16627121
+v 0.32401667 0.16490204 -0.07660727
+v -0.23170452 0.16052369 -0.10419810
+v -0.23484848 0.07273597 -0.08091853
+v 0.33469193 0.10517263 -0.15504722
+v -0.23490252 0.07258407 -0.17086843
+v -0.15917224 0.16742423 -0.07741427
+v 0.33370041 0.14419407 -0.11541685
+v -0.23569609 0.15211035 -0.12005221
+v -0.23575914 0.11070187 -0.15968240
+v 0.32385419 0.16062629 -0.09042509
+v 0.33957381 0.15925756 -0.07957189
+v -0.23523178 0.15848407 -0.10838346
+v -0.23618186 0.13315844 -0.14350194
+f 5 2 1
+f 5 1 3
+f 7 2 5
+f 8 5 3
+f 8 3 4
+f 8 4 5
+f 11 6 2
+f 11 2 7
+f 11 7 5
+f 12 4 3
+f 12 9 10
+f 13 3 1
+f 13 1 2
+f 13 2 6
+f 13 6 9
+f 13 12 3
+f 13 9 12
+f 14 10 5
+f 14 5 4
+f 14 12 10
+f 14 4 12
+f 15 10 9
+f 15 9 6
+f 15 6 11
+f 15 11 5
+f 15 5 10
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_12.obj b/cucumber/cucumber_5/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b697a4cbed918003ada7584778d02b9e311a685
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_12.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.34090908 -0.01817312 -0.08091853
+v 0.34055111 -0.01695909 -0.16759683
+v 0.34090908 0.07273597 -0.08091853
+v -0.15909091 0.07273597 -0.08091853
+v -0.15906357 -0.00260163 -0.16798057
+v 0.00761739 -0.01707791 -0.16732054
+v -0.15909091 -0.00302160 -0.08091853
+v 0.34030564 0.07168475 -0.16627121
+v 0.11377739 -0.00120533 -0.17033990
+v 0.00757575 -0.01817312 -0.08091853
+v -0.15907121 0.07201481 -0.16698371
+v 0.33903207 0.05431460 -0.16969580
+v -0.00745520 0.02676137 -0.17155812
+v 0.33948320 -0.00097817 -0.16954482
+v 0.21982239 0.07012337 -0.16988045
+v -0.00743997 0.01387863 -0.17095892
+v 0.32348792 0.06956300 -0.16856864
+v 0.08344937 0.05517759 -0.17116443
+v 0.02284911 0.04190356 -0.17128289
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 7 1 4
+f 8 3 2
+f 9 6 5
+f 9 2 6
+f 10 6 1
+f 10 1 7
+f 10 7 5
+f 10 5 6
+f 11 4 3
+f 11 3 8
+f 11 7 4
+f 11 5 7
+f 12 8 2
+f 13 5 11
+f 14 12 2
+f 14 2 9
+f 14 9 13
+f 15 11 8
+f 16 13 9
+f 16 9 5
+f 16 5 13
+f 17 15 8
+f 17 8 12
+f 17 12 15
+f 18 11 15
+f 18 15 12
+f 18 14 13
+f 18 12 14
+f 19 18 13
+f 19 13 11
+f 19 11 18
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_13.obj b/cucumber/cucumber_5/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a5f06e410daea035f0a9a6682eb15192d308cbd
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_13.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.35120904 -0.08630420 0.13665074
+v 0.37968242 -0.05915084 0.13718196
+v 0.33741164 -0.05533145 0.16009449
+v -0.23493936 -0.04823771 0.16039656
+v -0.23520046 -0.09200366 0.14328943
+v 0.38631063 -0.01815282 0.14627555
+v 0.34715301 -0.07992825 0.14368989
+v 0.30721454 -0.07018599 0.15875516
+v 0.37344287 -0.05496995 0.14376757
+v 0.00746495 -0.01738104 0.16453209
+v -0.23627161 -0.08736355 0.14548040
+v 0.36307678 -0.02849989 0.15712567
+v 0.00774067 -0.01935201 0.16440082
+v -0.23351247 -0.05310718 0.15886468
+v 0.37942969 -0.01767795 0.15086597
+v 0.36395226 -0.01804008 0.15900959
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 7 1 2
+f 8 7 3
+f 8 5 1
+f 8 1 7
+f 9 2 6
+f 9 7 2
+f 9 3 7
+f 10 6 4
+f 11 4 5
+f 11 5 8
+f 12 3 9
+f 13 10 4
+f 13 4 8
+f 13 8 3
+f 13 3 10
+f 14 11 8
+f 14 8 4
+f 14 4 11
+f 15 12 9
+f 15 9 6
+f 15 6 10
+f 16 10 3
+f 16 3 12
+f 16 15 10
+f 16 12 15
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_14.obj b/cucumber/cucumber_5/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c42afec1e96a63266768ffe94e157749c85c7e1c
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_14.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.34210495 0.12337858 0.10388052
+v 0.35114923 0.15607859 0.01925266
+v 0.30867002 0.14563965 0.07559016
+v -0.23502636 0.17629818 0.00933256
+v -0.23358814 0.12867195 0.10901979
+v 0.32335654 0.15955113 0.03539859
+v -0.23584486 0.14020737 0.09448021
+v 0.33660649 0.16342057 0.00607707
+v -0.23634664 0.16473167 0.04993947
+v 0.33635705 0.14548483 0.06393716
+v -0.23101045 0.17209968 0.02418853
+v -0.23627948 0.14984148 0.07857335
+v 0.33705528 0.13177455 0.09129355
+f 5 2 1
+f 5 4 2
+f 7 5 1
+f 7 1 3
+f 7 4 5
+f 8 6 2
+f 8 2 4
+f 8 4 6
+f 9 3 6
+f 10 1 2
+f 10 2 6
+f 10 6 3
+f 11 9 6
+f 11 6 4
+f 11 4 9
+f 12 7 3
+f 12 3 9
+f 12 9 4
+f 12 4 7
+f 13 10 3
+f 13 3 1
+f 13 1 10
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_15.obj b/cucumber/cucumber_5/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..125596346b451b3e1d3b668458875fe27075b912
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_15.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.09848485 0.08788749 0.00999056
+v -0.09848485 0.08788749 -0.08091853
+v -0.09849469 0.17390277 -0.00553637
+v -0.23502636 0.17629818 0.00933256
+v -0.23484848 0.08788749 -0.08091853
+v -0.09831081 0.17231883 0.00791492
+v -0.23484848 0.08788749 0.00999056
+v -0.23277874 0.14264394 -0.13206158
+v -0.09852950 0.16695501 -0.07732722
+v -0.23609212 0.16205115 -0.10201302
+v -0.15858006 0.13948113 -0.12978788
+v -0.23584129 0.17856994 -0.03386449
+v -0.15923901 0.15516789 -0.10653936
+v -0.23583810 0.17872288 -0.02140501
+f 5 2 1
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 7 5 1
+f 7 1 4
+f 9 6 2
+f 9 3 6
+f 10 5 7
+f 10 8 5
+f 11 2 5
+f 11 5 8
+f 11 9 2
+f 12 3 9
+f 12 9 10
+f 13 10 9
+f 13 9 11
+f 13 11 8
+f 13 8 10
+f 14 4 3
+f 14 3 12
+f 14 7 4
+f 14 12 10
+f 14 10 7
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_16.obj b/cucumber/cucumber_5/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3411c614a23104add430ce1ebdcfe787763668d
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_16.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.00765506 -0.17707150 0.00916746
+v 0.00775902 -0.16799353 0.05028333
+v -0.36482045 -0.16852226 0.06273292
+v -0.43531830 -0.10069685 0.09293219
+v 0.00757575 -0.10908220 0.00999056
+v 0.00757779 -0.10894385 0.13101490
+v -0.46188097 -0.10891733 0.00994842
+v 0.00776953 -0.13875785 0.10264776
+v -0.37884067 -0.13842014 0.10283344
+v -0.42133987 -0.15288233 0.00858073
+v -0.45195649 -0.10170840 0.06482635
+v -0.36454429 -0.15303512 0.09203507
+v -0.23480201 -0.10949517 0.13177704
+v -0.44954737 -0.12624262 0.00906674
+v -0.39270843 -0.17071475 0.00880554
+v -0.40299731 -0.15080440 0.06079551
+v -0.26626221 -0.16720894 0.06262756
+v -0.26631644 -0.15163640 0.09098884
+v 0.00766961 -0.12540426 0.11862020
+v -0.42369716 -0.10121751 0.10658524
+v -0.23606194 -0.12578012 0.11974995
+v -0.44596256 -0.12330943 0.03588674
+v -0.41823216 -0.12314905 0.08783145
+v -0.39289651 -0.15045830 0.07554968
+v -0.39124152 -0.16728051 0.03517809
+v -0.42044374 -0.15239946 0.02015691
+v -0.42945011 -0.11042521 0.09003137
+v -0.43084864 -0.13849846 0.03589694
+v -0.40325285 -0.12335486 0.10314860
+v -0.44634889 -0.10991450 0.06338669
+v -0.41919849 -0.11003801 0.10311625
+f 1 2 3
+f 5 2 1
+f 6 5 4
+f 8 2 5
+f 8 5 6
+f 10 5 1
+f 11 4 5
+f 11 5 7
+f 14 7 5
+f 14 5 10
+f 15 10 1
+f 15 1 3
+f 17 12 3
+f 17 3 2
+f 18 2 8
+f 18 8 12
+f 18 17 2
+f 18 12 17
+f 19 12 8
+f 19 8 6
+f 20 13 6
+f 20 6 4
+f 20 9 13
+f 21 13 9
+f 21 9 12
+f 21 12 19
+f 21 19 6
+f 21 6 13
+f 22 11 7
+f 22 7 14
+f 24 12 9
+f 24 23 16
+f 24 3 12
+f 25 15 3
+f 25 24 16
+f 25 3 24
+f 26 14 10
+f 26 25 16
+f 26 10 15
+f 26 15 25
+f 27 4 11
+f 28 16 23
+f 28 26 16
+f 28 22 14
+f 28 14 26
+f 29 9 20
+f 29 24 9
+f 29 23 24
+f 30 27 11
+f 30 23 27
+f 30 28 23
+f 30 11 22
+f 30 22 28
+f 31 27 23
+f 31 20 4
+f 31 4 27
+f 31 29 20
+f 31 23 29
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_17.obj b/cucumber/cucumber_5/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3d1db522eb7032c59a7169c62cfea060ad01d1c
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_17.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.38435655 -0.09188082 -0.10889233
+v 0.43067981 -0.02911499 -0.09773642
+v 0.34090908 -0.01817312 -0.08091853
+v 0.33957381 0.15925756 -0.07957189
+v 0.33635206 0.09703097 -0.15828806
+v 0.38230778 0.14129616 -0.07826435
+v 0.39192084 -0.08759375 -0.10476672
+v 0.37779912 -0.01565208 -0.15713020
+v 0.33417374 0.12171988 -0.14209621
+v 0.36451262 0.15129396 -0.07713652
+v 0.39021822 0.07907994 -0.14013662
+v 0.34055111 -0.01695909 -0.16759683
+v 0.39032602 -0.04170285 -0.13927772
+v 0.33599235 0.14989044 -0.10365443
+v 0.41124355 0.11146625 -0.08791056
+v 0.34929298 0.09505340 -0.15421271
+v 0.39123537 0.03921756 -0.15363457
+v 0.37916951 -0.08658317 -0.11802423
+v 0.37792140 -0.07250497 -0.13039147
+v 0.38846958 -0.06908380 -0.12432085
+v 0.36190413 0.14876281 -0.08784891
+v 0.36138003 0.13351479 -0.11429296
+v 0.37634932 0.06814569 -0.15471446
+v 0.39140327 0.00116328 -0.15250714
+v 0.38985141 -0.08201823 -0.11283719
+v 0.39203705 0.09327669 -0.12977758
+v 0.34959567 0.14620090 -0.10139573
+v 0.37615330 0.13197603 -0.10220609
+v 0.34757635 0.11870205 -0.13831036
+f 6 3 2
+f 7 2 3
+f 7 3 1
+f 10 4 3
+f 10 3 6
+f 12 9 5
+f 12 3 9
+f 14 9 3
+f 14 3 4
+f 15 6 2
+f 16 5 9
+f 17 8 12
+f 17 15 2
+f 17 11 15
+f 18 1 3
+f 18 3 12
+f 19 12 8
+f 19 8 13
+f 19 18 12
+f 20 13 2
+f 20 19 13
+f 21 14 4
+f 21 4 10
+f 21 10 6
+f 22 9 14
+f 23 16 11
+f 23 11 17
+f 23 5 16
+f 23 17 12
+f 23 12 5
+f 24 13 8
+f 24 8 17
+f 24 17 2
+f 24 2 13
+f 25 20 2
+f 25 2 7
+f 25 7 1
+f 25 1 18
+f 25 18 19
+f 25 19 20
+f 26 15 11
+f 26 11 16
+f 27 22 14
+f 27 14 21
+f 27 21 22
+f 28 22 21
+f 28 21 6
+f 28 6 15
+f 28 26 22
+f 28 15 26
+f 29 26 16
+f 29 16 9
+f 29 9 22
+f 29 22 26
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_18.obj b/cucumber/cucumber_5/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e746c8dfc24a3f909a9cb94b8203f099472567aa
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_18.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.30857071 -0.15680055 0.05178926
+v 0.40826757 -0.11533732 0.00934412
+v 0.37562951 -0.13640987 0.03837709
+v 0.38287314 -0.10508266 0.09752682
+v 0.39082943 -0.10079839 -0.09019252
+v 0.37452340 -0.12386099 0.07776182
+v 0.31476623 -0.12430416 0.11357854
+v 0.33404479 -0.15019684 -0.06307053
+v 0.37749376 -0.11402540 0.09247705
+v 0.36271108 -0.13499469 0.06523041
+v 0.38761385 -0.12355988 -0.04682882
+v 0.33554857 -0.14973200 0.05011168
+v 0.30807847 -0.15778960 -0.06392634
+v 0.33538508 -0.13431404 0.09063828
+v 0.37800940 -0.11490609 -0.08905703
+v 0.38604732 -0.11015948 -0.08569314
+v 0.37486291 -0.13631258 -0.03146784
+v 0.38366497 -0.10613221 -0.09381595
+v 0.30817942 -0.14000473 0.09334323
+v 0.36337062 -0.12202556 0.09195557
+v 0.36068654 -0.13879421 -0.06059935
+v 0.32594214 -0.14753123 -0.08052321
+v 0.39300352 -0.12711986 0.01000179
+f 5 4 2
+f 6 3 2
+f 7 4 5
+f 9 6 2
+f 9 2 4
+f 9 4 7
+f 10 3 6
+f 12 8 3
+f 12 3 10
+f 13 12 1
+f 13 8 12
+f 14 12 10
+f 14 1 12
+f 16 5 2
+f 16 2 11
+f 17 11 2
+f 17 3 8
+f 18 13 7
+f 18 7 5
+f 18 16 15
+f 18 5 16
+f 19 13 1
+f 19 7 13
+f 19 14 7
+f 19 1 14
+f 20 9 7
+f 20 7 14
+f 20 6 9
+f 20 14 10
+f 20 10 6
+f 21 17 8
+f 21 11 17
+f 21 16 11
+f 21 15 16
+f 22 8 13
+f 22 18 15
+f 22 13 18
+f 22 21 8
+f 22 15 21
+f 23 17 2
+f 23 2 3
+f 23 3 17
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_19.obj b/cucumber/cucumber_5/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cad2440f2ed14c395e2b4f97f6a6a914d891495d
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_19.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.23539923 -0.13321031 0.11085314
+v -0.22029416 -0.11892679 0.12382178
+v -0.37830938 -0.06865536 0.15754148
+v -0.44218551 0.07038095 0.11196980
+v -0.23199195 0.09614409 0.14226847
+v -0.42369716 -0.10121751 0.10658524
+v -0.37951354 -0.12471020 0.11916720
+v -0.45324555 0.05488019 0.10780185
+v -0.23685187 -0.05668334 0.15789751
+v -0.36457376 0.04033103 0.17383390
+v -0.23606194 -0.12578012 0.11974995
+v -0.38258171 -0.13128317 0.10940640
+v -0.40242707 -0.09529206 0.12975641
+v -0.26694746 -0.09548592 0.14448502
+v -0.22096758 -0.10212568 0.13529046
+v -0.37986553 0.06732998 0.15973267
+v -0.23617228 0.06718744 0.15944044
+v -0.32773700 -0.02951006 0.17472893
+v -0.40448998 -0.01655938 0.15863777
+v -0.40864801 -0.11469605 0.10829754
+v -0.37803080 -0.09696519 0.14266590
+v -0.21973221 -0.10888927 0.13089584
+v -0.40600348 0.06784516 0.14637790
+v -0.32716908 0.04048454 0.17450812
+v -0.31222345 -0.01666297 0.17455134
+v -0.29786016 -0.06942261 0.15857835
+v -0.36471946 -0.03137054 0.17475049
+v -0.41893930 -0.04295347 0.14310799
+v -0.40333336 -0.11132104 0.11566119
+v -0.40346010 -0.06940175 0.14403961
+v -0.22109883 -0.11177620 0.12902822
+v -0.43562453 0.06715129 0.12152416
+v -0.40432884 0.02522729 0.15844879
+v -0.31196375 0.02547033 0.17490085
+v -0.44648072 -0.04402063 0.11658423
+v -0.41833976 -0.09602921 0.11549212
+v -0.39471660 0.05192852 0.15895016
+v -0.41861019 0.05152644 0.14276760
+v -0.45371213 -0.04573783 0.10832387
+v -0.44604849 0.05268736 0.11626420
+f 5 2 1
+f 8 5 1
+f 8 4 5
+f 8 1 6
+f 11 7 1
+f 11 1 2
+f 12 6 1
+f 12 1 7
+f 14 11 2
+f 15 9 14
+f 17 5 16
+f 17 15 5
+f 17 9 15
+f 20 12 7
+f 20 6 12
+f 20 13 6
+f 21 13 7
+f 21 7 11
+f 21 11 14
+f 22 2 5
+f 22 5 15
+f 22 15 14
+f 23 16 5
+f 23 5 4
+f 24 17 16
+f 24 16 10
+f 25 18 9
+f 25 9 17
+f 26 14 9
+f 26 9 18
+f 26 21 14
+f 26 3 21
+f 27 24 10
+f 27 19 3
+f 27 26 18
+f 27 3 26
+f 29 20 7
+f 29 7 13
+f 29 13 20
+f 30 21 3
+f 30 13 21
+f 30 3 19
+f 30 19 28
+f 31 22 14
+f 31 14 2
+f 31 2 22
+f 32 23 4
+f 32 4 8
+f 33 27 10
+f 33 19 27
+f 34 18 25
+f 34 27 18
+f 34 24 27
+f 34 25 17
+f 34 17 24
+f 35 28 19
+f 35 30 28
+f 36 6 13
+f 36 13 30
+f 36 30 35
+f 37 33 10
+f 37 10 16
+f 37 16 23
+f 38 23 32
+f 38 37 23
+f 38 33 37
+f 39 8 6
+f 39 36 35
+f 39 6 36
+f 40 39 35
+f 40 8 39
+f 40 33 38
+f 40 38 32
+f 40 32 8
+f 40 35 19
+f 40 19 33
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_2.obj b/cucumber/cucumber_5/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d65fe6beaea9b0ac1e362bf82db0ed07842d0a1f
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_2.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00765506 -0.17707150 0.00916746
+v 0.00779664 -0.14141843 -0.11076358
+v 0.00757575 -0.00302160 0.00999056
+v -0.09848485 -0.00302160 0.00999056
+v -0.15956377 -0.12714436 -0.12050382
+v -0.09831473 -0.16947349 -0.06110663
+v 0.00759741 -0.00274264 -0.16927206
+v -0.09832485 -0.15746157 -0.08788436
+v 0.00773382 -0.17055699 -0.06144519
+v -0.09839478 -0.17601451 0.00904896
+v 0.00773133 -0.05830348 -0.15645049
+v -0.15906357 -0.00260163 -0.16798057
+v -0.08310185 -0.14079105 -0.11000084
+v -0.15909091 -0.00302160 -0.08091853
+v 0.00777448 -0.10007289 -0.13949574
+v -0.15896764 -0.08744046 -0.14430594
+v -0.15894544 -0.05780973 -0.15505521
+v -0.09830418 -0.09957014 -0.13854642
+f 1 2 3
+f 1 3 4
+f 8 6 5
+f 9 2 1
+f 9 8 2
+f 9 6 8
+f 10 1 4
+f 10 5 6
+f 10 9 1
+f 10 6 9
+f 11 7 3
+f 12 4 3
+f 12 3 7
+f 12 7 11
+f 13 8 5
+f 13 5 2
+f 13 2 8
+f 14 10 4
+f 14 5 10
+f 14 12 5
+f 14 4 12
+f 15 2 5
+f 15 11 3
+f 15 3 2
+f 16 11 15
+f 17 12 11
+f 17 11 16
+f 17 16 5
+f 17 5 12
+f 18 16 15
+f 18 15 5
+f 18 5 16
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_20.obj b/cucumber/cucumber_5/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d576c8db935c4f44605e43dc5a87bcaabb02e7f
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_20.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.40151513 -0.01817312 0.00999056
+v 0.43067981 -0.02911499 -0.09773642
+v 0.35086820 0.16169666 -0.06049930
+v -0.09831081 0.17231883 0.00791492
+v -0.09848485 -0.00302160 -0.08091853
+v 0.40871284 0.12849824 0.01295322
+v 0.00757575 -0.01817312 0.00999056
+v -0.09852950 0.16695501 -0.07732722
+v 0.35072012 0.15971151 0.00513304
+v 0.40451425 0.12124630 -0.08256016
+v 0.00757575 -0.01817312 -0.08091853
+v -0.09848485 -0.00302160 0.00999056
+v 0.33568855 0.16164262 -0.07565353
+v 0.37913242 0.14800635 0.00608426
+v 0.37645237 0.14537279 -0.07532341
+f 6 1 2
+f 7 2 1
+f 7 1 6
+f 8 2 5
+f 9 3 4
+f 9 4 6
+f 10 6 2
+f 10 2 8
+f 11 7 5
+f 11 5 2
+f 11 2 7
+f 12 5 7
+f 12 8 5
+f 12 4 8
+f 12 7 6
+f 12 6 4
+f 13 8 4
+f 13 4 3
+f 13 10 8
+f 14 9 6
+f 14 3 9
+f 15 6 10
+f 15 14 6
+f 15 3 14
+f 15 13 3
+f 15 10 13
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_21.obj b/cucumber/cucumber_5/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a901f039605b9c51e0134f0045e3cd52efe7f1f0
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_21.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00755400 -0.05138395 0.15816126
+v 0.00760663 -0.04434781 0.15989419
+v -0.23611833 -0.04514435 0.16115812
+v -0.23544659 0.09813779 0.14086480
+v -0.11357554 0.08595051 0.14423567
+v -0.23351247 -0.05310718 0.15886468
+v 0.00747395 -0.00229391 0.16551757
+v -0.20537390 0.09654219 0.13896505
+v 0.00774967 -0.00426487 0.16538630
+v -0.23617228 0.06718744 0.15944044
+v -0.09863002 0.05224893 0.16096837
+v -0.23653108 0.09343234 0.14524868
+v -0.11363627 0.08000219 0.14810755
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 1 5
+f 8 5 1
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 9 2 1
+f 9 1 7
+f 9 7 3
+f 9 3 2
+f 10 3 7
+f 11 10 7
+f 12 5 4
+f 12 4 3
+f 12 3 10
+f 13 11 7
+f 13 7 5
+f 13 10 11
+f 13 12 10
+f 13 5 12
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_22.obj b/cucumber/cucumber_5/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad6fbb17b688c635fc0fafc4d347f45f35f49280
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_22.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.35032289 -0.12668297 0.09435517
+v 0.41063100 -0.02435597 0.12488677
+v 0.32118335 -0.11003880 0.12847826
+v 0.00774067 -0.01935201 0.16440082
+v 0.00757575 -0.01817312 0.10089965
+v 0.38631063 -0.01815282 0.14627555
+v 0.00767773 -0.14623322 0.09384620
+v 0.37253417 -0.08108850 0.12977751
+v 0.37749376 -0.11402540 0.09247705
+v 0.26428553 -0.14319369 0.09481243
+v 0.00768449 -0.10170877 0.13634692
+v 0.37301629 -0.10893973 0.10315371
+v 0.30715062 -0.12302242 0.11761619
+v 0.34752509 -0.12284861 0.10235787
+v 0.26437556 -0.13809578 0.10233391
+v 0.00766961 -0.12540426 0.11862020
+v 0.12895615 -0.11166122 0.12928473
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 8 6 3
+f 8 2 6
+f 9 5 2
+f 9 7 5
+f 9 2 8
+f 10 9 1
+f 10 7 9
+f 11 3 4
+f 11 4 5
+f 12 9 8
+f 12 8 3
+f 13 10 1
+f 14 12 3
+f 14 1 9
+f 14 9 12
+f 14 13 1
+f 14 3 13
+f 15 7 10
+f 15 10 13
+f 16 15 13
+f 16 7 15
+f 16 11 5
+f 16 5 7
+f 17 16 13
+f 17 13 3
+f 17 3 11
+f 17 11 16
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_23.obj b/cucumber/cucumber_5/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29dff4071e20143a8fa642e2ab32da847533703a
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_23.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.37395603 -0.17718252 0.01505005
+v -0.35222176 -0.10211221 -0.14232567
+v -0.35606060 -0.01817312 0.00999056
+v -0.41666666 -0.01817312 0.00999056
+v -0.42691029 -0.13387710 -0.07228259
+v -0.35544482 -0.01750688 -0.16896912
+v -0.36874953 -0.15844812 -0.09034911
+v -0.43330823 -0.14162808 0.01121324
+v -0.35303319 -0.05938999 -0.15867375
+v -0.39626514 -0.01467738 -0.15698038
+v -0.40730842 -0.09927441 -0.12254019
+v -0.41253774 -0.01638762 -0.14930076
+v -0.37900174 -0.05730021 -0.15210093
+v -0.36630757 -0.10043318 -0.13928286
+v -0.40764580 -0.05818095 -0.14065171
+v -0.39497656 -0.02887853 -0.15402748
+v -0.39280682 -0.08450138 -0.13679725
+f 1 2 3
+f 1 3 4
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 1 4
+f 9 6 3
+f 9 3 2
+f 10 4 3
+f 10 3 6
+f 11 7 5
+f 12 8 4
+f 12 5 8
+f 12 4 10
+f 13 6 9
+f 14 2 7
+f 14 7 11
+f 14 13 9
+f 14 9 2
+f 15 11 5
+f 15 5 12
+f 16 10 6
+f 16 6 13
+f 16 13 15
+f 16 15 12
+f 16 12 10
+f 17 14 11
+f 17 11 15
+f 17 15 13
+f 17 13 14
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_24.obj b/cucumber/cucumber_5/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e395ff30e1f2fd57a3f0a530120d9380eb60d5b6
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_24.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.23519108 0.07073661 0.15797831
+v -0.23107940 0.10362205 0.13549235
+v -0.36420595 0.10879405 0.14492877
+v -0.36653036 0.15253254 0.09356575
+v -0.45478242 0.07024994 0.09662809
+v -0.29823201 0.13158524 0.11834030
+v -0.29789721 0.10355550 0.14535669
+v -0.23584486 0.14020737 0.09448021
+v -0.36650588 0.06882153 0.16438480
+v -0.41804768 0.11864086 0.10034315
+v -0.36391865 0.14633343 0.10462605
+v -0.23653108 0.09343234 0.14524868
+v -0.28271886 0.11786648 0.12997796
+v -0.45217768 0.08104713 0.09338160
+v -0.23671902 0.13293758 0.10399970
+v -0.44969048 0.06663768 0.10536786
+v -0.36481050 0.07925654 0.16120436
+v -0.32807949 0.14605472 0.10437449
+v -0.37828837 0.13322176 0.11514604
+v -0.28205608 0.07765681 0.15860760
+v -0.42256712 0.12083705 0.09237790
+v -0.28140954 0.06833462 0.16263942
+v -0.44593506 0.07994684 0.10214034
+v -0.40600348 0.06784516 0.14637790
+v -0.32716896 0.15295271 0.09380194
+v -0.39332018 0.09204815 0.14211601
+v -0.37823291 0.11780446 0.12980896
+v -0.41757143 0.10305484 0.11535631
+v -0.40303442 0.07769749 0.14373127
+f 7 6 3
+f 8 2 1
+f 8 1 5
+f 12 1 2
+f 12 2 7
+f 13 7 2
+f 13 2 6
+f 13 6 7
+f 14 8 5
+f 15 8 6
+f 15 6 2
+f 15 2 8
+f 16 5 1
+f 17 7 3
+f 18 11 3
+f 18 3 6
+f 18 6 8
+f 19 3 11
+f 19 11 4
+f 20 12 7
+f 20 1 12
+f 20 7 17
+f 21 8 14
+f 21 14 10
+f 21 19 4
+f 21 10 19
+f 22 16 1
+f 22 1 20
+f 22 20 17
+f 22 17 9
+f 23 14 5
+f 23 5 16
+f 23 10 14
+f 24 9 17
+f 24 22 9
+f 24 16 22
+f 24 23 16
+f 25 18 8
+f 25 4 11
+f 25 11 18
+f 25 21 4
+f 25 8 21
+f 26 17 3
+f 27 19 10
+f 27 26 3
+f 27 3 19
+f 28 10 23
+f 28 27 10
+f 28 26 27
+f 29 24 17
+f 29 17 26
+f 29 26 28
+f 29 28 23
+f 29 23 24
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_25.obj b/cucumber/cucumber_5/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b44b523e378bbee99b3127f5b65739deb0e20934
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.09841650 -0.16446508 -0.07742164
+v -0.09837405 -0.13179895 -0.11734064
+v -0.09848469 -0.09392200 -0.14150802
+v -0.23538948 -0.08898929 -0.14743276
+v -0.23601721 -0.15255887 -0.09985314
+v -0.09836276 -0.11768875 -0.12904041
+v -0.17494445 -0.08751842 -0.14468137
+v -0.09832485 -0.15746157 -0.08788436
+v -0.23506768 -0.16647565 -0.07878638
+v -0.23595828 -0.12597337 -0.12579087
+v -0.23575409 -0.10077413 -0.14114867
+v -0.23191121 -0.12942775 -0.12256080
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 5 2
+f 8 1 5
+f 8 2 6
+f 8 6 3
+f 8 3 1
+f 9 5 1
+f 9 4 5
+f 9 7 4
+f 9 1 7
+f 10 6 2
+f 11 10 5
+f 11 5 4
+f 11 4 6
+f 11 6 10
+f 12 10 2
+f 12 2 5
+f 12 5 10
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_26.obj b/cucumber/cucumber_5/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25e825c32a718c44bc7dd48b2885137bba0986ca
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_26.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.01817312 0.00999056
+v -0.23568420 -0.01412156 -0.17055229
+v -0.23484848 0.07273597 0.00999056
+v -0.47836809 0.08735503 0.01306825
+v -0.49454664 -0.02712381 0.01917404
+v -0.23573266 0.07025048 -0.17128476
+v -0.43638237 0.01150574 -0.13883176
+v -0.43721182 0.06890813 -0.12989941
+v -0.36728922 -0.00104707 -0.16873045
+v -0.43974518 -0.01616530 -0.13342768
+v -0.36668675 0.07049048 -0.16846416
+v -0.35247953 -0.01429866 -0.17035566
+v -0.40679532 -0.00117494 -0.15436756
+v -0.42113786 0.06900166 -0.14238338
+v -0.42420454 -0.01507937 -0.14308608
+v -0.39626514 -0.01467738 -0.15698038
+v -0.40710498 0.05528655 -0.15384778
+v -0.43628746 -0.00105737 -0.13772781
+f 1 2 3
+f 5 2 1
+f 5 1 3
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 8 5 4
+f 10 8 7
+f 10 5 8
+f 11 4 6
+f 12 6 2
+f 12 2 5
+f 12 5 10
+f 12 11 6
+f 12 9 11
+f 13 11 9
+f 14 8 4
+f 14 4 11
+f 14 7 8
+f 16 13 9
+f 16 9 12
+f 16 15 13
+f 16 12 10
+f 16 10 15
+f 17 13 7
+f 17 7 14
+f 17 14 11
+f 17 11 13
+f 18 15 10
+f 18 10 7
+f 18 7 13
+f 18 13 15
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_27.obj b/cucumber/cucumber_5/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..776fa8529403a19b4e9fbbf805e029e7e37b12aa
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_27.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.09889018 -0.12609233 0.11564375
+v -0.09774434 -0.10094010 0.13346419
+v -0.23597722 -0.10290244 0.13652583
+v -0.23584486 0.14020737 0.09448021
+v -0.11371368 0.12906991 0.09747664
+v -0.23316202 -0.12799066 0.11681671
+v -0.09935795 0.10053751 0.13130693
+v -0.22082903 0.13907901 0.09360605
+v -0.09848488 0.07537180 0.15083281
+v -0.23671902 0.13293758 0.10399970
+v -0.11312522 0.12165432 0.10686533
+v -0.23626136 0.10661261 0.13338683
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 7 2 1
+f 7 1 5
+f 8 5 1
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 9 3 2
+f 9 2 7
+f 10 5 4
+f 10 4 3
+f 11 10 7
+f 11 7 5
+f 11 5 10
+f 12 9 7
+f 12 7 10
+f 12 10 3
+f 12 3 9
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_28.obj b/cucumber/cucumber_5/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7b1b5cca554fba0cb95bf18c87dad35aa93bf96
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_28.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.39644496 0.08308876 0.11107359
+v 0.42688564 0.10930049 0.02278859
+v 0.37812536 0.13054108 0.06371778
+v 0.34031556 0.16152402 0.00945072
+v 0.34090908 0.07273597 0.00999056
+v 0.37913242 0.14800635 0.00608426
+v 0.33705528 0.13177455 0.09129355
+v 0.37818121 0.11603596 0.09075266
+v 0.37776118 0.14504081 0.02049503
+v 0.33734894 0.15036142 0.05034328
+v 0.35574075 0.09315515 0.13087124
+v 0.35103945 0.12890957 0.09013697
+v 0.36308821 0.15135823 0.02219499
+v 0.36216485 0.14392968 0.04789077
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 8 1 2
+f 8 2 3
+f 9 3 2
+f 9 2 6
+f 10 4 5
+f 10 5 7
+f 11 7 5
+f 11 5 1
+f 11 1 8
+f 12 8 3
+f 12 11 8
+f 12 7 11
+f 12 10 7
+f 13 9 6
+f 13 6 4
+f 13 4 10
+f 14 12 3
+f 14 10 12
+f 14 13 10
+f 14 3 9
+f 14 9 13
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_29.obj b/cucumber/cucumber_5/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96ff7824e47285aa82b348025255469ac3c4c509
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_29.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.15956377 -0.12714436 -0.12050382
+v -0.15896764 -0.08744046 -0.14430594
+v -0.15909091 0.07273597 -0.08091853
+v -0.23484848 0.07273597 -0.08091853
+v -0.23538948 -0.08898929 -0.14743276
+v -0.23401709 -0.10155790 -0.14062800
+v -0.23573266 0.07025048 -0.17128476
+v -0.23191121 -0.12942775 -0.12256080
+v -0.15907121 0.07201481 -0.16698371
+v -0.23568420 -0.01412156 -0.17055229
+v -0.15894544 -0.05780973 -0.15505521
+v -0.23581925 -0.07238452 -0.15377491
+v -0.17510020 0.01392604 -0.17056093
+v -0.17511761 0.04184060 -0.17072094
+v -0.19029631 -0.00113213 -0.16970751
+v -0.22059758 -0.01393844 -0.16980649
+f 1 2 3
+f 1 3 4
+f 6 5 2
+f 6 2 1
+f 8 6 1
+f 8 1 4
+f 8 4 5
+f 8 5 6
+f 9 7 4
+f 9 4 3
+f 11 9 3
+f 11 3 2
+f 12 5 4
+f 12 4 7
+f 12 7 10
+f 12 10 11
+f 12 11 2
+f 12 2 5
+f 13 10 7
+f 13 9 11
+f 14 13 7
+f 14 7 9
+f 14 9 13
+f 15 13 11
+f 15 10 13
+f 16 15 11
+f 16 11 10
+f 16 10 15
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_3.obj b/cucumber/cucumber_5/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..118aa69ca502943b0e2baecfc4bf6ca91739a189
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_3.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.37957304 -0.12968989 0.05278100
+v 0.49869982 -0.02482476 -0.00957351
+v 0.37942969 -0.01767795 0.15086597
+v 0.38018808 0.13485879 0.05015162
+v 0.39336715 0.06638347 -0.14474689
+v 0.42996587 0.06212056 0.08885535
+v 0.37749376 -0.11402540 0.09247705
+v 0.39192084 -0.08759375 -0.10476672
+v 0.37914808 0.13695682 -0.08969702
+v 0.42850933 -0.01566150 0.10663565
+v 0.44370307 0.09571162 -0.00597153
+v 0.37837839 0.09151273 0.12040366
+v 0.40343865 -0.10984860 0.06284679
+v 0.39912841 -0.02539234 -0.14096392
+v 0.39233872 -0.11428545 -0.06245520
+v 0.38185611 0.11243463 -0.12145843
+v 0.40303044 0.03676018 0.13072531
+v 0.49873463 -0.01380833 0.00123024
+v 0.40114349 -0.06746830 0.11646179
+v 0.41697442 0.11636865 0.03508335
+v 0.37868324 0.02526921 0.14993627
+v 0.42952774 0.00169127 -0.11534477
+v 0.41703373 -0.04002531 -0.11359020
+v 0.39946743 -0.10857391 -0.05896569
+v 0.38278603 -0.13415848 0.00951125
+v 0.39382661 -0.02743463 -0.14337832
+v 0.44653919 0.07936001 -0.05915988
+v 0.42833656 0.02524160 0.10712048
+v 0.39007132 -0.01735589 0.14394580
+v 0.38898263 0.06269971 0.13083145
+v 0.44245198 0.08095809 0.03477654
+v 0.37803914 -0.08620048 0.12122454
+v 0.40229788 -0.09516786 0.08912027
+v 0.49854798 -0.02666362 0.00354270
+v 0.40198412 0.08784482 0.10084449
+v 0.40272085 0.13218229 -0.06124185
+v 0.40013520 0.06394957 -0.14142022
+v 0.39964364 -0.06779438 -0.11348287
+v 0.39222297 -0.07215966 -0.11946983
+v 0.39300352 -0.12711986 0.01000179
+v 0.44526614 0.09238816 -0.03311724
+v 0.49592060 -0.01196244 -0.01115693
+v 0.41652749 0.03717893 0.11651975
+v 0.40058029 -0.04099896 0.13074919
+v 0.38921499 0.02398352 0.14315541
+v 0.37860259 0.06652079 0.13674139
+v 0.42963275 0.08930379 0.05985790
+v 0.38786276 -0.10794063 0.08893227
+v 0.38859919 -0.08193660 0.11571830
+v 0.42676293 -0.05689258 0.09166754
+v 0.41593411 -0.09538510 0.06273934
+v 0.38658799 0.08770993 0.11613843
+v 0.38886131 0.11819217 0.07610783
+v 0.40374675 0.12999114 0.01982409
+v 0.41524891 0.11646053 -0.07185402
+v 0.38631854 0.10299257 -0.12631720
+v 0.38997847 -0.12291361 0.05091899
+v 0.42735890 0.05173116 -0.11550808
+v 0.37968242 -0.05915084 0.13718196
+v 0.43194577 0.10458064 0.02033615
+v 0.42752332 -0.07043226 0.07794014
+v 0.41457436 -0.04070936 0.11551203
+v 0.38873302 0.13160597 0.04829736
+v 0.38086111 0.12170404 0.07892449
+f 9 1 7
+f 12 9 7
+f 12 4 9
+f 13 7 1
+f 16 1 9
+f 21 12 7
+f 23 22 2
+f 23 14 22
+f 24 15 8
+f 24 8 2
+f 25 8 15
+f 25 1 16
+f 26 16 5
+f 26 5 14
+f 28 18 6
+f 29 28 17
+f 29 10 28
+f 30 17 6
+f 31 18 11
+f 32 21 7
+f 32 3 21
+f 33 32 7
+f 34 28 10
+f 34 18 28
+f 34 2 18
+f 35 30 6
+f 36 9 4
+f 37 22 14
+f 37 14 5
+f 38 23 2
+f 38 2 8
+f 39 25 16
+f 39 8 25
+f 39 16 26
+f 39 38 8
+f 39 26 14
+f 39 14 23
+f 39 23 38
+f 40 25 15
+f 40 15 24
+f 40 24 2
+f 40 2 34
+f 40 34 13
+f 41 11 18
+f 41 36 11
+f 42 18 2
+f 42 41 18
+f 42 27 41
+f 43 28 6
+f 43 6 17
+f 43 17 28
+f 44 10 29
+f 44 29 3
+f 45 29 17
+f 45 17 21
+f 45 21 3
+f 45 3 29
+f 46 21 17
+f 46 17 30
+f 46 30 12
+f 46 12 21
+f 47 6 18
+f 47 18 31
+f 47 35 6
+f 48 33 7
+f 48 7 13
+f 48 13 33
+f 49 33 19
+f 49 19 32
+f 49 32 33
+f 50 34 10
+f 50 19 33
+f 51 33 13
+f 51 13 34
+f 52 35 12
+f 52 12 30
+f 52 30 35
+f 53 12 35
+f 53 47 20
+f 53 35 47
+f 54 11 36
+f 54 36 4
+f 55 16 9
+f 55 9 36
+f 55 41 27
+f 55 36 41
+f 56 37 5
+f 56 5 16
+f 56 16 55
+f 57 40 13
+f 57 13 1
+f 57 1 25
+f 57 25 40
+f 58 42 2
+f 58 2 22
+f 58 22 37
+f 58 27 42
+f 58 55 27
+f 58 56 55
+f 58 37 56
+f 59 32 19
+f 59 19 44
+f 59 44 3
+f 59 3 32
+f 60 47 31
+f 60 31 11
+f 60 20 47
+f 60 54 20
+f 60 11 54
+f 61 50 33
+f 61 34 50
+f 61 51 34
+f 61 33 51
+f 62 44 19
+f 62 19 50
+f 62 50 10
+f 62 10 44
+f 63 53 20
+f 63 54 4
+f 63 20 54
+f 64 4 12
+f 64 12 53
+f 64 63 4
+f 64 53 63
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_30.obj b/cucumber/cucumber_5/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24d3b5f8001847b5d4d7b9151bce4f19feb9d49f
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_30.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.09839478 -0.17601451 0.00904896
+v -0.09841650 -0.16446508 -0.07742164
+v -0.09848485 0.08788749 0.00999056
+v -0.23484848 0.08788749 0.00999056
+v -0.23588931 -0.16768679 -0.07576261
+v -0.23484848 0.08788749 -0.08091853
+v -0.23523067 -0.17838533 0.00927404
+v -0.09831473 -0.16947349 -0.06110663
+v -0.09848485 0.08788749 -0.08091853
+f 6 4 3
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 4 5
+f 8 3 1
+f 8 5 2
+f 8 7 5
+f 8 1 7
+f 9 6 3
+f 9 2 6
+f 9 8 2
+f 9 3 8
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_31.obj b/cucumber/cucumber_5/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bbbf967610a47f1b3b026b5cf2974bed4087a2e
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.35574075 0.09315515 0.13087124
+v 0.34090908 0.07273597 0.00999056
+v 0.35114923 0.15607859 0.01925266
+v -0.43804248 0.14132305 0.01545842
+v -0.43382505 0.08118222 0.11553741
+v -0.41702325 0.11857120 0.10130641
+v -0.41666666 0.07273597 0.00999056
+v 0.34210495 0.12337858 0.10388052
+f 1 2 3
+f 3 2 4
+f 5 2 1
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 5 4
+f 7 4 2
+f 7 2 5
+f 8 6 1
+f 8 1 3
+f 8 3 6
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_4.obj b/cucumber/cucumber_5/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45f6fc8befb05d6478161ae54ab46d406979f0c4
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_4.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.41063100 -0.02435597 0.12488677
+v 0.37942969 -0.01767795 0.15086597
+v 0.00757575 -0.01817312 0.10089965
+v -0.11371368 0.12906991 0.09747664
+v 0.36507561 0.12069264 0.09364136
+v 0.00746495 -0.01738104 0.16453209
+v 0.37676266 0.07766527 0.13102140
+v 0.38224318 0.11076732 0.09646299
+v -0.11363632 0.06874862 0.15473068
+v 0.36395226 -0.01804008 0.15900959
+v 0.37501256 0.05153654 0.14514960
+v 0.33726945 0.10112167 0.13100692
+v 0.34795827 0.05023371 0.15679267
+v 0.36371958 0.02358451 0.15747194
+v 0.36247154 0.11732896 0.10170500
+v 0.02302286 0.10301208 0.13099654
+v 0.00697176 0.05128929 0.15857299
+v 0.34830748 0.07702570 0.14515611
+v 0.32231376 0.11719156 0.11668115
+v 0.36256231 0.09113059 0.12887484
+v -0.11450267 0.10032095 0.13107007
+v -0.11363627 0.08000219 0.14810755
+v 0.20514787 0.11809305 0.11567095
+v 0.37939979 0.10550949 0.10446725
+v -0.11312522 0.12165432 0.10686533
+f 5 3 4
+f 6 3 1
+f 8 1 3
+f 8 3 5
+f 8 7 1
+f 9 4 3
+f 9 3 6
+f 10 6 1
+f 10 1 2
+f 11 2 1
+f 11 1 7
+f 13 6 10
+f 14 10 2
+f 14 2 11
+f 14 13 10
+f 14 11 13
+f 15 8 5
+f 17 13 9
+f 17 9 6
+f 17 6 13
+f 18 9 13
+f 18 13 11
+f 18 11 7
+f 19 15 5
+f 19 5 4
+f 19 12 15
+f 19 16 12
+f 20 15 12
+f 20 18 7
+f 20 12 18
+f 21 4 9
+f 22 12 16
+f 22 18 12
+f 22 9 18
+f 22 21 9
+f 22 16 21
+f 23 19 4
+f 23 16 19
+f 24 20 7
+f 24 7 8
+f 24 8 15
+f 24 15 20
+f 25 21 16
+f 25 4 21
+f 25 23 4
+f 25 16 23
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_5.obj b/cucumber/cucumber_5/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..369faba0fb4238aaabeb6d63da06c9c1ddca519d
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_5.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 0.07273597 0.00999056
+v -0.23490252 0.07258407 -0.17086843
+v -0.23590811 0.17764573 -0.00633079
+v -0.36524427 0.17605930 0.03632670
+v -0.47682258 0.07257211 -0.06560793
+v -0.36399721 0.15906974 -0.11472672
+v -0.23358814 0.12867195 0.10901979
+v -0.46233425 0.06661662 -0.10147401
+v -0.23625913 0.14697867 -0.12732093
+v -0.36525643 0.17612418 -0.07506162
+v -0.23634664 0.16473167 0.04993947
+v -0.41702325 0.11857120 0.10130641
+v -0.25081844 0.07038219 -0.17209806
+v -0.41666666 0.07273597 0.00999056
+v -0.41912732 0.14613534 -0.08532425
+v -0.23593448 0.17700916 -0.04883641
+v -0.32705488 0.16071110 -0.11643275
+v -0.31220428 0.17572456 0.03550633
+v -0.36482351 0.16128070 0.07857392
+v -0.35069049 0.09715978 -0.16722685
+v -0.44561639 0.10622096 -0.09884919
+v -0.40429997 0.15948073 -0.07424293
+v -0.40543641 0.15999807 0.03610182
+v -0.23609212 0.16205115 -0.10201302
+v -0.26675024 0.17571884 0.02035331
+v -0.39357022 0.14468151 0.08831517
+v -0.31307247 0.16076440 0.07649436
+v -0.35246774 0.07100111 -0.17187189
+v -0.36461873 0.12173696 -0.15251987
+v -0.23575914 0.11070187 -0.15968240
+v -0.45843947 0.08017269 -0.09893261
+v -0.46118137 0.10743833 -0.06156325
+v -0.38031073 0.17500747 -0.06317391
+v -0.37903244 0.14659049 -0.12514558
+v -0.29664364 0.17577625 -0.07535619
+v -0.40417797 0.14521781 0.07656403
+v -0.25239323 0.14528477 0.09049394
+v -0.29655089 0.09627543 -0.16873655
+v -0.42113786 0.06900166 -0.14238338
+v -0.23618186 0.13315844 -0.14350194
+v -0.45751434 0.10637007 -0.07299933
+v -0.37999514 0.17462695 0.02077658
+v -0.37922401 0.13176360 -0.14049360
+v -0.40584386 0.13404620 0.09131981
+v -0.23627948 0.14984148 0.07857335
+v -0.26640700 0.12129900 -0.15457643
+v -0.25095019 0.08517476 -0.16976710
+v -0.39491534 0.07074967 -0.15726241
+v -0.43097882 0.09428842 -0.12503109
+v -0.44436821 0.11785742 -0.08623512
+v -0.40512388 0.10832684 -0.13924196
+v -0.23584486 0.14020737 0.09448021
+v -0.39124333 0.09732760 -0.15265239
+v -0.41931931 0.08351733 -0.13994974
+f 7 1 2
+f 10 4 3
+f 11 7 3
+f 12 1 7
+f 13 2 1
+f 13 1 8
+f 14 8 1
+f 14 5 8
+f 14 12 5
+f 14 1 12
+f 16 3 7
+f 16 10 3
+f 17 6 10
+f 18 3 4
+f 19 18 4
+f 23 22 15
+f 23 19 4
+f 24 9 17
+f 24 16 7
+f 24 7 2
+f 25 18 11
+f 25 11 3
+f 25 3 18
+f 26 12 7
+f 26 7 19
+f 27 19 7
+f 27 11 18
+f 27 18 19
+f 29 6 17
+f 30 24 2
+f 31 8 5
+f 32 23 15
+f 32 5 12
+f 32 12 23
+f 33 10 6
+f 33 6 22
+f 33 22 23
+f 33 4 10
+f 34 22 6
+f 34 15 22
+f 35 24 17
+f 35 17 10
+f 35 10 16
+f 35 16 24
+f 36 23 12
+f 36 26 19
+f 36 19 23
+f 37 27 7
+f 38 28 20
+f 38 13 28
+f 39 28 13
+f 39 13 8
+f 40 17 9
+f 40 9 24
+f 40 24 30
+f 41 31 5
+f 41 21 31
+f 41 5 32
+f 42 33 23
+f 42 23 4
+f 42 4 33
+f 43 34 6
+f 43 6 29
+f 44 36 12
+f 44 12 26
+f 44 26 36
+f 45 7 11
+f 45 11 27
+f 45 27 37
+f 46 30 38
+f 46 40 30
+f 46 29 17
+f 46 17 40
+f 46 38 20
+f 46 20 29
+f 47 38 30
+f 47 30 2
+f 47 2 13
+f 47 13 38
+f 48 20 28
+f 48 28 39
+f 49 31 21
+f 49 39 8
+f 49 8 31
+f 50 41 32
+f 50 32 15
+f 50 15 21
+f 50 21 41
+f 51 21 15
+f 51 15 34
+f 51 34 43
+f 51 49 21
+f 52 45 37
+f 52 37 7
+f 52 7 45
+f 53 29 20
+f 53 20 48
+f 53 51 43
+f 53 43 29
+f 54 39 49
+f 54 49 51
+f 54 51 53
+f 54 53 48
+f 54 48 39
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_6.obj b/cucumber/cucumber_5/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..591e1db0be3917d9587a89f9e00a823cf40db6cc
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_6.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.27827579 -0.16779445 0.02327362
+v 0.39682995 -0.12437320 0.01139280
+v 0.38287314 -0.10508266 0.09752682
+v 0.00835029 0.09513647 0.13674393
+v 0.00757575 0.07273597 0.00999056
+v 0.42688564 0.10930049 0.02278859
+v 0.00767773 -0.14623322 0.09384620
+v 0.32110810 -0.15363931 0.05080084
+v 0.00765506 -0.17707150 0.00916746
+v 0.39644496 0.08308876 0.11107359
+v 0.30817942 -0.14000473 0.09334323
+v 0.30941002 -0.16311018 0.00941477
+v 0.32040188 -0.14974998 0.06526800
+v 0.23300405 -0.16637739 0.04981265
+v 0.27846828 -0.16941297 0.00829952
+v 0.26343417 -0.16778708 0.03511439
+v 0.00775902 -0.16799353 0.05028333
+v 0.29338439 -0.15064314 0.07589272
+v 0.00774465 -0.15542489 0.07806222
+f 6 3 2
+f 6 5 4
+f 6 2 5
+f 7 4 5
+f 9 7 5
+f 10 6 4
+f 10 4 3
+f 10 3 6
+f 11 3 4
+f 11 4 7
+f 12 8 1
+f 12 2 8
+f 13 8 2
+f 13 2 3
+f 13 3 11
+f 15 12 1
+f 15 9 5
+f 15 5 2
+f 15 2 12
+f 16 1 8
+f 16 8 13
+f 16 15 1
+f 16 14 9
+f 16 9 15
+f 17 7 9
+f 17 9 14
+f 18 11 7
+f 18 13 11
+f 18 16 13
+f 18 14 16
+f 19 17 14
+f 19 7 17
+f 19 18 7
+f 19 14 18
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_7.obj b/cucumber/cucumber_5/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0518c3e4177406b19a6a5c1be72bcf527438add
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_7.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.09889018 -0.12609233 0.11564375
+v -0.09848485 -0.10908220 0.00999056
+v -0.09935795 0.10053751 0.13130693
+v -0.42468672 0.07872618 0.12657605
+v -0.44085711 -0.13436692 0.01176787
+v -0.41666666 0.07273597 0.00999056
+v -0.23199195 0.09614409 0.14226847
+v -0.09848485 0.07273597 0.00999056
+v -0.41314188 -0.10566862 0.11194263
+v -0.23399735 -0.11664576 0.12657059
+f 5 2 1
+f 6 5 4
+f 6 2 5
+f 7 1 3
+f 7 6 4
+f 7 3 6
+f 8 1 2
+f 8 3 1
+f 8 6 3
+f 8 2 6
+f 9 4 5
+f 10 9 5
+f 10 5 1
+f 10 1 7
+f 10 7 4
+f 10 4 9
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_8.obj b/cucumber/cucumber_5/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddfc175034fe6fd1a8163939e150dd52e60b319a
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_8.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00768449 -0.10170877 0.13634692
+v 0.00757575 -0.10908220 0.00999056
+v 0.00757575 0.07273597 0.00999056
+v -0.09848481 0.06874867 0.15473076
+v -0.09848485 -0.10908220 0.00999056
+v 0.00726570 0.06950444 0.15222243
+v -0.09774434 -0.10094010 0.13346419
+v -0.09848485 0.07273597 0.00999056
+v 0.00747395 -0.00229391 0.16551757
+v -0.09863002 0.05224893 0.16096837
+v -0.09828488 -0.00240496 0.16514083
+v 0.00697176 0.05128929 0.15857299
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 7 5 1
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 9 1 3
+f 9 3 6
+f 10 8 5
+f 10 4 8
+f 10 6 4
+f 11 7 1
+f 11 1 9
+f 11 9 10
+f 11 10 5
+f 11 5 7
+f 12 10 9
+f 12 9 6
+f 12 6 10
\ No newline at end of file
diff --git a/cucumber/cucumber_5/collision/model_normalized_collision_9.obj b/cucumber/cucumber_5/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae449c97c472d14ffd985f943795f492020bc24c
--- /dev/null
+++ b/cucumber/cucumber_5/collision/model_normalized_collision_9.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.43330823 -0.14162808 0.01121324
+v -0.40986395 -0.08680119 -0.12772442
+v -0.41314188 -0.10566862 0.11194263
+v -0.40956236 0.15250647 0.05067601
+v -0.48823004 0.03878691 -0.06030952
+v -0.40976282 0.13916137 0.07938855
+v -0.41210136 -0.10354050 -0.11797357
+v -0.41284125 0.15766572 -0.06369678
+v -0.49050792 -0.03066973 0.03664118
+v -0.40939421 -0.04482946 -0.14413553
+v -0.47386226 0.09504620 0.02164680
+v -0.42691029 -0.13387710 -0.07228259
+v -0.46221629 -0.02886795 -0.10993871
+v -0.45958935 -0.09798127 0.05007968
+v -0.45898520 0.03855847 0.10444837
+v -0.44517536 0.11862875 0.06018666
+v -0.48985832 0.05351680 0.02250778
+v -0.46118137 0.10743833 -0.06156325
+v -0.43280277 0.14831387 0.00636671
+v -0.44484040 -0.07024427 -0.11034308
+v -0.47295928 -0.08461460 -0.04710709
+v -0.42956374 -0.09793111 0.10287392
+v -0.42468672 0.07872618 0.12657605
+v -0.43048462 0.13215518 0.06364617
+v -0.47340477 0.08070227 0.05035179
+v -0.47263888 0.09408517 -0.04683116
+v -0.48892864 -0.04380682 -0.04666411
+v -0.48966178 0.01154894 0.05084533
+v -0.43963060 0.05588667 -0.13180058
+v -0.44709873 0.13263826 -0.04788790
+v -0.44677813 0.13188955 0.02121737
+v -0.41906292 -0.08466258 -0.12270450
+v -0.44777897 -0.10060018 -0.08572166
+v -0.44659853 -0.02901061 -0.12412745
+v -0.47440110 -0.08558965 0.02291873
+v -0.46022652 -0.11187715 -0.01853326
+v -0.47393450 -0.04277027 0.07555750
+v -0.45928109 -0.02975763 0.10458115
+v -0.41151656 0.12646717 0.09634102
+v -0.42083766 0.14642909 0.04807391
+v -0.45888139 0.10609849 0.05015793
+v -0.44708055 0.09269222 0.08952778
+v -0.48848058 0.05259678 -0.04696510
+v -0.47433623 0.05247640 -0.08727883
+v -0.48856611 -0.02963210 -0.06050018
+v -0.49024057 0.03945089 0.03679072
+v -0.42329609 0.15170719 -0.06158786
+v -0.41253774 -0.01638762 -0.14930076
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diff --git a/cucumber/cucumber_5/model.xml b/cucumber/cucumber_5/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..732355a1c8e235c73e00c46955be251bde922a33
--- /dev/null
+++ b/cucumber/cucumber_5/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="cucumber_6">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.14999999999999997 0.14999999999999997 0.14999999999999997" refquat="0.7071067811865475 0.0 0.0 0.7071067811865476"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.002" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Material.002"/>
+        <geom solimp="0.998 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_25._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_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"/>
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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"/>
+        <geom solimp="0.998 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"/>
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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_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0004044689999999996 -0.00031409925000000223 -0.025909030499999992" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.0004044689999999996 -0.00031409925000000223 0.026235127499999993" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.02680843199999999 0.07418199599999999 0.00016304849999999936" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/cucumber/cucumber_5/visual/image0.png b/cucumber/cucumber_5/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..219aea28245cb1847966755fa2753d6dd98b3680
--- /dev/null
+++ b/cucumber/cucumber_5/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cf19e898fa888c3ebf5f98ce762dd419ddeb956152142fafe3d5bbfc5aa809e
+size 746016
diff --git a/cucumber/cucumber_5/visual/material.mtl b/cucumber/cucumber_5/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33616803300962094e8955deb30562079542847b
--- /dev/null
+++ b/cucumber/cucumber_5/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/cucumber/cucumber_5/visual/material_0.jpeg b/cucumber/cucumber_5/visual/material_0.jpeg
new file mode 100644
index 0000000000000000000000000000000000000000..7461484a86d85f47f79fe6120ad42139d7dacb82
--- /dev/null
+++ b/cucumber/cucumber_5/visual/material_0.jpeg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c6511d094534703678aa9d1014028626a531da84ae6d81773d772e5e8077a97
+size 97597
diff --git a/cucumber/cucumber_5/visual/model_normalized_0.obj b/cucumber/cucumber_5/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a01cd56b00903de8a3e9b7bf34811a720c814464
--- /dev/null
+++ b/cucumber/cucumber_5/visual/model_normalized_0.obj
@@ -0,0 +1,4331 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.31057147 -0.16039722 0.03799625
+v 0.31208241 -0.16320488 0.00278193
+v 0.34488142 -0.15256932 0.00576148
+v 0.34342649 -0.15054998 0.03913311
+v 0.27830495 -0.16660797 0.03406579
+v 0.27980512 -0.17033533 -0.00156532
+v 0.49838486 -0.02870978 -0.00224689
+v 0.50000000 -0.02091509 -0.00295839
+v 0.49838577 -0.02863095 -0.00060511
+v 0.20772757 -0.17573860 0.02740504
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diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_0.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..262a6d388e4984ac8f5b52f4a11504ff5c616f0c
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_0.obj
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diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_1.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46ae690944ee49f310b65d8ae85b995d0a6c71a6
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_1.obj
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_10.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3394643fd93d1dd20237343f75e5327c34a4db89
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00553840 0.00008095 0.00454527
+v 0.00627875 0.00008095 0.00454527
+v 0.00553840 0.00008095 0.00518580
+v 0.00553840 0.01001271 0.00454527
+v 0.00627875 0.00008095 0.00518580
+v 0.00627875 0.00956648 0.00454527
+v 0.00553840 0.00990091 0.00518580
+v 0.00577516 0.00976189 0.00518580
+v 0.00627875 0.00946537 0.00518580
+f 1 2 5
+f 1 5 3
+f 1 3 7
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+f 1 4 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 9
+f 3 9 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 6
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_100.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0b9a1d49c96979d2abec9e56cde1d6285ceb9ed
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_100.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00385070 0.00938951 -0.02986463
+v -0.00458747 0.00938951 -0.02956324
+v -0.00385070 0.01008286 -0.02918105
+v -0.00385070 0.00938951 -0.02865966
+v -0.00458747 0.00938951 -0.02865966
+v -0.00458747 0.00986552 -0.02902003
+v -0.00417022 0.01033537 -0.02865966
+v -0.00385070 0.01016710 -0.02907134
+v -0.00385070 0.01045853 -0.02865966
+v -0.00458747 0.01014220 -0.02865966
+f 1 2 3
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+f 4 7 10
+f 4 10 5
+f 6 10 7
+f 7 9 8
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_101.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61d355262b4809da446be10383902b8813910367
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_101.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00444150 0.00994140 0.00701060
+v 0.00513644 0.00961525 0.00701060
+v 0.00444150 0.01023321 0.00610059
+v 0.00444150 -0.00730314 0.00701060
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+v 0.00513644 -0.00730314 0.00701060
+v 0.00444150 -0.00730314 0.00610059
+v 0.00513644 -0.00730314 0.00610059
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+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_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_102.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef948b2ca8be5d5350077519f45f2c85bda8ac61
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_102.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.00458754 0.00761727 0.00701069
+v -0.00458754 0.00761727 0.00452252
+v -0.00529440 0.00761727 0.00701069
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+v -0.00458754 -0.01029801 0.00574832
+v -0.00529440 0.00761548 0.00189309
+v -0.00458754 -0.01067583 0.00189309
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+f 22 24 26
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_103.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d3a12965378ebf2e7ca61d183853d0ec5f6ea0c
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_103.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.00715824 0.00141874 -0.03050123
+v -0.00775724 0.00141874 -0.03047920
+v -0.00715836 0.00174624 -0.03050123
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+v -0.00715824 0.00141874 0.00700701
+v -0.00775724 0.00226507 -0.03046818
+v -0.00715836 0.00226507 -0.03049756
+v -0.00775724 0.00141874 0.00622850
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+v -0.00715830 0.00717287 -0.02986593
+v -0.00715830 0.00741050 -0.02971904
+v -0.00715830 0.00792661 -0.02938487
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+v -0.00715830 0.00837395 -0.02863573
+v -0.00715824 0.00174556 0.00700701
+v -0.00775660 0.00141874 0.00700701
+v -0.00775724 0.00376302 -0.03038371
+v -0.00775724 0.00437649 0.00700701
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+v -0.00775724 0.00771690 0.00700701
+v -0.00775724 0.00726752 -0.02947667
+v -0.00775724 0.00741050 -0.02932611
+v -0.00775724 0.00837395 -0.02756711
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+f 35 39 40
+f 35 40 36
+f 37 39 38
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_104.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a7d3e80ff25cd30cff98a01fd79fc0dbc8a9986
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_104.obj
@@ -0,0 +1,270 @@
+# https://github.com/mikedh/trimesh
+v 0.00444150 -0.01077672 0.00047723
+v 0.00482734 -0.01064072 0.00101468
+v 0.00444150 -0.01077604 0.00101468
+v 0.00444150 -0.01077604 -0.00102177
+v 0.00444150 -0.01077162 0.00198355
+v 0.00444150 -0.01077502 -0.00251712
+v 0.00482564 -0.01064004 -0.00048798
+v 0.00513644 -0.01047547 -0.00110952
+v 0.00513644 -0.01047683 0.00036024
+v 0.00513644 -0.01047717 0.00101468
+v 0.00482033 -0.01063630 0.00251368
+v 0.00444150 -0.01076788 0.00251368
+v 0.00444150 -0.01077230 -0.00551146
+v 0.00444150 -0.01076822 -0.01000116
+v 0.00444150 -0.01076652 -0.01149285
+v 0.00444150 -0.01076176 -0.01447988
+v 0.00482285 -0.01063868 -0.00198333
+v 0.00513644 -0.01045575 -0.01315272
+v 0.00513644 -0.01045847 -0.01165372
+v 0.00513644 -0.01046357 -0.00865206
+v 0.00513644 -0.01047071 -0.00414408
+v 0.00513644 -0.01047241 0.00188483
+v 0.00513644 -0.01046799 0.00251368
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+v 0.00444150 -0.01065432 0.00400903
+v 0.00444150 -0.01075870 -0.01597523
+v 0.00480183 -0.01062780 -0.01247268
+v 0.00480496 -0.01062950 -0.01097734
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+v 0.00481992 -0.01063732 -0.00348598
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+v 0.00513644 -0.01042481 -0.02296570
+v 0.00513644 -0.00968324 0.00678401
+v 0.00444150 -0.00993519 0.00701069
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+v 0.00444150 -0.00730314 0.00701069
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+v 0.00444150 -0.01066486 -0.02596370
+v 0.00468986 -0.01057407 -0.02596370
+v 0.00513644 -0.01033947 -0.02596370
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+f 89 90 91
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_105.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ef410462fc53823b7269de6665c6351ae39c72a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_105.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.00947276 0.00542313 0.00701069
+v -0.00947276 0.00554602 0.00678933
+v -0.00992682 0.00486288 0.00651008
+v -0.00954308 0.00529301 0.00701069
+v -0.00947276 -0.00540109 0.00701069
+v -0.00974270 0.00554602 0.00588154
+v -0.00947276 0.00554602 -0.00336285
+v -0.00992682 0.00448215 0.00701069
+v -0.00992682 0.00533276 0.00564495
+v -0.00951716 -0.00532398 0.00701069
+v -0.00992682 -0.00519024 0.00587240
+v -0.00947276 -0.00615170 0.00549771
+v -0.00980480 0.00554602 0.00563378
+v -0.00992682 0.00554602 -0.00336285
+v -0.00947276 -0.00635411 -0.00336285
+v -0.00992682 -0.00445289 0.00701069
+v -0.00984978 0.00554602 0.00545303
+v -0.00992682 0.00541710 0.00544491
+v -0.00992682 -0.00517458 0.00590286
+v -0.00992682 -0.00539627 0.00545608
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_106.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_106.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3102efccac384010a300fb0c5177bb43b779fa90
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_106.obj
@@ -0,0 +1,264 @@
+# https://github.com/mikedh/trimesh
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+v -0.01041081 -0.00521946 -0.00648446
+v -0.01041081 -0.00521975 -0.00348573
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_107.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_107.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7674f075317f42680dd53726407e04b85328219
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_107.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00385070 -0.00939842 -0.00618603
+v -0.00317310 -0.00939842 -0.00618603
+v -0.00385070 -0.00939842 0.00230865
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+v -0.00317310 -0.00939842 0.00230865
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+v -0.00385070 -0.00387162 0.00701069
+v -0.00317310 -0.00387162 0.00701069
+v -0.00317310 -0.00939788 0.00701069
+f 1 2 6
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+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_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_108.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_108.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f54089095f8b3a7d4da0121f8bc0da727818c2e
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_108.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.00061458 -0.01118377 -0.02814510
+v -0.00061458 -0.01084587 -0.02909537
+v 0.00002136 -0.01084464 -0.02909262
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+v -0.00061458 -0.01081805 -0.02914350
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+v 0.00002136 -0.01048669 -0.02972109
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_109.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_109.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5775b6c41cb0283c5ae3f107b657b3a1002413f1
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_109.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.00513651 0.00252049 -0.03053352
+v 0.00513651 0.00376365 -0.03053029
+v 0.00553840 0.00347101 -0.03053110
+v 0.00553840 0.00252049 -0.03053352
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+v 0.00524599 0.00526201 -0.03052627
+v 0.00553840 0.00497014 -0.03052546
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+v 0.00553840 0.00646928 -0.03045217
+v 0.00553840 0.00526201 -0.03051177
+v 0.00553840 0.01028383 -0.02230585
+v 0.00513903 0.01049064 -0.02230585
+v 0.00513651 0.01049220 -0.02231149
+v 0.00513651 0.00687040 -0.03044411
+v 0.00513651 0.00829071 -0.03007199
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+v 0.00513651 0.00889396 -0.02980217
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_11.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30cff1b8446acfd4f49eec62dee290756009d31e
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,276 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_110.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_110.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf09b8e0d20ae665da3da203d9abf0d82d4ce0d3
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_110.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_111.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42026b040c9abc01b53852fba989ec5f5110dabf
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_111.obj
@@ -0,0 +1,354 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_112.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_112.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69f1f0d7ba3519feb3e6435c0abee3984e033914
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_112.obj
@@ -0,0 +1,243 @@
+# https://github.com/mikedh/trimesh
+v 0.01009117 0.00285337 -0.02955440
+v 0.01023662 0.00285337 -0.02941201
+v 0.01008939 0.00285337 -0.02937810
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+v 0.01084705 0.00285337 -0.02837003
+v 0.01084705 0.00285337 -0.00646368
+v 0.01008939 0.00582344 -0.00646368
+v 0.01008939 0.00542307 -0.02753826
+v 0.01008939 0.00545563 -0.02746367
+v 0.01014991 0.00535649 -0.02746367
+v 0.01053679 0.00460692 -0.02746367
+v 0.01083978 0.00376315 -0.02746367
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+v 0.01026555 0.00555013 -0.00646368
+v 0.01008939 0.00558473 -0.02596513
+v 0.01019041 0.00541900 -0.02596513
+v 0.01059568 0.00473078 -0.02446658
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+v 0.01084705 0.00374018 -0.02744107
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_113.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_113.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ab489cd761b7295b1c5c7748c363a6e67923e85
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_113.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00292010 0.01054138 0.00701069
+v 0.00298649 0.01052452 0.00701069
+v 0.00327240 0.01060457 0.00655013
+v 0.00292010 0.01063828 0.00670793
+v 0.00292010 -0.01049908 0.00701069
+v 0.00358297 0.01032229 0.00701069
+v 0.00358297 0.01038128 0.00685740
+v 0.00345767 0.01063828 0.00612495
+v 0.00292010 0.01074361 0.00612495
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_114.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_114.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3302b10bad219e64b80d8bde2a7e4b1587b868d3
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_114.obj
@@ -0,0 +1,207 @@
+# https://github.com/mikedh/trimesh
+v -0.00775736 -0.00869764 -0.00539248
+v -0.00775736 -0.00869081 -0.00348078
+v -0.00794305 -0.00850642 -0.00289460
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+v -0.00775736 0.00771334 0.00701069
+v -0.00841174 0.00693992 0.00701069
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+v -0.00841174 0.00780042 0.00441246
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+v -0.00841174 0.00756481 0.00551090
+v -0.00775736 0.00823238 0.00551090
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_115.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_115.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23fdfc31237294a9d88e50031a9d348ce716c228
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_115.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00553884 0.00008095 -0.01443835
+v 0.00553840 0.00309808 -0.01441047
+v 0.00553855 0.00309808 -0.01443835
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+v 0.00627875 0.00309808 -0.01443835
+v 0.00627875 0.00008095 0.00454335
+v 0.00553840 0.00008095 0.00454335
+v 0.00627875 0.00309808 0.00454335
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+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_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_116.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_116.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fbd0d6f27bd1faf64f68c239df54db487b32e00
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_116.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.00947276 -0.00647527 -0.01802377
+v -0.00841174 -0.00647527 -0.01802377
+v -0.00947276 -0.00647527 0.00432982
+v -0.00947276 -0.00538685 -0.01802377
+v -0.00841174 -0.00538685 -0.01802377
+v -0.00841174 -0.00647527 0.00334227
+v -0.00944908 -0.00647527 0.00447440
+v -0.00947276 -0.00615188 0.00549627
+v -0.00947276 -0.00538685 0.00701069
+v -0.00841174 -0.00538685 0.00365593
+v -0.00841361 -0.00647527 0.00701069
+v -0.00934055 -0.00647527 0.00513114
+v -0.00930762 -0.00642593 0.00551097
+v -0.00915049 -0.00620548 0.00665291
+v -0.00942010 -0.00550554 0.00701069
+v -0.00947276 -0.00595562 0.00589325
+v -0.00947276 -0.00540144 0.00701069
+v -0.00841351 -0.00538685 0.00701069
+v -0.00878584 -0.00647527 0.00701069
+v -0.00927096 -0.00647527 0.00551097
+v -0.00883922 -0.00647527 0.00688816
+v -0.00907779 -0.00609871 0.00701069
+f 1 2 6
+f 1 6 11
+f 1 11 19
+f 1 19 21
+f 1 21 20
+f 1 20 12
+f 1 12 7
+f 1 7 3
+f 1 3 8
+f 1 8 16
+f 1 16 17
+f 1 17 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 18
+f 4 18 10
+f 4 10 5
+f 6 10 11
+f 7 12 13
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 9 17 15
+f 9 15 22
+f 9 22 19
+f 9 19 11
+f 9 11 18
+f 10 18 11
+f 12 20 13
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 14 22 15
+f 15 17 16
+f 19 22 21
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_117.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_117.obj
new file mode 100644
index 0000000000000000000000000000000000000000..818a81547e7e9af2420c4f3941062817f5db47ab
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_117.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.01089395 0.00363118 -0.02719812
+v -0.01089395 0.00356927 -0.02746550
+v -0.01126272 0.00226368 -0.02719812
+v -0.01089395 0.00089322 -0.02719812
+v -0.01089395 0.00226368 -0.02861920
+v -0.01124537 0.00226368 -0.02746550
+v -0.01141248 0.00113794 -0.02719812
+v -0.01144427 0.00089322 -0.02719812
+v -0.01089395 0.00089322 -0.02891157
+v -0.01142768 0.00089322 -0.02746550
+v -0.01143597 0.00089322 -0.02733718
+v -0.01142649 0.00103233 -0.02719812
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 11
+f 4 11 10
+f 4 10 9
+f 5 9 10
+f 5 10 6
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 8 12 11
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_118.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_118.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70c88c8974200cf740c2a9afceda4eba021fff8a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_118.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.01105859 -0.00387749 0.01141319
+v -0.01088764 -0.00431622 0.01141319
+v -0.01106955 -0.00387749 0.01149699
+v 0.01105051 -0.00387749 0.01141319
+v -0.01089422 -0.00431622 0.01146618
+v 0.01087957 -0.00431622 0.01141319
+v -0.01117913 -0.00387749 0.01281664
+v -0.01089860 -0.00431622 0.01150932
+v -0.01095996 -0.00431622 0.01223865
+v 0.01106366 -0.00387749 0.01150932
+v 0.01088614 -0.00431622 0.01145657
+v -0.01119447 -0.00387749 0.01300815
+v -0.01096873 -0.00431622 0.01234537
+v 0.01118420 -0.00387749 0.01300815
+v 0.01089272 -0.00431622 0.01150932
+v -0.01120104 -0.00387749 0.01393121
+v -0.01100380 -0.00431622 0.01279051
+v -0.01101914 -0.00431622 0.01300815
+v -0.01102571 -0.00431622 0.01379688
+v 0.01118858 -0.00387749 0.01393121
+v 0.01101106 -0.00431622 0.01300815
+v -0.01102790 -0.00431154 0.01393121
+v -0.01102571 -0.00431622 0.01393121
+v 0.01108996 -0.00412602 0.01393121
+v 0.01101325 -0.00431622 0.01358787
+v 0.01101325 -0.00431622 0.01393121
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 16
+f 1 16 20
+f 1 20 14
+f 1 14 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 11
+f 2 11 15
+f 2 15 21
+f 2 21 25
+f 2 25 26
+f 2 26 23
+f 2 23 19
+f 2 19 18
+f 2 18 17
+f 2 17 13
+f 2 13 9
+f 2 9 8
+f 2 8 5
+f 3 5 8
+f 3 8 9
+f 3 9 7
+f 4 10 11
+f 4 11 6
+f 7 9 13
+f 7 13 12
+f 10 14 15
+f 10 15 11
+f 12 13 17
+f 12 17 18
+f 12 18 19
+f 12 19 16
+f 14 20 21
+f 14 21 15
+f 16 19 22
+f 16 22 23
+f 16 23 26
+f 16 26 24
+f 16 24 20
+f 19 23 22
+f 20 24 25
+f 20 25 21
+f 24 26 25
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_119.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_119.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a44a87f1e62ae777f68bdae778b09d2140e82a1
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_119.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00689098 -0.00527113 -0.03040124
+v 0.00688905 -0.00527113 -0.03038287
+v 0.00688905 -0.00527078 -0.03040124
+v 0.00688905 -0.00523332 -0.03041226
+v 0.00759392 -0.00526168 -0.03022489
+v 0.00759392 -0.00527113 -0.03022121
+v 0.00688905 -0.00527113 0.00701069
+v 0.00759392 -0.00373217 -0.03041961
+v 0.00759392 -0.00524522 -0.03022856
+v 0.00688905 -0.00373217 -0.03050044
+v 0.00759392 -0.00527113 0.00512962
+v 0.00759129 -0.00527113 0.00701069
+v 0.00688905 -0.00169469 0.00701069
+v 0.00699248 -0.00364360 -0.03049309
+v 0.00759392 -0.00223347 -0.03048207
+v 0.00688905 -0.00364360 -0.03050411
+v 0.00759392 -0.00438822 0.00572113
+v 0.00759392 -0.00244772 0.00701069
+v 0.00688905 -0.00169469 -0.03052248
+v 0.00759392 -0.00169469 0.00701069
+v 0.00759392 -0.00169469 -0.03048207
+v 0.00688905 -0.00223347 -0.03051881
+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 13
+f 2 13 19
+f 2 19 22
+f 2 22 16
+f 2 16 10
+f 2 10 4
+f 2 4 3
+f 4 8 9
+f 4 9 5
+f 4 10 8
+f 5 9 8
+f 5 8 15
+f 5 15 21
+f 5 21 20
+f 5 20 18
+f 5 18 17
+f 5 17 11
+f 5 11 6
+f 7 12 18
+f 7 18 20
+f 7 20 13
+f 8 10 14
+f 8 14 15
+f 10 16 14
+f 11 17 12
+f 12 17 18
+f 13 20 21
+f 13 21 19
+f 14 16 15
+f 15 19 21
+f 15 16 22
+f 15 22 19
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_12.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f3dff1a8358f4850213b2ae3523125eb40a6544
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v -0.00529440 -0.01038913 -0.00852925
+v -0.00556661 -0.01025493 -0.00948342
+v -0.00556247 -0.01025493 -0.01097369
+v -0.00529440 -0.01038564 -0.01097369
+v -0.00529440 -0.01038215 -0.00551499
+v -0.00556347 -0.01025318 -0.00647928
+v -0.00556676 -0.01025493 -0.00797967
+v -0.00602487 -0.00996038 -0.00797967
+v -0.00602487 -0.00995864 -0.00948342
+v -0.00602487 -0.00995515 -0.01097369
+v -0.00602487 -0.00994992 -0.01308097
+v -0.00602487 -0.00992204 -0.02210688
+v -0.00551842 -0.01024272 -0.02296665
+v -0.00529440 -0.01037344 -0.01546810
+v -0.00529440 -0.01038041 -0.00498564
+v -0.00555367 -0.01024970 -0.00348526
+v -0.00555903 -0.01025144 -0.00498564
+v -0.00602487 -0.00995515 -0.00498564
+v -0.00602487 -0.00995864 -0.00647928
+v -0.00602487 -0.00991855 -0.02296665
+v -0.00602487 -0.00989764 -0.02362749
+v -0.00602487 -0.00986801 -0.02446703
+v -0.00547673 -0.01021484 -0.02446703
+v -0.00529440 -0.01030547 -0.02446703
+v -0.00529440 -0.01033858 -0.02338810
+v -0.00529440 -0.01035078 -0.02296665
+v -0.00529440 -0.01035950 0.00101589
+v -0.00554245 -0.01024447 -0.00048449
+v -0.00602487 -0.00993075 0.00101589
+v -0.00602487 -0.00984012 -0.02517845
+v -0.00602487 -0.00980352 -0.02596404
+v -0.00542275 -0.01017824 -0.02596404
+v -0.00529440 -0.01024447 -0.02596404
+v -0.00529440 -0.01029327 -0.02480083
+v -0.00529440 -0.01034730 0.00250953
+v -0.00553680 -0.01024098 0.00101589
+v -0.00602487 -0.00991855 0.00250953
+v -0.00602487 -0.00976344 -0.02674627
+v -0.00602487 -0.00972161 -0.02743408
+v -0.00534303 -0.01013641 -0.02743408
+v -0.00529440 -0.01023227 -0.02619332
+v -0.00529440 -0.01023924 0.00401329
+v -0.00552471 -0.01023401 0.00250953
+v -0.00602487 -0.00980004 0.00401329
+v -0.00602487 0.00741422 -0.02743408
+v -0.00529719 -0.01015907 -0.02743408
+v -0.00529440 -0.01007367 -0.02743408
+v -0.00529440 -0.01013641 0.00462693
+v -0.00541989 -0.01017475 0.00401329
+v -0.00602487 -0.00954384 0.00549007
+v -0.00529440 0.00741422 -0.02743408
+v -0.00602487 0.00741596 0.00606325
+v -0.00529440 -0.00998478 0.00544961
+v -0.00602487 -0.00920746 0.00675444
+v -0.00529440 0.00741596 0.00606325
+v -0.00602487 0.00741596 0.00701069
+v -0.00529440 -0.00963272 0.00666003
+v -0.00534167 -0.00950375 0.00701069
+v -0.00552314 -0.00940267 0.00701069
+v -0.00602487 -0.00911335 0.00701069
+v -0.00529440 0.00741596 0.00701069
+v -0.00529440 -0.00952641 0.00701069
+f 1 2 3
+f 1 3 4
+f 1 4 14
+f 1 14 26
+f 1 26 25
+f 1 25 24
+f 1 24 34
+f 1 34 33
+f 1 33 41
+f 1 41 47
+f 1 47 51
+f 1 51 55
+f 1 55 61
+f 1 61 62
+f 1 62 57
+f 1 57 53
+f 1 53 48
+f 1 48 42
+f 1 42 35
+f 1 35 27
+f 1 27 15
+f 1 15 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 3 13 14
+f 3 14 4
+f 5 15 16
+f 5 16 17
+f 5 17 6
+f 6 17 18
+f 6 18 7
+f 7 18 19
+f 7 19 8
+f 8 19 18
+f 8 18 29
+f 8 29 37
+f 8 37 44
+f 8 44 50
+f 8 50 54
+f 8 54 60
+f 8 60 56
+f 8 56 52
+f 8 52 45
+f 8 45 39
+f 8 39 38
+f 8 38 31
+f 8 31 30
+f 8 30 22
+f 8 22 21
+f 8 21 20
+f 8 20 12
+f 8 12 11
+f 8 11 10
+f 8 10 9
+f 12 20 13
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 24
+f 13 24 25
+f 13 25 26
+f 13 26 14
+f 15 27 16
+f 16 27 28
+f 16 28 29
+f 16 29 18
+f 16 18 17
+f 22 30 23
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 34
+f 23 34 24
+f 27 35 36
+f 27 36 28
+f 28 36 29
+f 29 36 37
+f 31 38 32
+f 32 38 39
+f 32 39 40
+f 32 40 41
+f 32 41 33
+f 35 42 43
+f 35 43 36
+f 36 43 37
+f 37 43 44
+f 39 45 51
+f 39 51 47
+f 39 47 46
+f 39 46 40
+f 40 46 41
+f 41 46 47
+f 42 48 49
+f 42 49 43
+f 43 49 44
+f 44 49 50
+f 45 52 55
+f 45 55 51
+f 48 53 50
+f 48 50 49
+f 50 53 54
+f 52 56 61
+f 52 61 55
+f 53 57 54
+f 54 57 58
+f 54 58 59
+f 54 59 60
+f 56 60 59
+f 56 59 58
+f 56 58 62
+f 56 62 61
+f 57 62 58
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_120.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_120.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a46c7e9ab647e68ad82b78b8ee38d27b2963e1d
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_120.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.00816521 -0.00594822 -0.02982519
+v 0.00854510 -0.00594822 -0.02958705
+v 0.00816503 -0.00594822 -0.02980535
+v 0.00816503 -0.00562153 -0.02999760
+v 0.00854510 -0.00548366 -0.02984380
+v 0.00854510 -0.00594822 -0.01782226
+v 0.00816503 -0.00594822 -0.01782226
+v 0.00816503 -0.00525388 -0.03008319
+v 0.00830740 -0.00525687 -0.03004598
+v 0.00854510 -0.00512000 -0.02998272
+v 0.00854510 0.00425613 -0.01782226
+v 0.00816503 0.00425613 -0.01782226
+v 0.00828341 -0.00467942 -0.03015885
+v 0.00816503 -0.00373232 -0.03035483
+v 0.00824405 -0.00373232 -0.03034366
+v 0.00854510 -0.00373232 -0.03023699
+v 0.00854510 0.00425613 -0.03014148
+v 0.00816503 0.00425613 -0.03027048
+v 0.00816503 -0.00223173 -0.03045157
+v 0.00824405 -0.00223173 -0.03044785
+v 0.00824405 -0.00288612 -0.03040320
+v 0.00854510 -0.00223173 -0.03035607
+v 0.00854510 0.00376260 -0.03023327
+v 0.00826350 0.00425613 -0.03024443
+v 0.00816503 0.00384052 -0.03034615
+v 0.00824405 0.00376260 -0.03033994
+v 0.00816503 -0.00073415 -0.03049127
+v 0.00824405 -0.00073415 -0.03048879
+v 0.00854510 -0.00071617 -0.03039948
+v 0.00854510 0.00342292 -0.03027296
+v 0.00824405 0.00226302 -0.03045157
+v 0.00816503 0.00234094 -0.03045405
+v 0.00854510 0.00226302 -0.03035979
+v 0.00816503 0.00076443 -0.03049375
+v 0.00824405 0.00076443 -0.03048879
+v 0.00854510 0.00074545 -0.03039948
+v 0.00854510 0.00196530 -0.03036971
+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 10
+f 2 10 16
+f 2 16 22
+f 2 22 29
+f 2 29 36
+f 2 36 37
+f 2 37 33
+f 2 33 30
+f 2 30 23
+f 2 23 17
+f 2 17 11
+f 2 11 6
+f 3 7 12
+f 3 12 18
+f 3 18 25
+f 3 25 32
+f 3 32 34
+f 3 34 27
+f 3 27 19
+f 3 19 14
+f 3 14 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 5
+f 6 11 12
+f 6 12 7
+f 8 13 9
+f 8 14 15
+f 8 15 13
+f 9 13 16
+f 9 16 10
+f 11 17 24
+f 11 24 18
+f 11 18 12
+f 13 15 16
+f 14 19 20
+f 14 20 21
+f 14 21 15
+f 15 21 22
+f 15 22 16
+f 17 23 24
+f 18 24 26
+f 18 26 25
+f 19 27 28
+f 19 28 20
+f 20 28 29
+f 20 29 22
+f 20 22 21
+f 23 30 26
+f 23 26 24
+f 25 26 31
+f 25 31 32
+f 26 33 31
+f 26 30 33
+f 27 34 28
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 31 35 34
+f 31 34 32
+f 31 33 37
+f 31 37 35
+f 35 37 36
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_121.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_121.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3995d46d602696f4d68ce304afc72f6f1b200680
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_121.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00458754 0.00603200 -0.01912601
+v -0.00529440 0.00603200 -0.01912601
+v -0.00458754 -0.00821763 -0.01912601
+v -0.00458754 0.00603200 -0.02418501
+v -0.00529440 0.00603200 -0.02418501
+v -0.00529440 -0.00821763 -0.01912601
+v -0.00458754 -0.00821763 -0.02418501
+v -0.00529440 -0.00821763 -0.02418501
+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_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_122.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_122.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8088c1b582c9ae38171206f48e44a68a74f73919
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_122.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00292010 0.01122102 0.00293864
+v 0.00358297 0.01102721 0.00293864
+v 0.00292010 0.01125406 0.00251504
+v 0.00292010 -0.01119776 0.00293864
+v 0.00358297 0.01105804 0.00251504
+v 0.00358297 -0.01102156 0.00293864
+v 0.00358297 0.01106024 0.00238168
+v 0.00292010 0.01126507 0.00142833
+v 0.00292010 -0.01122859 0.00251504
+v 0.00358297 -0.01105239 0.00251504
+v 0.00358297 0.01106905 0.00142833
+v 0.00292010 -0.01123520 0.00142833
+v 0.00358297 -0.01105460 0.00221771
+v 0.00358297 -0.01105900 0.00142833
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+f 3 7 8
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+f 4 10 6
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+f 8 11 14
+f 8 14 12
+f 9 12 13
+f 9 13 10
+f 12 14 13
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_123.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_123.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4b7ef381135cf52464411fa7493aac9b0f11087
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_123.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.00685448 0.00763895 -0.02962413
+v -0.00685448 0.00692337 -0.03007379
+v -0.00715815 0.00717355 -0.02988083
+v -0.00715815 0.00756901 -0.02962413
+v -0.00685448 -0.00152191 -0.02962413
+v -0.00685448 0.00689647 -0.03009043
+v -0.00689125 0.00690633 -0.03007379
+v -0.00715815 0.00675120 -0.03003479
+v -0.00715815 -0.00152191 -0.02962413
+v -0.00685448 -0.00152191 -0.03007379
+v -0.00686286 0.00687674 -0.03009430
+v -0.00696470 0.00683370 -0.03007379
+v -0.00685448 0.00687674 -0.03009615
+v -0.00715815 0.00526444 -0.03034414
+v -0.00715815 -0.00152191 -0.03007379
+v -0.00685448 -0.00152101 -0.03051950
+v -0.00685448 0.00676196 -0.03012001
+v -0.00685448 0.00526175 -0.03042460
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+v -0.00715815 -0.00073370 -0.03051386
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+v -0.00685448 0.00226493 -0.03052046
+v -0.00715815 0.00076562 -0.03051474
+v -0.00685448 0.00076562 -0.03052346
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_124.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_124.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26166a38f3c02796f08b73b939dd9f94b557caae
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_124.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.00688905 -0.00938161 -0.01279284
+v 0.00747793 -0.00896482 -0.00947897
+v 0.00747786 -0.00896482 0.00100981
+v 0.00688905 -0.00938123 0.00100981
+v 0.00688905 -0.00938131 -0.01429321
+v 0.00747793 -0.00896482 -0.02296503
+v 0.00751091 -0.00893196 -0.01583142
+v 0.00751084 -0.00893196 0.00101325
+v 0.00751057 -0.00893196 0.00107863
+v 0.00747310 -0.00896136 0.00251017
+v 0.00688905 -0.00937176 0.00251017
+v 0.00688905 -0.00938033 -0.01579013
+v 0.00759392 -0.00879100 -0.02446539
+v 0.00759392 -0.00884836 -0.02298911
+v 0.00751091 -0.00893196 -0.02296503
+v 0.00688905 -0.00937454 -0.02178470
+v 0.00688905 -0.00937319 -0.02296503
+v 0.00688905 -0.00932583 -0.02446539
+v 0.00744509 -0.00893805 -0.02446539
+v 0.00759392 -0.00884919 -0.02123754
+v 0.00759392 -0.00884911 0.00101325
+v 0.00759392 -0.00884806 0.00124725
+v 0.00759392 -0.00884114 0.00251361
+v 0.00750270 -0.00893196 0.00250673
+v 0.00750256 -0.00893196 0.00251361
+v 0.00749725 -0.00893196 0.00256523
+v 0.00743805 -0.00893196 0.00312270
+v 0.00688905 -0.00928801 0.00355974
+v 0.00759392 -0.00870379 -0.02596575
+v 0.00759392 -0.00884919 -0.02296503
+v 0.00688905 -0.00925982 -0.02596231
+v 0.00734905 -0.00893196 -0.02596575
+v 0.00739804 -0.00889700 -0.02596575
+v 0.00759392 -0.00881461 0.00278203
+v 0.00738693 -0.00888903 0.00401398
+v 0.00732738 -0.00893196 0.00401398
+v 0.00688905 -0.00924757 0.00401053
+v 0.00757011 -0.00861358 -0.02746267
+v 0.00759392 -0.00861358 -0.02713576
+v 0.00688905 -0.00916690 -0.02746267
+v 0.00721278 -0.00893196 -0.02746267
+v 0.00733270 -0.00884468 -0.02746267
+v 0.00759392 -0.00868567 0.00401398
+v 0.00759392 -0.00861358 0.00436154
+v 0.00757101 -0.00861358 0.00446821
+v 0.00732345 -0.00861358 0.00551090
+v 0.00719595 -0.00873386 0.00551090
+v 0.00693273 -0.00893196 0.00551090
+v 0.00688905 -0.00896482 0.00551090
+v 0.00688905 -0.00910555 0.00480545
+v 0.00742674 -0.00861358 -0.02771732
+v 0.00688905 -0.00861358 -0.02860859
+v 0.00712999 -0.00861358 -0.02824383
+v 0.00725984 -0.00861358 0.00568984
+v 0.00706934 -0.00861358 0.00613031
+v 0.00688905 -0.00886174 0.00587222
+v 0.00688905 -0.00861358 0.00654670
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+f 1 3 4
+f 1 4 11
+f 1 11 28
+f 1 28 37
+f 1 37 50
+f 1 50 49
+f 1 49 56
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+f 41 52 42
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+f 42 53 51
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+f 47 54 55
+f 47 55 56
+f 47 56 48
+f 48 56 49
+f 55 57 56
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_125.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_125.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ee126498495f723ed916b86cd9ba91acaf798de
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_125.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00193349 -0.00873051 -0.03030542
+v 0.00193349 -0.00825595 -0.03044870
+v 0.00209921 -0.00873051 -0.03030174
+v 0.00193349 -0.00873051 0.00701069
+v 0.00193349 -0.00822906 -0.03045604
+v 0.00224792 -0.00822906 -0.03044502
+v 0.00224792 -0.00873051 -0.03029807
+v 0.00292004 -0.00873051 0.00701069
+v 0.00193349 -0.00586861 0.00701069
+v 0.00292004 -0.00673031 -0.03051483
+v 0.00193349 -0.00676029 -0.03051850
+v 0.00224792 -0.00673031 -0.03051850
+v 0.00292004 -0.00822906 -0.03040094
+v 0.00292004 -0.00873051 -0.03022459
+v 0.00292004 -0.00586861 0.00701069
+v 0.00193349 -0.00586861 -0.03052218
+v 0.00292004 -0.00590362 -0.03051850
+v 0.00292004 -0.00586861 -0.03051850
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 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 4 8 15
+f 4 15 9
+f 5 10 6
+f 5 11 12
+f 5 12 10
+f 6 13 7
+f 6 10 13
+f 7 13 14
+f 8 14 13
+f 8 13 10
+f 8 10 17
+f 8 17 18
+f 8 18 15
+f 9 15 18
+f 9 18 16
+f 10 12 17
+f 11 16 12
+f 12 16 17
+f 16 18 17
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_126.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_126.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c21d86e7752dc5af839af46f941199074b0e57e
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_126.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.00854555 -0.00515081 -0.02994177
+v 0.00854544 -0.00138034 -0.03038117
+v 0.00854555 -0.00512008 -0.02997664
+v 0.00968033 -0.00515081 -0.02891997
+v 0.00854555 -0.00515081 0.00498746
+v 0.00854544 -0.00092017 -0.03039512
+v 0.00947839 -0.00066506 -0.03012660
+v 0.00854555 -0.00223349 -0.03035327
+v 0.00854555 -0.00373211 -0.03023121
+v 0.00854544 -0.00138034 0.00522460
+v 0.00935354 -0.00373211 -0.02993828
+v 0.00914508 -0.00477451 -0.02981622
+v 0.00969314 -0.00513852 -0.02890951
+v 0.00968875 -0.00515081 -0.02890603
+v 0.00854622 -0.00515081 0.00522460
+v 0.00854555 -0.00453345 0.00522460
+v 0.00854544 -0.00066506 -0.03040210
+v 0.00969325 -0.00066506 -0.03006034
+v 0.00969325 -0.00138034 -0.03003593
+v 0.00958492 -0.00223349 -0.03003593
+v 0.00943164 -0.00322584 -0.02997315
+v 0.00854544 -0.00066506 0.00522460
+v 0.00943175 -0.00322540 -0.02997315
+v 0.00969314 -0.00223349 -0.02996618
+v 0.00969314 -0.00373211 -0.02961047
+v 0.00969314 -0.00514203 -0.02890603
+v 0.00969314 -0.00515081 -0.02889208
+v 0.00969314 -0.00515081 0.00522460
+v 0.00969325 -0.00066506 0.00522460
+v 0.00969314 -0.00162755 -0.03002546
+v 0.00969325 -0.00138034 0.00522460
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+f 19 25 24
+f 20 30 24
+f 20 24 23
+f 20 23 21
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_127.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_127.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4faa21378e97aa6dc69549ce8aa3fce4f60fa7e9
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_127.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v -0.00947276 -0.00680400 -0.01996870
+v -0.00952423 -0.00672988 -0.01996870
+v -0.00952356 -0.00672988 -0.02146708
+v -0.00947276 -0.00680237 -0.02161102
+v -0.00947276 -0.00680302 -0.01697429
+v -0.00947276 -0.00680237 -0.01547591
+v -0.00952374 -0.00672988 -0.01846795
+v -0.00992682 -0.00607256 -0.01996870
+v -0.00992682 -0.00606931 -0.02215374
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+v -0.00947276 -0.00679847 -0.02303389
+v -0.00947276 -0.00679945 -0.01397517
+v -0.00952240 -0.00672988 -0.01547591
+v -0.00952320 -0.00672988 -0.01697429
+v -0.00992682 -0.00607126 -0.01846795
+v -0.00992682 -0.00606541 -0.02296546
+v -0.00992682 -0.00598316 -0.02440957
+v -0.00947276 -0.00672240 -0.02432934
+v -0.00947276 -0.00677539 -0.02347751
+v -0.00947276 -0.00679522 -0.01247679
+v -0.00952031 -0.00672988 -0.01397517
+v -0.00992682 -0.00606476 -0.01315165
+v -0.00992682 -0.00606736 -0.01465475
+v -0.00992682 -0.00593408 -0.02506555
+v -0.00947276 -0.00660310 -0.02592919
+v -0.00947276 -0.00677864 -0.00745308
+v -0.00951711 -0.00672988 -0.01247679
+v -0.00992682 -0.00605078 -0.00713689
+v -0.00992682 -0.00586646 -0.02596458
+v -0.00947276 -0.00660017 -0.02596458
+v -0.00950694 -0.00672988 -0.00798164
+v -0.00951374 -0.00672988 -0.01097841
+v -0.00947276 -0.00676857 -0.00580604
+v -0.00992682 -0.00604168 -0.00580604
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+v -0.00947276 -0.00646689 -0.02733790
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+v -0.00973548 -0.00445170 -0.00580368
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+v -0.00989237 -0.00445170 -0.02905573
+v -0.00947276 -0.00529496 -0.02908169
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_128.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_128.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbeb89984fb1cbb61a4ba46bbee470e69e639c65
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_128.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
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+v -0.00276402 0.00054950 -0.01801964
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_129.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_129.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e64a2c59fa524e987e63ce8667f0eb94c1a64d5
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_129.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00513651 -0.00116722 -0.03053110
+v 0.00513651 -0.00073910 -0.03053286
+v 0.00553840 -0.00116722 -0.03053110
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_13.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..995ae06afb88a95ded7fc20f418e6cf6d1d84d93
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,219 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_130.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_130.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7a949552c43815901ae2394f06b04732d466867
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_130.obj
@@ -0,0 +1,297 @@
+# https://github.com/mikedh/trimesh
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+v -0.00715830 -0.00919892 -0.00498516
+v -0.00748225 -0.00896767 -0.00498516
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+f 95 100 96
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_131.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_131.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25d5d8aa268f6c20a29dffad1b208d842109b525
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_131.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00276402 -0.00044486 0.00343493
+v -0.00317310 -0.00044486 0.00343493
+v -0.00276402 -0.00079031 0.00343493
+v -0.00276402 -0.00044486 -0.01652157
+v -0.00317310 -0.00079031 0.00343493
+v -0.00317310 -0.00044486 -0.01652157
+v -0.00276402 -0.00079031 -0.01652157
+v -0.00317310 -0.00079031 -0.01652157
+f 1 2 5
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+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_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_132.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_132.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db620226b788201dbf7c892c2326178d4fa8db2f
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_132.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.00947276 0.00554602 -0.00336285
+v -0.00947276 0.00554602 -0.00580368
+v -0.00992682 0.00554602 -0.00336285
+v -0.00947276 -0.00635410 -0.00336285
+v -0.00992682 0.00554602 -0.00580368
+v -0.00947276 -0.00676886 -0.00580368
+v -0.00992682 -0.00603821 -0.00336285
+v -0.00947347 -0.00676162 -0.00336285
+v -0.00947276 -0.00676283 -0.00340753
+v -0.00992682 -0.00604183 -0.00580368
+v -0.00947276 -0.00677127 -0.00536359
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+v -0.00953152 -0.00667240 -0.00336285
+v -0.00949743 -0.00672666 -0.00336285
+v -0.00950032 -0.00672907 -0.00497988
+v -0.00992682 -0.00604303 -0.00497988
+v -0.00992682 -0.00604183 -0.00412406
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+f 1 13 14
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+f 3 17 12
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+f 6 11 10
+f 7 12 13
+f 8 14 11
+f 8 11 9
+f 10 11 15
+f 10 15 16
+f 11 14 15
+f 12 17 15
+f 12 15 13
+f 13 15 14
+f 15 17 16
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_133.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_133.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b61a509b162951376a0244fdbe003382e6e8907b
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_133.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.00513651 0.00961528 0.00701069
+v 0.00533572 0.00952106 0.00701069
+v 0.00513651 0.01006797 0.00552734
+v 0.00513651 -0.00960647 0.00701069
+v 0.00550669 0.00943093 0.00701069
+v 0.00553840 0.00941864 0.00699371
+v 0.00513651 0.01009665 0.00542710
+v 0.00513651 -0.00966383 0.00684578
+v 0.00527660 -0.00953888 0.00701069
+v 0.00553840 0.00941250 0.00701069
+v 0.00553840 0.00985494 0.00545297
+v 0.00539599 0.01019292 0.00401408
+v 0.00513651 0.01010484 0.00538021
+v 0.00553840 -0.00940164 0.00700099
+v 0.00513651 -0.01007555 0.00544650
+v 0.00552034 -0.00940778 0.00701069
+v 0.00553840 -0.00939549 0.00701069
+v 0.00553840 0.01010484 0.00401408
+v 0.00513651 0.01010894 0.00535596
+v 0.00540964 0.01020316 0.00378935
+v 0.00513651 0.01032606 0.00401408
+v 0.00553840 -0.00972733 0.00589353
+v 0.00513651 -0.01007964 0.00542872
+v 0.00553840 -0.00983794 0.00545458
+v 0.00553840 0.01012328 0.00378935
+v 0.00553840 0.01022160 0.00251456
+v 0.00548714 0.01025232 0.00251456
+v 0.00513651 0.01042438 0.00251456
+v 0.00513651 -0.01008989 0.00537536
+v 0.00543305 -0.01017797 0.00401408
+v 0.00553840 -0.01008374 0.00416928
+v 0.00553840 0.01024208 0.00101666
+v 0.00549839 0.01026461 0.00101666
+v 0.00513651 0.01043872 0.00101666
+v 0.00513651 -0.01033159 0.00401408
+v 0.00553840 -0.01013290 0.00378935
+v 0.00553840 -0.01011037 0.00401408
+v 0.00513651 -0.01035208 0.00378935
+v 0.00513651 -0.01046678 0.00251456
+v 0.00553840 -0.01025375 0.00251456
+v 0.00553840 -0.01022303 0.00286054
+v 0.00553840 0.01024823 -0.00048205
+v 0.00550665 0.01026871 -0.00124757
+v 0.00513651 0.01044897 -0.00124757
+v 0.00513651 -0.01047703 0.00101666
+v 0.00553840 -0.01026400 0.00109265
+v 0.00553840 0.01024823 -0.00124757
+v 0.00513651 -0.01047498 -0.00124757
+v 0.00513651 -0.01047703 0.00039745
+v 0.00553840 -0.01026400 0.00101666
+v 0.00553840 -0.01026195 -0.00124757
+v 0.00520665 -0.01043811 -0.00124757
+f 1 2 3
+f 1 3 7
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+f 14 15 22
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+f 27 32 33
+f 28 33 34
+f 29 35 30
+f 30 36 37
+f 30 37 31
+f 30 35 38
+f 30 38 39
+f 30 39 40
+f 30 40 41
+f 30 41 36
+f 32 42 33
+f 33 42 43
+f 33 43 44
+f 33 44 34
+f 39 45 46
+f 39 46 40
+f 42 47 43
+f 43 47 51
+f 43 51 52
+f 43 52 48
+f 43 48 44
+f 45 49 50
+f 45 50 46
+f 48 52 49
+f 49 52 51
+f 49 51 50
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_134.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_134.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb9e5ec3d3013c8a4d7d74da45c1a7f748107060
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_134.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.00002136 -0.01118377 -0.00273464
+v -0.00061458 -0.01118377 -0.00273464
+v 0.00002136 -0.01163308 -0.00273464
+v 0.00002136 -0.01118377 -0.02813900
+v -0.00061458 -0.01162714 -0.00273464
+v -0.00061458 -0.01118377 -0.02814398
+v -0.00000379 -0.01163286 -0.00273464
+v 0.00002136 -0.01163317 -0.00420970
+v 0.00002136 -0.01142368 -0.02746490
+v -0.00061458 -0.01142619 -0.02746490
+v -0.00061458 -0.01162718 -0.00334655
+v -0.00061458 -0.01162736 -0.00634393
+v 0.00002136 -0.01163339 -0.00797819
+v 0.00002136 -0.01163335 -0.00720708
+v 0.00002136 -0.01147219 -0.02669379
+v -0.00061458 -0.01143473 -0.02732809
+v -0.00061458 -0.01162745 -0.00810754
+v -0.00061458 -0.01162749 -0.00934380
+v 0.00002136 -0.01163343 -0.00947812
+v 0.00002136 -0.01155618 -0.02519386
+v -0.00061458 -0.01151418 -0.02583065
+v -0.00061458 -0.01162749 -0.00960498
+v 0.00002136 -0.01163343 -0.01097806
+v 0.00002136 -0.01158990 -0.02446503
+v -0.00061458 -0.01157154 -0.02459438
+v -0.00061458 -0.01162736 -0.01097806
+v 0.00002136 -0.01163286 -0.01247551
+v -0.00061458 -0.01157748 -0.02446503
+v 0.00002136 -0.01160861 -0.02369392
+v -0.00061458 -0.01162727 -0.01110492
+v 0.00002136 -0.01163084 -0.01547289
+v 0.00002136 -0.01163185 -0.01397544
+v -0.00061458 -0.01158074 -0.02433071
+v 0.00002136 -0.01162516 -0.02296759
+v -0.00061458 -0.01162626 -0.01247551
+v 0.00002136 -0.01162868 -0.01847027
+v 0.00002136 -0.01162978 -0.01697034
+v -0.00061458 -0.01161178 -0.02296759
+v -0.00061458 -0.01162234 -0.01547289
+v -0.00061458 -0.01162032 -0.01697034
+v -0.00061458 -0.01161820 -0.01847027
+v -0.00061458 -0.01161393 -0.02146765
+v 0.00002136 -0.01162635 -0.02146765
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+f 30 36 37
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+f 34 42 38
+f 34 43 35
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_135.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_135.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5985af9fc27cdaea8102d2ba6cd878305a4d510b
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_135.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.00140316 -0.01155399 -0.01846962
+v 0.00193339 -0.01148339 -0.02296679
+v 0.00193339 -0.01148339 -0.01846962
+v 0.00140316 -0.01155340 -0.01696689
+v 0.00140316 -0.01155340 -0.02296679
+v 0.00140316 -0.01154987 -0.02312111
+v 0.00140316 -0.01153104 -0.02389268
+v 0.00193339 -0.01147574 -0.02327910
+v 0.00193339 -0.01148280 -0.01696689
+v 0.00140316 -0.01155164 -0.01246972
+v 0.00140316 -0.01151634 -0.02446585
+v 0.00193339 -0.01144515 -0.02446585
+v 0.00193339 -0.01148104 -0.01396877
+v 0.00140316 -0.01154281 -0.00048828
+v 0.00140316 -0.01142985 -0.02596124
+v 0.00193339 -0.01136102 -0.02596124
+v 0.00193339 -0.01147986 -0.01246972
+v 0.00140316 -0.01154105 0.00101446
+v 0.00140316 -0.01133808 -0.02746029
+v 0.00193339 -0.01127160 -0.02746029
+v 0.00193339 -0.01147810 -0.01097801
+v 0.00140316 -0.01153457 0.00251351
+v 0.00193339 -0.01147045 -0.00498545
+v 0.00193339 -0.01146221 0.00101446
+v 0.00140316 -0.01083859 -0.02895200
+v 0.00193339 -0.01083447 -0.02885647
+v 0.00193339 -0.01145456 0.00251351
+v 0.00193339 -0.01137749 0.00369292
+v 0.00140316 -0.01149280 0.00314914
+v 0.00140316 -0.01078211 -0.02904753
+v 0.00193339 -0.01072152 -0.02904386
+v 0.00193339 -0.01135455 0.00401257
+v 0.00140316 -0.01143044 0.00401257
+v 0.00140316 -0.01053384 -0.02945169
+v 0.00140316 -0.01040323 -0.02964275
+v 0.00193339 -0.01035087 -0.02958396
+v 0.00193339 -0.01117688 0.00519565
+v 0.00140316 -0.01134396 0.00458574
+v 0.00140316 -0.01007966 -0.02979338
+v 0.00140321 -0.00971961 -0.03002486
+v 0.00193339 -0.00962547 -0.03003588
+v 0.00140316 -0.01133219 0.00466290
+v 0.00193339 -0.01112746 0.00551163
+v 0.00140316 -0.01119982 0.00551163
+v 0.00140321 -0.00554430 -0.03052454
+v 0.00140321 -0.00673035 -0.03052087
+v 0.00140321 -0.00822939 -0.03046943
+v 0.00140321 -0.00955194 -0.03007630
+v 0.00140316 -0.01007966 0.00701069
+v 0.00193339 -0.00825645 -0.03044739
+v 0.00193339 -0.01073858 0.00701069
+v 0.00140316 -0.01081271 0.00701069
+v 0.00193339 -0.00554430 -0.03052087
+v 0.00193339 -0.00641619 -0.03052087
+v 0.00140321 -0.00554430 0.00701069
+v 0.00193339 -0.00676036 -0.03051719
+v 0.00193339 -0.00822939 -0.03045474
+v 0.00193339 -0.00554430 0.00701069
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 14
+f 1 14 18
+f 1 18 22
+f 1 22 29
+f 1 29 33
+f 1 33 38
+f 1 38 42
+f 1 42 44
+f 1 44 52
+f 1 52 49
+f 1 49 39
+f 1 39 35
+f 1 35 34
+f 1 34 30
+f 1 30 25
+f 1 25 19
+f 1 19 15
+f 1 15 11
+f 1 11 7
+f 1 7 6
+f 1 6 5
+f 1 5 2
+f 2 5 6
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+f 22 24 27
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+f 28 32 29
+f 29 32 33
+f 30 34 31
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+f 35 39 40
+f 35 40 41
+f 35 41 36
+f 37 42 38
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+f 37 44 42
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+f 39 47 48
+f 39 48 40
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+f 39 55 45
+f 40 48 41
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+f 45 53 54
+f 45 54 46
+f 45 55 58
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+f 47 57 50
+f 47 50 48
+f 49 52 51
+f 49 51 58
+f 49 58 55
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_136.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_136.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fb90ecee446fcf7419b862dd61843fbc3bab760
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_136.obj
@@ -0,0 +1,246 @@
+# https://github.com/mikedh/trimesh
+v -0.01089390 -0.00165512 -0.02879552
+v -0.01108113 -0.00165512 -0.02828798
+v -0.01089390 -0.00124229 -0.02887659
+v -0.01089390 -0.00165512 0.00658421
+v -0.01133235 -0.00165512 -0.02745971
+v -0.01126187 -0.00124229 -0.02786856
+v -0.01124664 -0.00124229 -0.02791790
+v -0.01114337 -0.00124229 -0.02819987
+v -0.01089390 -0.00062216 -0.02899643
+v -0.01089390 -0.00085440 0.00701069
+v -0.01097334 -0.00124229 0.00650315
+v -0.01102450 -0.00165512 0.00608725
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_137.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_137.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef03dd816e44670853910a08f9aaf8ffaa23e557
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_137.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.00445016 -0.01082571 0.01141319
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+v 0.00477160 -0.01061148 0.01068139
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+v 0.00475685 0.01063340 0.01068139
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+v 0.00674837 -0.00944487 0.01068139
+v 0.00688118 -0.00946821 0.01141319
+v 0.00556494 0.01033221 0.01141319
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_138.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_138.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4b7e3ce2ca9a695deaf5a5c4a0626152202fb7f
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_138.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00140316 -0.00554309 -0.03052051
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_139.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_139.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ea4308c3b348a3c050dc05d4ac3ba6a045471f3
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_139.obj
@@ -0,0 +1,264 @@
+# https://github.com/mikedh/trimesh
+v 0.00193349 0.00723955 -0.03051194
+v 0.00193349 0.00826078 -0.03045684
+v 0.00244469 0.00798522 -0.03046419
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+v 0.00193349 0.00723955 0.00701069
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+v 0.00244469 0.01065311 0.00701069
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_14.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0aa7f237954e95d6ba9f90fc20f1b182fd719d3
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v 0.00757373 -0.00704078 0.01791951
+v 0.00726681 -0.00704078 0.01832894
+v 0.00669895 -0.00736345 0.01901925
+v 0.00665447 -0.00813403 0.01791951
+v -0.00757324 -0.00704078 0.01791951
+v -0.00733305 -0.00704078 0.01832894
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+v 0.00512435 -0.00858287 0.01901925
+v 0.00485154 -0.00935716 0.01791951
+v -0.00677112 -0.00800912 0.01791951
+v -0.00686897 -0.00763561 0.01832894
+v -0.00693866 -0.00736345 0.01862716
+v -0.00664954 -0.00812752 0.01791951
+v -0.00627739 -0.00774874 0.01901925
+v 0.00503688 -0.00862626 0.01901925
+v 0.00388039 -0.00916126 0.01901925
+v 0.00375437 -0.00983451 0.01791951
+v -0.00648348 -0.00823353 0.01791951
+v -0.00524545 -0.00840308 0.01901925
+v 0.00381071 -0.00918575 0.01901925
+v 0.00224649 -0.00967550 0.01901925
+v 0.00224649 -0.01013301 0.01791951
+v -0.00387546 -0.00967519 0.01791951
+v -0.00523655 -0.00840804 0.01901925
+v 0.00074751 -0.00982800 0.01901925
+v 0.00223314 -0.01013425 0.01791951
+v -0.00383691 -0.00969534 0.01791951
+v -0.00357151 -0.00927471 0.01901925
+v -0.00074999 -0.00982676 0.01901925
+v 0.00074751 -0.01020709 0.01791951
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+v -0.00224749 -0.00973160 0.01901925
+v -0.00074851 -0.01020182 0.01791951
+v -0.00223266 -0.00973315 0.01901925
+v -0.00224749 -0.01014200 0.01791951
+v -0.00225935 -0.01013952 0.01791951
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_140.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_140.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43e846779424eab81f2b43d76a2d791231a1c942
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_140.obj
@@ -0,0 +1,264 @@
+# https://github.com/mikedh/trimesh
+v -0.00140339 0.00780201 -0.03048750
+v -0.00224886 0.00780201 -0.03047648
+v -0.00140339 0.00826038 -0.03046914
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+v -0.00276376 0.00780201 -0.03043978
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+v -0.00224886 0.00826038 -0.03045079
+v -0.00140339 0.00974800 -0.03001766
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+v -0.00276389 0.00780201 -0.00242993
+v -0.00276389 0.01130508 -0.00242993
+v -0.00276376 0.00826038 -0.03041041
+v -0.00224886 0.00960133 -0.03003602
+v -0.00140339 0.01043280 -0.02963593
+v -0.00140339 0.01121318 0.00550944
+v -0.00224899 0.01109556 0.00550944
+v -0.00219478 0.01071437 0.00701068
+v -0.00276389 0.01055300 0.00701068
+v -0.00276389 0.01130508 -0.00198212
+v -0.00276376 0.01130582 -0.00498462
+v -0.00276376 0.01130030 -0.01547134
+v -0.00276376 0.01129846 -0.01846649
+v -0.00276376 0.01129663 -0.01996407
+v -0.00276376 0.01129111 -0.02296657
+v -0.00276376 0.01126759 -0.02394660
+v -0.00276376 0.01125178 -0.02446415
+v -0.00276376 0.01123855 -0.02478348
+v -0.00276376 0.01121098 -0.02544418
+v -0.00276376 0.01118892 -0.02596172
+v -0.00276376 0.01110695 -0.02746297
+v -0.00276376 0.01077980 -0.02867425
+v -0.00276376 0.01045118 -0.02916610
+v -0.00276376 0.01026886 -0.02942304
+v -0.00276376 0.00951973 -0.03000298
+v -0.00224886 0.00990532 -0.02983781
+v -0.00224886 0.01035083 -0.02954050
+v -0.00224886 0.01085112 -0.02879171
+v -0.00140339 0.01058609 -0.02940469
+v -0.00140339 0.01144219 0.00401186
+v -0.00224899 0.01133155 0.00401186
+v -0.00276389 0.01095808 0.00548007
+v -0.00276389 0.01084854 0.00602331
+v -0.00276389 0.01065409 0.00676843
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+v -0.00224886 0.01144954 -0.00498462
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+v -0.00224886 0.01139220 -0.02446415
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+v -0.00224886 0.01132934 -0.02596172
+v -0.00224886 0.01124664 -0.02746297
+v -0.00140339 0.01136022 -0.02746297
+v -0.00140339 0.01085847 -0.02894587
+v -0.00140339 0.01154548 0.00251428
+v -0.00224899 0.01143888 0.00251428
+v -0.00276389 0.01121135 0.00369252
+v -0.00276389 0.01118819 0.00401186
+v -0.00276389 0.01111394 0.00448903
+v -0.00276389 0.01100954 0.00515340
+v -0.00180295 0.01150578 -0.00242993
+v -0.00140339 0.01155724 -0.00433127
+v -0.00276389 0.01130177 0.00101303
+v -0.00140339 0.01154989 0.00166639
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+v -0.00140339 0.01155394 0.00016881
+v -0.00140339 0.01155577 -0.00198212
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+v -0.00140339 0.01155614 -0.00582884
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+v -0.00276389 0.01125877 0.00302816
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_141.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_141.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21c9bb22c3cd80d4ba1b0bb76222ee0f166d1708
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_141.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00016242 -0.00978115 0.00930798
+v 0.00562987 -0.00978115 0.00930798
+v 0.00016242 -0.00978115 0.00963728
+v 0.00016242 0.00535238 0.00930798
+v 0.00570844 -0.00978115 0.00943682
+v 0.00648136 -0.00931452 0.00930798
+v 0.00582826 -0.00978115 0.00963728
+v 0.00016242 0.00535238 0.00963728
+v 0.00953280 0.00535238 0.00930798
+v 0.00713840 -0.00876938 0.00930798
+v 0.00725331 -0.00882419 0.00963728
+v 0.00655208 -0.00936488 0.00963728
+v 0.01009850 0.00535238 0.00963728
+v 0.00997181 0.00535238 0.00930885
+v 0.00997181 0.00535090 0.00930798
+v 0.00799972 -0.00798722 0.00930798
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+v 0.01019573 0.00506055 0.00930798
+v 0.00878345 -0.00712508 0.00930798
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+v 0.01019573 -0.00491934 0.00930798
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+v 0.00937763 -0.00653846 0.00963728
+v 0.01007395 -0.00536374 0.00963728
+v 0.00997672 -0.00532375 0.00930798
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_142.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_142.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e4b7e1d0f6a809143d2c3cd590743d9771f8178
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_142.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00688905 -0.00786381 -0.02814033
+v 0.00688905 -0.00527163 -0.02814033
+v 0.00759392 -0.00786381 -0.02814033
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+v 0.00759392 -0.00527163 0.00366286
+f 1 2 5
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+f 1 7 4
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+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_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_143.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_143.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb4f89bfa0d65a8fe169cf9792dd21822f854248
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_143.obj
@@ -0,0 +1,282 @@
+# https://github.com/mikedh/trimesh
+v -0.00140339 -0.01154328 -0.00947729
+v -0.00140339 -0.01154314 -0.00713422
+v -0.00224907 -0.01143570 -0.00798133
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+v -0.00140339 -0.01153931 0.00035998
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+v -0.00140339 -0.01119902 0.00551112
+v -0.00140339 -0.01098262 0.00635463
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+v -0.00276402 -0.01014320 0.00701069
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+v -0.00276402 -0.01075841 -0.02868682
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+v -0.00276402 -0.01024352 -0.02943660
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_144.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_144.obj
new file mode 100644
index 0000000000000000000000000000000000000000..914e3bb9a7f9b2b9c6d433f665ebb57483231d1a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_144.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.00276402 -0.00571651 -0.03052945
+v -0.00276402 0.00526001 -0.03053313
+v -0.00224897 -0.00373160 -0.03053313
+v -0.00140348 -0.00571651 -0.03052945
+v -0.00276402 -0.00571651 -0.02696803
+v -0.00140348 0.00441576 -0.03053680
+v -0.00276402 0.00676059 -0.03052945
+v -0.00224897 0.00676059 -0.03053313
+v -0.00140348 -0.00373160 -0.03053313
+v -0.00140348 -0.00571651 -0.02696803
+v -0.00140335 -0.00387584 -0.02045161
+v -0.00276376 -0.00571518 0.00701069
+v -0.00276389 -0.00526527 0.00701069
+v -0.00276402 -0.00387584 -0.00744451
+v -0.00140348 0.00676059 -0.03053313
+v -0.00140335 0.00393806 -0.02045161
+v -0.00276402 0.00780201 -0.03043757
+v -0.00224897 0.00780201 -0.03047800
+v -0.00140348 0.00780201 -0.03048534
+v -0.00140335 -0.00387584 -0.01053916
+v -0.00140348 -0.00571518 0.00701069
+v -0.00276389 0.00780201 0.00701069
+v -0.00276402 0.00393806 -0.00744451
+v -0.00140335 0.00393806 -0.01053916
+v -0.00276402 0.00780201 -0.02696803
+v -0.00140348 0.00780201 0.00701069
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 5
+f 1 5 14
+f 1 14 23
+f 1 23 25
+f 1 25 17
+f 1 17 7
+f 1 7 2
+f 2 6 3
+f 2 7 8
+f 2 8 6
+f 3 6 9
+f 4 9 11
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+f 4 20 10
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+f 5 12 13
+f 5 13 14
+f 6 8 15
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+f 6 16 11
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+f 12 22 13
+f 13 22 23
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+f 16 26 24
+f 17 25 22
+f 17 22 26
+f 17 26 19
+f 17 19 18
+f 20 24 26
+f 20 26 21
+f 22 25 23
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_145.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_145.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d923f4ab415bc802d97528f158dd01c04e6447c7
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_145.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00087903 0.01114606 0.00604639
+v 0.00140311 0.01107208 0.00604639
+v 0.00140311 0.01117072 0.00566922
+v 0.00140311 0.01121108 0.00551298
+v 0.00087903 0.01128282 0.00551298
+v 0.00087903 -0.01113418 0.00604639
+v 0.00140311 -0.01106019 0.00604639
+v 0.00140311 0.01138819 0.00441453
+v 0.00087903 0.01145993 0.00441453
+v 0.00087903 -0.01127093 0.00551298
+v 0.00140311 -0.01119919 0.00551298
+v 0.00127967 -0.01107813 0.00604639
+v 0.00140311 -0.01136958 0.00441453
+v 0.00087903 -0.01144356 0.00441453
+v 0.00140311 -0.01122385 0.00535674
+v 0.00140311 -0.01133371 0.00465352
+v 0.00115705 -0.01140545 0.00441453
+v 0.00140311 -0.01133146 0.00466837
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 10
+f 1 10 6
+f 1 6 12
+f 1 12 7
+f 1 7 2
+f 2 7 11
+f 2 11 15
+f 2 15 18
+f 2 18 16
+f 2 16 13
+f 2 13 8
+f 2 8 4
+f 2 4 3
+f 4 8 9
+f 4 9 5
+f 6 10 11
+f 6 11 12
+f 7 12 11
+f 8 13 17
+f 8 17 14
+f 8 14 9
+f 10 14 15
+f 10 15 11
+f 13 16 17
+f 14 17 15
+f 15 17 18
+f 16 18 17
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_146.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_146.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d54b61c711106e554534c7027cadc12a4a0579bb
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_146.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.00947276 -0.00348295 -0.02990940
+v -0.00951863 -0.00348295 -0.02987947
+v -0.00992682 -0.00286275 -0.02972031
+v -0.00947276 -0.00298615 -0.02999374
+v -0.00947276 -0.00348295 -0.01622818
+v -0.00992682 -0.00348295 -0.02948224
+v -0.00992682 -0.00223296 -0.02982641
+v -0.00959228 -0.00223296 -0.03004407
+v -0.00947276 -0.00236595 -0.03007128
+v -0.00947276 0.00118612 -0.01622818
+v -0.00992682 -0.00348295 -0.01622818
+v -0.00992682 -0.00176907 -0.02990395
+v -0.00987170 -0.00061551 -0.03000734
+v -0.00947276 -0.00101222 -0.03011481
+v -0.00947276 -0.00223296 -0.03007944
+v -0.00992682 0.00118612 -0.01622818
+v -0.00947276 0.00118612 -0.03010801
+v -0.00992682 -0.00065482 -0.02997606
+v -0.00992682 -0.00056432 -0.02998150
+v -0.00992682 0.00059655 -0.02998150
+v -0.00987268 0.00064682 -0.03000598
+v -0.00947276 0.00067561 -0.03012297
+v -0.00947276 -0.00064430 -0.03012297
+v -0.00992682 0.00118612 -0.02991892
+v -0.00977715 0.00118612 -0.03001823
+v -0.00992682 0.00068567 -0.02997606
+v -0.00984334 0.00118612 -0.02997469
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 14
+f 1 14 23
+f 1 23 22
+f 1 22 17
+f 1 17 10
+f 1 10 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 16
+f 3 16 24
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+f 3 18 12
+f 3 12 7
+f 4 8 9
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+f 7 12 8
+f 8 13 14
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+f 8 15 9
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+f 10 25 27
+f 10 27 24
+f 10 24 16
+f 12 18 13
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+f 13 19 20
+f 13 20 21
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 17 22 21
+f 17 21 25
+f 20 26 21
+f 21 26 25
+f 24 27 26
+f 25 26 27
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_147.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_147.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a63c1fb8c0c69671499f2bddcab9c09c8fb9615
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_147.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00685448 0.00944103 -0.01178568
+v -0.00685448 0.00943365 -0.01547255
+v -0.00715815 0.00923071 -0.01690531
+v -0.00715815 0.00923256 -0.01547255
+v -0.00715815 0.00923440 -0.01397465
+v -0.00715815 0.00923625 -0.01247525
+v -0.00715815 0.00923625 -0.01178568
+v -0.00685448 -0.00940642 -0.01178568
+v -0.00685448 0.00943181 -0.01628289
+v -0.00685448 0.00942996 -0.01690531
+v -0.00715815 -0.00916474 -0.01690531
+v -0.00715815 -0.00918319 -0.01178568
+v -0.00695792 -0.00933078 -0.01178568
+v -0.00693848 -0.00934000 -0.01335825
+v -0.00685448 -0.00939719 -0.01441816
+v -0.00685448 -0.00938613 -0.01690531
+v -0.00685448 -0.00938797 -0.01667879
+v -0.00708185 -0.00922377 -0.01628289
+v -0.00715815 -0.00917950 -0.01309115
+v -0.00715815 -0.00918134 -0.01247525
+v -0.00709350 -0.00923115 -0.01178568
+v -0.00702397 -0.00927728 -0.01335825
+v -0.00685448 -0.00938981 -0.01628289
+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 21
+f 1 21 13
+f 1 13 8
+f 1 8 15
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+f 1 23 17
+f 1 17 16
+f 1 16 10
+f 1 10 9
+f 1 9 2
+f 2 9 3
+f 3 9 10
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+f 3 16 11
+f 3 11 19
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+f 3 6 5
+f 3 5 4
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+f 12 20 21
+f 13 21 22
+f 13 22 14
+f 14 22 18
+f 14 18 15
+f 15 18 23
+f 17 23 18
+f 18 22 19
+f 19 22 21
+f 19 21 20
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_148.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_148.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9846e283761f1dad5768a4fab2ed13741344b013
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_148.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00947276 -0.00357966 -0.00788328
+v -0.00947276 0.00030210 -0.00788328
+v -0.00841174 -0.00357966 -0.00788328
+v -0.00947276 -0.00357966 0.00701069
+v -0.00841174 0.00030210 -0.00788328
+v -0.00947276 0.00030210 0.00701069
+v -0.00841174 -0.00357966 0.00417360
+v -0.00841320 -0.00357966 0.00701069
+v -0.00841174 0.00030210 0.00528598
+v -0.00841268 0.00030210 0.00701069
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 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 8
+f 8 9 10
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_149.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_149.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06468d4a01319733f5a1bb5277a274b44e89c593
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_149.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00273181 -0.01077217 0.00870791
+v 0.00221595 -0.01088435 0.00870791
+v 0.00220946 -0.01079626 0.00840548
+v 0.00248848 -0.01077217 0.00853091
+v -0.00279231 -0.01077217 0.00870791
+v 0.00111448 -0.01103903 0.00870791
+v 0.00074840 -0.01101836 0.00840548
+v 0.00224677 -0.01077217 0.00840548
+v 0.00226840 -0.01077217 0.00841661
+v -0.00251221 -0.01077217 0.00853875
+v -0.00220724 -0.01079771 0.00840548
+v -0.00221427 -0.01088651 0.00870791
+v 0.00094523 -0.01106278 0.00870791
+v 0.00074840 -0.01108739 0.00870791
+v -0.00074997 -0.01108767 0.00870791
+v -0.00074997 -0.01101818 0.00840548
+v -0.00224671 -0.01077217 0.00840548
+v -0.00085487 -0.01100289 0.00840548
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 17
+f 1 17 10
+f 1 10 5
+f 1 5 12
+f 1 12 15
+f 1 15 14
+f 1 14 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 16
+f 3 16 18
+f 3 18 11
+f 3 11 17
+f 3 17 8
+f 3 8 9
+f 3 9 4
+f 5 10 11
+f 5 11 12
+f 6 13 7
+f 7 13 14
+f 7 14 15
+f 7 15 16
+f 10 17 11
+f 11 18 12
+f 12 18 16
+f 12 16 15
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_15.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48d6bdbf32a48ccc79b9c43be252035a764367ea
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,195 @@
+# https://github.com/mikedh/trimesh
+v 0.01006233 -0.00516634 0.00930798
+v 0.00997749 -0.00532534 0.00930798
+v 0.00925926 -0.00636422 0.00883508
+v 0.00984726 -0.00516634 0.00870791
+v -0.01009542 -0.00516634 0.00930798
+v 0.00932832 -0.00646763 0.00930798
+v 0.00878373 -0.00712575 0.00930798
+v 0.00787016 -0.00785919 0.00870791
+v 0.00907378 -0.00649632 0.00870791
+v 0.00921782 -0.00630564 0.00870791
+v 0.00945460 -0.00590814 0.00870791
+v -0.00986259 -0.00516634 0.00870791
+v -0.00996717 -0.00516634 0.00897658
+v -0.00925880 -0.00637199 0.00883437
+v -0.00963173 -0.00598346 0.00930798
+v 0.00800038 -0.00798770 0.00930798
+v 0.00713812 -0.00877015 0.00930798
+v 0.00637845 -0.00924417 0.00883631
+v 0.00651263 -0.00905767 0.00870791
+v -0.00945612 -0.00590874 0.00870791
+v -0.00907530 -0.00650350 0.00870791
+v -0.00797625 -0.00776056 0.00870791
+v -0.00911674 -0.00677607 0.00930798
+v -0.00932984 -0.00647421 0.00930798
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_150.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_150.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db32dba00063653e6e128fa09c919c17cc8602af
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_150.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_151.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_151.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f21245c56c7a2a00dfd716c0eeed7ffe6d5513a4
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_151.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_152.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_152.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63b963201cfa1282a315cc9d00e4f023029bd966
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_152.obj
@@ -0,0 +1,243 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_153.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_153.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25d1a40096ab5651874f29159e737d7836d65014
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_153.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.01157900 -0.00165968 0.01141319
+v -0.01150551 -0.00223329 0.01141319
+v -0.01158589 -0.00165968 0.01145030
+v 0.01158130 -0.00165968 0.01141319
+v -0.01148254 -0.00232926 0.01141319
+v -0.01151929 -0.00223329 0.01150967
+v -0.01159279 -0.00165968 0.01150967
+v 0.01159508 -0.00165968 0.01150967
+v 0.01151010 -0.00223329 0.01141319
+v -0.01111506 -0.00373203 0.01141319
+v -0.01112655 -0.00373203 0.01150967
+v -0.01164561 -0.00223329 0.01300835
+v -0.01172140 -0.00165968 0.01300835
+v -0.01164331 -0.00165968 0.01208312
+v 0.01171910 -0.00165968 0.01300835
+v 0.01152388 -0.00223329 0.01150967
+v 0.01110817 -0.00373203 0.01141319
+v -0.01109210 -0.00379130 0.01141319
+v -0.01107142 -0.00387749 0.01150967
+v -0.01125057 -0.00373203 0.01300835
+v -0.01165709 -0.00223329 0.01450702
+v -0.01172600 -0.00165968 0.01358229
+v 0.01173058 -0.00165968 0.01450702
+v 0.01164561 -0.00223329 0.01300835
+v 0.01111965 -0.00373203 0.01150967
+v 0.01106453 -0.00387749 0.01150967
+v 0.01105075 -0.00387749 0.01141319
+v -0.01105765 -0.00387749 0.01141319
+v -0.01117937 -0.00387749 0.01281687
+v -0.01119315 -0.00387749 0.01300835
+v -0.01126206 -0.00373203 0.01450702
+v -0.01154455 -0.00223329 0.01600619
+v -0.01173289 -0.00165968 0.01450702
+v -0.01115870 -0.00373203 0.01600619
+v 0.01165939 -0.00165968 0.01543225
+v 0.01153996 -0.00223329 0.01600619
+v 0.01165250 -0.00223329 0.01450702
+v 0.01124138 -0.00373203 0.01300835
+v 0.01118396 -0.00387749 0.01300835
+v -0.01120464 -0.00387749 0.01450702
+v -0.01110358 -0.00387749 0.01600619
+v -0.01131258 -0.00223329 0.01646782
+v -0.01161805 -0.00165968 0.01600619
+v -0.01098645 -0.00373203 0.01646782
+v -0.01106683 -0.00387749 0.01610811
+v 0.01161345 -0.00165968 0.01600619
+v 0.01138378 -0.00165968 0.01646782
+v 0.01130799 -0.00223329 0.01646782
+v 0.01127813 -0.00241610 0.01646782
+v 0.01119545 -0.00290352 0.01646782
+v 0.01094510 -0.00387749 0.01646782
+v 0.01106683 -0.00387749 0.01613533
+v 0.01114951 -0.00373203 0.01600619
+v 0.01124597 -0.00373203 0.01450702
+v 0.01118856 -0.00387749 0.01450702
+v -0.01135622 -0.00165968 0.01646782
+v -0.01093132 -0.00387749 0.01646782
+v 0.01109439 -0.00387749 0.01600619
+v 0.01117937 -0.00387749 0.01469009
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 13
+f 1 13 22
+f 1 22 33
+f 1 33 43
+f 1 43 56
+f 1 56 47
+f 1 47 46
+f 1 46 35
+f 1 35 23
+f 1 23 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 17
+f 1 17 27
+f 1 27 28
+f 1 28 18
+f 1 18 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 4 8 16
+f 4 16 9
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 8 15 16
+f 9 16 17
+f 10 18 19
+f 10 19 11
+f 11 19 20
+f 11 20 12
+f 12 21 22
+f 12 22 13
+f 12 20 31
+f 12 31 21
+f 15 23 24
+f 15 24 16
+f 16 24 38
+f 16 38 25
+f 16 25 17
+f 17 25 26
+f 17 26 27
+f 18 28 19
+f 19 28 27
+f 19 27 26
+f 19 26 39
+f 19 39 55
+f 19 55 59
+f 19 59 58
+f 19 58 52
+f 19 52 51
+f 19 51 57
+f 19 57 45
+f 19 45 41
+f 19 41 40
+f 19 40 30
+f 19 30 29
+f 19 29 20
+f 20 29 30
+f 20 30 40
+f 20 40 31
+f 21 32 33
+f 21 33 22
+f 21 31 34
+f 21 34 32
+f 23 35 36
+f 23 36 37
+f 23 37 24
+f 24 37 38
+f 25 38 26
+f 26 38 39
+f 31 40 41
+f 31 41 34
+f 32 42 43
+f 32 43 33
+f 32 34 44
+f 32 44 42
+f 34 41 45
+f 34 45 44
+f 35 46 36
+f 36 46 47
+f 36 47 48
+f 36 48 49
+f 36 49 50
+f 36 50 51
+f 36 51 52
+f 36 52 53
+f 36 53 37
+f 37 53 54
+f 37 54 38
+f 38 54 55
+f 38 55 39
+f 42 56 43
+f 42 44 57
+f 42 57 51
+f 42 51 50
+f 42 50 49
+f 42 49 48
+f 42 48 47
+f 42 47 56
+f 44 45 57
+f 52 58 53
+f 53 58 59
+f 53 59 54
+f 54 59 55
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_154.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_154.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4350af4e25e23c068001d97bceabb500f4e11e3
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_154.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.00140339 -0.01014320 -0.02981247
+v -0.00151846 -0.01014320 -0.02980511
+v -0.00140339 -0.00972549 -0.03002194
+v -0.00140339 -0.01014320 0.00701069
+v -0.00252362 -0.01014320 -0.02962137
+v -0.00276376 -0.00998547 -0.02968384
+v -0.00276376 -0.00959420 -0.02994109
+v -0.00276376 -0.00949323 -0.03000724
+v -0.00224886 -0.00957296 -0.03004399
+v -0.00140339 -0.00959420 -0.03006604
+v -0.00140339 -0.00571651 0.00701069
+v -0.00276376 -0.01014320 0.00701069
+v -0.00276376 -0.01014320 -0.02953317
+v -0.00276389 -0.00734315 -0.03049601
+v -0.00276376 -0.00911149 -0.03014689
+v -0.00224886 -0.00822927 -0.03044824
+v -0.00140339 -0.00910672 -0.03021304
+v -0.00276389 -0.00571651 0.00701069
+v -0.00140339 -0.00571651 -0.03052541
+v -0.00276389 -0.00734315 0.00701069
+v -0.00276389 -0.00673045 -0.03052541
+v -0.00163687 -0.00734359 -0.03051071
+v -0.00140339 -0.00822927 -0.03046661
+v -0.00276376 -0.00771493 -0.03046661
+v -0.00276376 -0.00822927 -0.03040781
+v -0.00276389 -0.00571651 -0.03052541
+v -0.00140339 -0.00673045 -0.03052541
+v -0.00224899 -0.00571651 -0.03053276
+v -0.00140339 -0.00734315 -0.03051071
+v -0.00140339 -0.00757671 -0.03049968
+f 1 2 3
+f 1 3 10
+f 1 10 17
+f 1 17 23
+f 1 23 30
+f 1 30 29
+f 1 29 27
+f 1 27 19
+f 1 19 11
+f 1 11 4
+f 1 4 12
+f 1 12 13
+f 1 13 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 3
+f 3 9 10
+f 4 11 18
+f 4 18 20
+f 4 20 12
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 7 14 8
+f 8 14 15
+f 8 15 9
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 11 19 28
+f 11 28 26
+f 11 26 18
+f 12 20 14
+f 12 14 13
+f 14 21 22
+f 14 22 23
+f 14 23 16
+f 14 16 24
+f 14 24 25
+f 14 25 15
+f 14 20 18
+f 14 18 26
+f 14 26 21
+f 15 25 16
+f 16 23 17
+f 16 25 24
+f 19 27 28
+f 21 26 28
+f 21 28 27
+f 21 27 22
+f 22 27 29
+f 22 29 30
+f 22 30 23
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_155.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_155.obj
new file mode 100644
index 0000000000000000000000000000000000000000..595842d73e97fbe528ad9e506734d4950551ad5b
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_155.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.00816503 -0.00594922 -0.01331318
+v 0.00816503 -0.00594783 -0.01782226
+v 0.00854510 -0.00594922 -0.01331318
+v 0.00816503 -0.00594922 -0.00720223
+v 0.00854510 -0.00594783 -0.01782226
+v 0.00816503 0.00827319 -0.01782226
+v 0.00854510 -0.00594922 -0.00720223
+v 0.00816503 -0.00594783 0.00701048
+v 0.00854510 0.00790276 -0.01782226
+v 0.00816503 0.00827597 -0.01237004
+v 0.00818850 0.00825090 -0.01782226
+v 0.00854510 -0.00594783 0.00701048
+v 0.00816503 0.00723432 0.00701048
+v 0.00836611 0.00807822 -0.01782226
+v 0.00816503 0.00827736 -0.00789257
+v 0.00854510 0.00790276 -0.01696906
+v 0.00854510 0.00678452 0.00701048
+v 0.00854510 0.00741118 0.00551070
+v 0.00816503 0.00782338 0.00551070
+v 0.00854510 0.00789719 -0.01247214
+v 0.00816503 0.00827319 -0.00491001
+v 0.00854510 0.00772172 0.00401334
+v 0.00816503 0.00794314 0.00492245
+v 0.00820067 0.00823698 -0.00498294
+v 0.00816503 0.00826762 -0.00192503
+v 0.00854510 0.00788744 -0.00797764
+v 0.00854510 0.00780946 0.00297784
+v 0.00839744 0.00796682 0.00297784
+v 0.00816503 0.00812418 0.00401334
+v 0.00816503 0.00826622 -0.00128817
+v 0.00854510 0.00787491 -0.00348558
+v 0.00818809 0.00823698 0.00101620
+v 0.00854510 0.00784706 0.00251356
+v 0.00816503 0.00825090 0.00251356
+v 0.00816532 0.00821191 0.00297784
+v 0.00816503 0.00826065 0.00106239
+v 0.00854510 0.00786516 -0.00048358
+v 0.00854510 0.00785959 0.00101620
+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 29
+f 1 29 34
+f 1 34 36
+f 1 36 30
+f 1 30 25
+f 1 25 21
+f 1 21 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 14
+f 2 14 9
+f 2 9 5
+f 3 5 9
+f 3 9 16
+f 3 16 20
+f 3 20 26
+f 3 26 31
+f 3 31 37
+f 3 37 38
+f 3 38 33
+f 3 33 27
+f 3 27 22
+f 3 22 18
+f 3 18 17
+f 3 17 12
+f 3 12 7
+f 4 7 12
+f 4 12 8
+f 6 10 11
+f 8 12 17
+f 8 17 13
+f 9 14 15
+f 9 15 16
+f 10 15 14
+f 10 14 11
+f 13 17 18
+f 13 18 19
+f 15 20 16
+f 15 21 20
+f 18 22 19
+f 19 22 23
+f 20 21 24
+f 20 24 25
+f 20 25 26
+f 21 25 24
+f 22 27 28
+f 22 28 29
+f 22 29 23
+f 25 30 26
+f 26 30 32
+f 26 32 31
+f 27 33 28
+f 28 33 34
+f 28 34 35
+f 28 35 29
+f 29 35 34
+f 30 36 32
+f 31 32 37
+f 32 36 34
+f 32 34 38
+f 32 38 37
+f 33 38 34
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_156.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_156.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e93f3bee5412ade87dc5310e0ce6745ddd548b0c
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_156.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v -0.00061458 0.01092025 0.00701061
+v -0.00061458 -0.01089948 0.00701061
+v 0.00002136 0.01091569 0.00701061
+v 0.00002136 0.01111618 0.00623889
+v -0.00061458 0.01130073 0.00551296
+v 0.00002136 -0.01089948 0.00701061
+v -0.00061458 -0.01128224 0.00551296
+v -0.00005869 -0.01110453 0.00621886
+v 0.00002136 0.01129845 0.00551296
+v 0.00002136 0.01142148 0.00474123
+v -0.00061458 0.01134174 0.00524967
+v 0.00002136 -0.01110453 0.00621886
+v -0.00061458 -0.01130275 0.00538418
+v 0.00002136 -0.01128452 0.00551296
+v 0.00002136 0.01148072 0.00435871
+v 0.00002136 0.01153312 0.00401339
+v -0.00061458 0.01147616 0.00435871
+v 0.00002136 -0.01146451 0.00435871
+v -0.00061458 -0.01151464 0.00401339
+v -0.00061458 0.01153768 0.00387794
+v -0.00061458 0.01152629 0.00401339
+v 0.00002136 0.01157413 0.00345726
+v 0.00002136 -0.01151691 0.00401339
+v -0.00061458 -0.01161488 0.00251383
+v 0.00002136 -0.01162400 0.00251383
+v 0.00002136 -0.01155792 0.00345726
+v -0.00019377 0.01157185 0.00345726
+v -0.00061458 0.01162653 0.00251383
+v 0.00002136 0.01163565 0.00251383
+v -0.00061458 -0.01162400 0.00101522
+v 0.00002136 -0.01162855 0.00101522
+v 0.00002136 0.01164476 0.00101522
+v -0.00061458 0.01163337 0.00101522
+v -0.00061458 -0.01162400 -0.00273464
+v -0.00030339 -0.01162855 -0.00240267
+v 0.00002136 -0.01163083 -0.00273464
+v -0.00000235 0.01164476 -0.00273464
+v -0.00036272 0.01164248 -0.00273464
+v -0.00061458 0.01163565 -0.00048243
+v 0.00002136 0.01164476 -0.00273464
+v -0.00061458 0.01163565 -0.00273464
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 17
+f 1 17 21
+f 1 21 20
+f 1 20 28
+f 1 28 33
+f 1 33 39
+f 1 39 41
+f 1 41 34
+f 1 34 30
+f 1 30 24
+f 1 24 19
+f 1 19 13
+f 1 13 7
+f 1 7 2
+f 2 7 8
+f 2 8 12
+f 2 12 6
+f 3 6 12
+f 3 12 14
+f 3 14 18
+f 3 18 23
+f 3 23 26
+f 3 26 25
+f 3 25 31
+f 3 31 36
+f 3 36 40
+f 3 40 32
+f 3 32 29
+f 3 29 22
+f 3 22 16
+f 3 16 15
+f 3 15 10
+f 3 10 9
+f 3 9 4
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 7 13 14
+f 7 14 8
+f 8 14 12
+f 10 15 11
+f 11 15 16
+f 11 16 17
+f 13 18 14
+f 13 19 18
+f 16 20 21
+f 16 21 17
+f 16 22 20
+f 18 19 23
+f 19 24 25
+f 19 25 26
+f 19 26 23
+f 20 22 27
+f 20 27 28
+f 22 29 27
+f 24 30 25
+f 25 30 31
+f 27 29 28
+f 28 29 32
+f 28 32 33
+f 30 34 35
+f 30 35 31
+f 31 35 36
+f 32 37 38
+f 32 38 39
+f 32 39 33
+f 32 40 37
+f 34 36 35
+f 34 41 38
+f 34 38 37
+f 34 37 40
+f 34 40 36
+f 38 41 39
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_157.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_157.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4963285c3bac16ba326891aa15daa54f0692f136
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_157.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.01041081 0.00216323 -0.02820777
+v -0.01041081 0.00461495 -0.02820777
+v -0.00992686 0.00216323 -0.02820777
+v -0.01041081 0.00216323 -0.01298264
+v -0.01041081 0.00485544 -0.02746410
+v -0.01030475 0.00505713 -0.02746410
+v -0.01011862 0.00505713 -0.02793951
+v -0.01001345 0.00505713 -0.02820777
+v -0.00992686 0.00505713 -0.02820777
+v -0.00992686 0.00216323 -0.01298264
+v -0.01041081 0.00505713 -0.01298264
+v -0.01041081 0.00494977 -0.02655352
+v -0.01034122 0.00505713 -0.02679346
+v -0.00992686 0.00505713 -0.01298264
+v -0.01041081 0.00505713 -0.02538212
+v -0.01041081 0.00500841 -0.02596633
+v -0.01038499 0.00505713 -0.02596633
+v -0.01040300 0.00505713 -0.02555947
+v -0.01041081 0.00504240 -0.02555947
+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 15
+f 1 15 19
+f 1 19 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 3 9 14
+f 3 14 10
+f 4 10 14
+f 4 14 11
+f 5 12 6
+f 6 12 13
+f 6 13 17
+f 6 17 18
+f 6 18 15
+f 6 15 11
+f 6 11 14
+f 6 14 9
+f 6 9 8
+f 6 8 7
+f 12 16 17
+f 12 17 13
+f 15 18 19
+f 16 19 17
+f 17 19 18
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_158.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_158.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfe93d6fca042f22f801b1da94486c0c2214f98c
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_158.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.00627881 -0.00266179 -0.00554876
+v 0.00627881 -0.00266057 -0.01328046
+v 0.00688905 -0.00266179 -0.00554876
+v 0.00627881 -0.00266179 0.00297989
+v 0.00627881 -0.00265813 -0.01443823
+v 0.00688905 -0.00266057 -0.01328046
+v 0.00688905 -0.00266179 0.00297989
+v 0.00627881 -0.00266057 0.00581485
+v 0.00688905 -0.00265813 -0.01443823
+v 0.00627881 0.00979541 -0.01443823
+v 0.00688905 -0.00266057 0.00581485
+v 0.00627881 0.00932694 0.00581485
+v 0.00688905 0.00938428 -0.01443823
+v 0.00670107 0.00952458 -0.01443823
+v 0.00627881 0.00979785 -0.01247359
+v 0.00671953 0.00952458 -0.00647855
+v 0.00671630 0.00952458 -0.00797731
+v 0.00688905 0.00888043 0.00581485
+v 0.00627881 0.00941356 0.00550161
+v 0.00637970 0.00927814 0.00581485
+v 0.00688905 0.00938794 -0.01359964
+v 0.00688905 0.00940136 -0.00763236
+v 0.00627881 0.00980151 -0.00647855
+v 0.00672036 0.00952458 -0.00554876
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_159.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_159.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f51b0034e16c1eca6db627740b334c52df1135b6
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_159.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
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+v -0.00841320 -0.00357966 0.00701069
+v -0.00841174 -0.00416282 0.00400570
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+f 4 10 8
+f 5 8 10
+f 5 10 9
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_16.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a187f3dfc0563b6992f8d2618e2746379c8a037
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,267 @@
+# https://github.com/mikedh/trimesh
+v 0.00553853 -0.01026481 0.00101413
+v 0.00557727 -0.01024323 0.00101413
+v 0.00557026 -0.01023728 0.00250958
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+v 0.00553853 -0.01024919 0.00256470
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_160.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_160.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4759ef18c7b9b0fb32e2707f28ed3531619430bb
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_160.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.00772712 -0.00881283 0.01141319
+v 0.00772712 -0.00867014 0.01068139
+v 0.00782469 -0.00857730 0.01068139
+v 0.00821535 -0.00819735 0.01068139
+v 0.00822390 -0.00832114 0.01141319
+v 0.00772712 0.00863368 0.01141319
+v 0.00772712 0.00867322 0.01068139
+v 0.00859590 -0.00780709 0.01068139
+v 0.00902310 -0.00751311 0.01141319
+v 0.00834129 -0.00820423 0.01141319
+v 0.00820796 0.00833282 0.01141319
+v 0.00772712 0.00875059 0.01141204
+v 0.00772712 0.00869901 0.01083218
+v 0.00827016 0.00827953 0.01141319
+v 0.00820369 0.00821763 0.01068139
+v 0.00895624 -0.00743231 0.01068139
+v 0.00917859 -0.00712973 0.01068139
+v 0.00945807 -0.00673431 0.01068139
+v 0.00948373 -0.00685981 0.01141319
+v 0.00826472 0.00828468 0.01141319
+v 0.00772712 0.00874199 0.01108411
+v 0.00944252 0.00692307 0.01141319
+v 0.00896324 0.00747150 0.01090481
+v 0.00894613 0.00745087 0.01068139
+v 0.01023628 -0.00550164 0.01068139
+v 0.01029342 -0.00560307 0.01141319
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+v 0.00945030 0.00675631 0.01068139
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+v 0.00981569 0.00618897 0.01068139
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+v 0.01139815 0.00226230 0.01068139
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_161.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_161.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad0902c6dc7d5b3d5c69083f06b6c696a6965606
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_161.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00087903 0.01162758 0.00187160
+v 0.00140311 0.01156838 0.00187160
+v 0.00087903 0.01163896 -0.00048538
+v 0.00087903 -0.01160898 0.00187160
+v 0.00140311 -0.01152928 0.00187160
+v 0.00140311 0.01157065 0.00117000
+v 0.00140311 0.01157065 -0.00085429
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+v 0.00110388 0.01160709 -0.00611556
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+v 0.00135945 -0.01153611 0.00187160
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+v 0.00140311 0.01156382 -0.00955645
+v 0.00140311 0.01156155 -0.01105622
+v 0.00087903 0.01162758 -0.01183294
+v 0.00087903 -0.01161353 -0.00085429
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+v 0.00140311 -0.01154522 -0.00647776
+v 0.00140311 0.01155927 -0.01183294
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+v 0.00087903 -0.01161808 -0.00611556
+v 0.00139105 -0.01155205 -0.01183294
+v 0.00140311 -0.01154977 -0.01183294
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+f 19 23 22
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_162.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_162.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15c5f443ce0fd764f136b3ca1b5b318ae9fe4600
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_162.obj
@@ -0,0 +1,225 @@
+# https://github.com/mikedh/trimesh
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+v -0.00992686 -0.00606716 -0.01464919
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_163.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_163.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cc569afc07ba00edf103c37c737c8611a6b0ccb
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_163.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.00759392 -0.00527137 -0.02814148
+v 0.00759392 -0.00527137 -0.03022655
+v 0.00688905 -0.00527137 -0.02814148
+v 0.00759392 -0.00821379 -0.02814148
+v 0.00689084 -0.00527137 -0.03040658
+v 0.00759392 -0.00653942 -0.02994673
+v 0.00688905 -0.00684008 -0.03009085
+v 0.00688905 -0.00527137 -0.03038774
+v 0.00688905 -0.00861358 -0.02814148
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+f 14 24 15
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+f 18 26 19
+f 19 23 20
+f 19 26 25
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_164.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_164.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa56c0791f34793d4103a0ab1ab69dc600de5c8b
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_164.obj
@@ -0,0 +1,255 @@
+# https://github.com/mikedh/trimesh
+v -0.00140310 0.00208598 -0.03053364
+v -0.00140310 0.00675886 -0.03053364
+v -0.00075028 0.00376489 -0.03053732
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+v -0.00140310 0.00208598 0.00701069
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+v -0.00061465 0.00825819 -0.03047851
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+v -0.00140310 0.01155427 0.00016707
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+v -0.00061458 0.01158607 -0.02446554
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+v -0.00140310 0.01154772 -0.01631715
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_165.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_165.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98526898fd8a1b1189faa6d2defc457a2c314908
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_165.obj
@@ -0,0 +1,303 @@
+# https://github.com/mikedh/trimesh
+v 0.00444150 -0.00730314 -0.03033912
+v 0.00444150 -0.00672754 -0.03048616
+v 0.00513644 -0.00674702 -0.03045388
+v 0.00513644 -0.00730314 -0.03031043
+v 0.00444150 -0.00730314 0.00609700
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+v 0.00513644 -0.00511939 -0.03052202
+v 0.00513644 -0.00730314 0.00609700
+v 0.00444150 0.00739692 0.00610059
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+v 0.00513644 0.00076418 -0.03053637
+v 0.00513644 0.00739692 0.00610059
+v 0.00444150 0.00815494 0.00610059
+v 0.00444150 0.00226075 -0.03052919
+v 0.00444150 0.00525921 -0.03052561
+v 0.00513644 0.00536725 -0.03052561
+v 0.00513644 0.00815494 0.00610059
+v 0.00444150 0.01023244 0.00609700
+v 0.00444150 0.00606151 -0.03052202
+v 0.00444150 0.00675755 -0.03048616
+v 0.00513644 0.00675755 -0.03045388
+v 0.00513644 0.00989416 0.00609700
+v 0.00444150 0.01036173 0.00577783
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_166.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_166.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97d851d0a8570f31814a4d064e16adfb4d353032
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_166.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.00002142 0.00017983 -0.01155732
+v 0.00002142 0.01163861 -0.01155732
+v 0.00087898 0.00017983 -0.01155732
+v 0.00002142 0.00017983 -0.00310951
+v 0.00002142 0.01163973 -0.01097570
+v 0.00074887 0.01164310 -0.01155732
+v 0.00087898 0.01162625 -0.01155732
+v 0.00087898 0.00017983 -0.00310951
+v 0.00002142 0.00018095 0.00111191
+v 0.00074887 0.01164423 -0.01097570
+v 0.00002142 0.01164423 -0.00648020
+v 0.00074887 0.01165321 -0.00498212
+v 0.00087898 0.01162738 -0.01110467
+v 0.00087898 0.00018095 0.00111191
+v 0.00002142 0.01164423 0.00111191
+v 0.00002142 0.01164647 -0.00348280
+v 0.00037700 0.01165097 -0.00310951
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+v 0.00087898 0.01163412 -0.00660918
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+v 0.00087898 0.01163861 -0.00310951
+v 0.00087898 0.01163636 0.00111191
+v 0.00065292 0.01165321 0.00111191
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+v 0.00002142 0.01164647 -0.00048415
+v 0.00074887 0.01165546 -0.00048415
+v 0.00087898 0.01163861 0.00101518
+v 0.00087050 0.01163861 0.00111191
+v 0.00074887 0.01165321 0.00111191
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_167.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_167.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3eea7383dcc6d7ae02398cc8b8d45d3a886c7579
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_167.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00685448 0.00943313 -0.01690565
+v -0.00685448 0.00943313 -0.01697230
+v -0.00706457 0.00929480 -0.01690565
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+v -0.00685448 -0.00152084 -0.02144494
+v -0.00715815 -0.00152084 -0.02144494
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+f 8 12 11
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_168.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_168.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00657efbba58d6993572723eb9bff5ca7bd9cab8
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_168.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.00276402 0.00727494 -0.01801964
+v -0.00276402 0.00727494 -0.03046987
+v -0.00317310 0.00727494 -0.01801964
+v -0.00276402 -0.00598981 -0.01801964
+v -0.00276402 0.00675936 -0.03053112
+v -0.00276510 0.00727494 -0.03046987
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+v -0.00317310 -0.00598981 -0.01801964
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+v -0.00317310 -0.00580539 -0.03052990
+v -0.00317310 0.00076334 -0.03053112
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+f 10 17 15
+f 12 16 14
+f 13 14 16
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_169.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_169.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13fe99a90b7060956147e2c808d1e563c194acd6
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_169.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.00816503 0.00425729 -0.03027169
+v 0.00816503 0.00527775 -0.03007915
+v 0.00830383 0.00527932 -0.03004381
+v 0.00826350 0.00425729 -0.03024488
+v 0.00816503 0.00425729 -0.01782226
+v 0.00816503 0.00543386 -0.03004869
+v 0.00854510 0.00492933 -0.03002066
+v 0.00854510 0.00425729 -0.03014374
+v 0.00816503 0.00563599 -0.02999994
+v 0.00854510 0.00513854 -0.02997801
+v 0.00854510 0.00425729 -0.01782226
+v 0.00816503 0.00827424 -0.01782226
+v 0.00816503 0.00585620 -0.02992561
+v 0.00816503 0.00624590 -0.02979399
+v 0.00854510 0.00599069 -0.02967335
+v 0.00854510 0.00790616 -0.01782226
+v 0.00816503 0.00827463 -0.01834871
+v 0.00818846 0.00825182 -0.01782226
+v 0.00816503 0.00702649 -0.02924561
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+v 0.00854510 0.00790931 -0.01847179
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+v 0.00816503 0.00827345 -0.01984395
+v 0.00816503 0.00730136 -0.02895071
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+v 0.00854510 0.00780274 -0.02523635
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_17.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7f8ebe595691f93e4430156a8ae8c0f2b8c6d6a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.00074758 0.01129596 0.00930798
+v 0.00074758 0.01110904 0.00870791
+v -0.00074956 0.01111039 0.00870791
+v -0.00074956 0.01129166 0.00930798
+v 0.00222155 0.01109374 0.00930798
+v 0.00219983 0.01090091 0.00870791
+v -0.00094648 0.01108487 0.00870791
+v -0.00154591 0.01118800 0.00930798
+v 0.00324956 0.01088641 0.00930798
+v 0.00374619 0.01067130 0.00895937
+v 0.00298314 0.01074247 0.00870791
+v -0.00220326 0.01089903 0.00870791
+v -0.00222353 0.01108810 0.00930798
+v 0.00445711 0.01057758 0.00930798
+v 0.00454833 0.01053300 0.00921700
+v 0.00374619 0.01053058 0.00870791
+v -0.00299237 0.01074408 0.00870791
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_170.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_170.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d04718e52008169b457393664a1ca9f91cef69a1
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_170.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00061458 -0.01118377 -0.01647237
+v -0.00061458 -0.00700456 -0.01647237
+v 0.00002136 -0.01118377 -0.01647237
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+v -0.00061458 -0.00700456 -0.00273464
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+f 1 7 4
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+f 2 8 5
+f 3 5 8
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+f 4 7 8
+f 4 8 6
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_171.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_171.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfc6414f29190ac2e36e860b18d34a9c75fc384e
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_171.obj
@@ -0,0 +1,282 @@
+# https://github.com/mikedh/trimesh
+v 0.00074612 0.01160499 0.01068139
+v 0.00074612 0.01151422 0.01001022
+v -0.00074701 0.01159427 0.01068139
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+v -0.00224649 0.01140271 0.01068139
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_172.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_172.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a8902e556c3fc0d19f6ad5652b1ae0a0b2211cd
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_172.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.00061458 -0.01162675 -0.01110308
+v -0.00070613 -0.01162637 -0.00951851
+v -0.00075020 -0.01162598 -0.00951851
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+v -0.00061458 -0.00771034 -0.01151101
+v -0.00061458 -0.01162637 0.00101507
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_173.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_173.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c56fab43693ef24f71c80d5c535b1268300fc757
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_173.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00317310 -0.00499694 -0.01652157
+v -0.00317310 -0.00079034 -0.01652157
+v -0.00276402 -0.00499694 -0.01652157
+v -0.00317310 -0.00499694 0.00343493
+v -0.00276402 -0.00079034 -0.01652157
+v -0.00317310 -0.00079034 0.00343493
+v -0.00276402 -0.00499694 0.00343493
+v -0.00276402 -0.00079034 0.00343493
+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_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_174.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_174.obj
new file mode 100644
index 0000000000000000000000000000000000000000..639e6f95f993e26420e3b07c8397dfdd36eb9755
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_174.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.00841174 0.00808649 -0.01546252
+v -0.00841174 0.00808781 -0.01581427
+v -0.00899418 0.00750849 -0.01784677
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+v -0.00898359 0.00750849 -0.01546252
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+v -0.00898888 0.00750190 -0.01546252
+v -0.00947276 -0.00538679 -0.01546252
+v -0.00841174 -0.00538679 -0.01802377
+v -0.00941885 0.00686980 -0.01802377
+v -0.00947276 0.00678798 -0.01726462
+v -0.00947276 -0.00538679 -0.01802377
+v -0.00947276 0.00678403 -0.01802377
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+f 8 15 18
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+f 8 19 16
+f 8 16 10
+f 8 10 9
+f 10 16 11
+f 11 16 17
+f 11 17 19
+f 11 19 18
+f 11 18 14
+f 16 19 17
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_175.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_175.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83412f998c3ec9fe1d7426563258f3ebebd90ec2
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_175.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00969347 -0.00066518 0.00701069
+v 0.00969347 -0.00066518 0.00522460
+v 0.00854780 -0.00066518 0.00701069
+v 0.00969347 -0.00496920 0.00701069
+v 0.00854521 -0.00066518 0.00522460
+v 0.00969347 -0.00515100 0.00522460
+v 0.00854521 -0.00066518 0.00668969
+v 0.00854555 -0.00515100 0.00701069
+v 0.00960827 -0.00515100 0.00701069
+v 0.00969347 -0.00510533 0.00683026
+v 0.00854521 -0.00453357 0.00522460
+v 0.00969347 -0.00515100 0.00674616
+v 0.00854611 -0.00515100 0.00522460
+v 0.00854589 -0.00515100 0.00591728
+v 0.00965334 -0.00515100 0.00688306
+f 1 2 5
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+f 6 15 9
+f 6 9 8
+f 6 8 14
+f 6 14 13
+f 7 11 8
+f 8 11 14
+f 9 15 10
+f 10 15 12
+f 11 13 14
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_176.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_176.obj
new file mode 100644
index 0000000000000000000000000000000000000000..840441cabf0190a109608ef23a0982ab10e4cd4f
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_176.obj
@@ -0,0 +1,327 @@
+# https://github.com/mikedh/trimesh
+v -0.00317310 -0.01118896 -0.00947799
+v -0.00317310 -0.01118879 -0.00890566
+v -0.00374816 -0.01103517 -0.00947799
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+v -0.00385070 -0.01098823 -0.01547288
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+v -0.00317310 -0.01118213 -0.01547288
+v -0.00317310 -0.01117582 -0.00140752
+v -0.00374816 -0.01102361 -0.00348309
+v -0.00385070 -0.01098437 -0.00366421
+v -0.00385070 -0.01098788 -0.01565399
+v -0.00385070 -0.01098525 -0.01696889
+v -0.00385070 -0.01098490 -0.01711740
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+v -0.00317310 -0.01117915 -0.01696889
+v -0.00317310 -0.01118038 -0.01639656
+v -0.00317310 -0.01117180 0.00008849
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+v -0.00385070 -0.01098385 -0.00348309
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+v -0.00374816 -0.01100644 -0.02296740
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+v -0.00317310 -0.01116514 0.00158812
+v -0.00385070 -0.01096931 0.00101579
+v -0.00385070 -0.01097001 0.00083106
+v -0.00374816 -0.01099698 0.00251180
+v -0.00385070 -0.01095740 0.00251180
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+v -0.00385070 -0.01096230 -0.02312316
+v -0.00385070 -0.01096160 -0.02314852
+v -0.00385070 -0.01092324 -0.02446703
+v -0.00374816 -0.01096265 -0.02446703
+v -0.00317310 -0.01111785 -0.02446703
+v -0.00317310 -0.01115761 0.00251180
+v -0.00374816 -0.01089854 0.00401143
+v -0.00385070 -0.01086053 0.00401143
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+v -0.00317310 -0.01046064 0.00701069
+v -0.00375148 -0.01026340 0.00701069
+v -0.00380573 -0.01024133 0.00701069
+v -0.00385070 -0.01025605 0.00690926
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+v -0.00317310 -0.00939951 0.00701069
+v -0.00385070 -0.01021751 0.00701069
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+v -0.00374816 -0.01009087 -0.02921585
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+v -0.00385070 -0.00939951 0.00701069
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+v -0.00337268 -0.00939951 -0.02996929
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+f 106 107 110
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_177.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_177.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b188bf4bb9897d698c5bdc458c082ce3a98abcbe
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_177.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00458754 0.00603207 -0.03049026
+v -0.00493053 0.00603207 -0.03048915
+v -0.00458754 0.00674448 -0.03048470
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+v -0.00524742 0.00603207 -0.03048804
+v -0.00524770 0.00674448 -0.03045355
+v -0.00458754 0.00674448 -0.01912588
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+v -0.00527088 0.00603207 -0.03048359
+v -0.00529440 0.00674448 -0.03044354
+v -0.00529440 0.00674448 -0.01912588
+v -0.00529440 0.00603207 -0.03047803
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 9
+f 1 9 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 10
+f 3 10 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 5 9 6
+f 6 9 10
+f 8 11 10
+f 8 10 12
+f 9 12 10
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_178.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_178.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b41fab14d1d7291da1f8383d43687675ca29eac
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_178.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.00002142 0.00713599 -0.03052316
+v 0.00002142 0.00826065 -0.03048603
+v 0.00074887 0.00826065 -0.03048603
+v 0.00087898 0.00713599 -0.03052131
+v 0.00002142 0.00713599 -0.01155732
+v 0.00002142 0.00912490 -0.03022984
+v 0.00087898 0.00826065 -0.03048418
+v 0.00087898 0.00813044 -0.03048975
+v 0.00061439 0.00988101 -0.03000335
+v 0.00087898 0.00713599 -0.01155732
+v 0.00002142 0.01163907 -0.01155732
+v 0.00002142 0.00988321 -0.03000335
+v 0.00087898 0.00961838 -0.03007761
+v 0.00087898 0.00983466 -0.03001077
+v 0.00002512 0.01050999 -0.02971374
+v 0.00087898 0.01162760 -0.01155732
+v 0.00074887 0.01164481 -0.01155732
+v 0.00002142 0.01163907 -0.01174854
+v 0.00002142 0.01050999 -0.02971374
+v 0.00087898 0.01025619 -0.02978985
+v 0.00002142 0.01086487 -0.02908996
+v 0.00061439 0.01086355 -0.02908810
+v 0.00087898 0.01060445 -0.02946497
+v 0.00087898 0.01046894 -0.02967661
+v 0.00087898 0.01161391 -0.02010086
+v 0.00074887 0.01162892 -0.02127230
+v 0.00002142 0.01162892 -0.01997091
+v 0.00002142 0.01163113 -0.01847087
+v 0.00002142 0.01163554 -0.01474676
+v 0.00087898 0.01161171 -0.02146909
+v 0.00002142 0.01144530 -0.02746368
+v 0.00074887 0.01144265 -0.02746368
+v 0.00087898 0.01086178 -0.02904169
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+v 0.00074887 0.01162583 -0.02296913
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+v 0.00074887 0.01152608 -0.02596550
+v 0.00087898 0.01142544 -0.02746368
+v 0.00087898 0.01139145 -0.02757878
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+v 0.00074887 0.01159361 -0.02446731
+v 0.00002142 0.01162274 -0.02296913
+v 0.00002142 0.01162495 -0.02223953
+v 0.00002142 0.01159008 -0.02446731
+v 0.00087898 0.01150886 -0.02596550
+v 0.00002142 0.01160597 -0.02373957
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+f 42 47 43
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_179.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_179.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17f3cbb8ce17755ca1ff29326ad3284f5a59ccdf
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_179.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00074786 0.01139881 0.00963728
+v 0.00223363 0.01119975 0.00963728
+v 0.00074786 0.01129610 0.00930798
+v -0.00074985 0.01129181 0.00930798
+v -0.00074985 0.01139121 0.00963728
+v 0.00277953 0.01108957 0.00963728
+v 0.00222169 0.01109386 0.00930798
+v -0.00154646 0.01118814 0.00930798
+v -0.00187530 0.01124481 0.00963728
+v 0.00324946 0.01088637 0.00930798
+v 0.00412421 0.01073887 0.00963728
+v 0.00445740 0.01057768 0.00930798
+v -0.00222368 0.01108805 0.00930798
+v -0.00223562 0.01119159 0.00963728
+v 0.00460717 0.01056248 0.00963728
+v 0.00456159 0.01053953 0.00930798
+v -0.00374744 0.01076002 0.00930798
+v -0.00374744 0.01083895 0.00963728
+v 0.00500439 0.01035416 0.00963728
+v 0.00464733 0.01049447 0.00930798
+v -0.00457769 0.01054755 0.00930798
+v -0.00462110 0.01056994 0.00963728
+v 0.00554812 0.00998659 0.00963728
+v 0.00549928 0.00998659 0.00956533
+v 0.00532455 0.00998659 0.00930847
+v 0.00428592 0.00998659 0.00930798
+v -0.00534282 0.00998659 0.00930798
+v -0.00553709 0.00998659 0.00963728
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 18
+f 1 18 22
+f 1 22 28
+f 1 28 23
+f 1 23 19
+f 1 19 15
+f 1 15 11
+f 1 11 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 10
+f 3 10 12
+f 3 12 16
+f 3 16 20
+f 3 20 26
+f 3 26 27
+f 3 27 21
+f 3 21 17
+f 3 17 13
+f 3 13 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 6 10 7
+f 6 11 12
+f 6 12 10
+f 8 13 14
+f 8 14 9
+f 11 15 12
+f 12 15 16
+f 13 17 14
+f 14 17 18
+f 15 19 16
+f 16 19 20
+f 17 21 18
+f 18 21 22
+f 19 23 20
+f 20 23 24
+f 20 24 25
+f 20 25 26
+f 21 27 28
+f 21 28 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_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_18.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3720a831be458b2b9418a0107be072beabf0c79
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00816547 -0.00670276 -0.02942698
+v 0.00816503 -0.00670276 -0.02936208
+v 0.00816517 -0.00594922 -0.02982724
+v 0.00854510 -0.00594922 -0.02958564
+v 0.00854510 -0.00646658 -0.02930078
+v 0.00844134 -0.00670276 -0.02920702
+v 0.00816503 -0.00594922 -0.02980561
+v 0.00816503 -0.00670276 0.00701069
+v 0.00854510 -0.00594922 0.00701069
+v 0.00854510 -0.00670276 -0.02908082
+v 0.00816503 -0.00594922 0.00701069
+v 0.00854387 -0.00670276 0.00701069
+v 0.00854510 -0.00604990 0.00701069
+v 0.00854510 -0.00670276 0.00644095
+f 1 2 7
+f 1 7 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 10
+f 1 10 14
+f 1 14 12
+f 1 12 8
+f 1 8 2
+f 2 8 11
+f 2 11 7
+f 3 7 11
+f 3 11 9
+f 3 9 4
+f 4 9 13
+f 4 13 14
+f 4 14 10
+f 4 10 5
+f 5 10 6
+f 8 12 13
+f 8 13 9
+f 8 9 11
+f 12 14 13
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_180.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_180.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06d8ae754e864c8b757b646e6221910c8178f714
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_180.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00602487 0.00603692 0.00701069
+v -0.00602487 0.00603692 0.00588915
+v -0.00685448 0.00603692 0.00701069
+v -0.00602487 -0.00911216 0.00701069
+v -0.00685448 0.00603692 0.00588915
+v -0.00602487 -0.00942856 0.00588915
+v -0.00685448 -0.00847181 0.00701069
+v -0.00611517 -0.00906069 0.00701069
+v -0.00602487 -0.00920905 0.00675445
+v -0.00685448 -0.00886238 0.00588915
+v -0.00622123 -0.00913184 0.00665422
+v -0.00637097 -0.00923781 0.00588915
+v -0.00685448 -0.00859897 0.00667475
+v -0.00675622 -0.00855810 0.00701069
+v -0.00663132 -0.00866104 0.00701069
+f 1 2 5
+f 1 5 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 6
+f 1 6 2
+f 2 6 12
+f 2 12 10
+f 2 10 5
+f 3 5 10
+f 3 10 13
+f 3 13 7
+f 4 8 9
+f 6 9 11
+f 6 11 12
+f 7 13 14
+f 8 11 9
+f 8 15 11
+f 10 12 11
+f 10 11 13
+f 11 15 14
+f 11 14 13
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_181.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_181.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97ae8e0e3336512ec474050e0ee5f0c20b1ab3db
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_181.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00688905 -0.00861358 0.00366319
+v 0.00688905 -0.00527137 0.00366319
+v 0.00759392 -0.00861358 0.00366319
+v 0.00688905 -0.00861358 0.00654666
+v 0.00759392 -0.00527137 0.00366319
+v 0.00688905 -0.00527137 0.00701069
+v 0.00759392 -0.00861358 0.00436218
+v 0.00690085 -0.00861358 0.00651946
+v 0.00759392 -0.00798675 0.00662006
+v 0.00759392 -0.00784248 0.00701069
+v 0.00688905 -0.00844215 0.00701069
+v 0.00759392 -0.00527137 0.00513556
+v 0.00759129 -0.00527137 0.00701069
+v 0.00759392 -0.00857923 0.00452734
+v 0.00757101 -0.00861358 0.00447065
+v 0.00706927 -0.00861358 0.00613113
+v 0.00725984 -0.00861358 0.00569102
+v 0.00732345 -0.00861358 0.00551308
+v 0.00759392 -0.00835872 0.00551308
+v 0.00759392 -0.00536690 0.00701069
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 15
+f 1 15 18
+f 1 18 17
+f 1 17 16
+f 1 16 8
+f 1 8 4
+f 1 4 11
+f 1 11 6
+f 1 6 2
+f 2 6 13
+f 2 13 12
+f 2 12 5
+f 3 5 12
+f 3 12 20
+f 3 20 10
+f 3 10 9
+f 3 9 19
+f 3 19 14
+f 3 14 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 6 11 10
+f 6 10 20
+f 6 20 13
+f 7 14 15
+f 8 16 9
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 12 13 20
+f 14 19 15
+f 15 19 18
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_182.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_182.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddd88aa6f5ff118355c7954ba8e09313b12cddb6
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_182.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.00398235 0.01015189 0.00701069
+v 0.00444130 0.00993767 0.00701069
+v 0.00398235 0.01032326 0.00652901
+v 0.00398235 -0.01014917 0.00701069
+v 0.00444130 -0.00993067 0.00701069
+v 0.00444130 0.01035753 0.00577901
+v 0.00427169 0.01042180 0.00586671
+v 0.00398235 0.01057389 0.00561670
+v 0.00398235 -0.01029698 0.00659315
+v 0.00444130 -0.01028198 0.00603032
+v 0.00444130 -0.00995638 0.00694393
+v 0.00444130 0.01044750 0.00541121
+v 0.00439484 0.01047106 0.00541121
+v 0.00398235 0.01064458 0.00526723
+v 0.00398235 -0.01045978 0.00609445
+v 0.00430490 -0.01040194 0.00587063
+v 0.00444130 -0.01035053 0.00579602
+v 0.00444130 0.01048820 0.00523843
+v 0.00444130 0.01053533 0.00500152
+v 0.00444130 0.01054604 0.00494000
+v 0.00398235 0.01082238 0.00401461
+v 0.00398235 -0.01056474 0.00559576
+v 0.00444130 -0.01051333 0.00494000
+v 0.00444130 0.01055032 0.00490466
+v 0.00398235 0.01091663 0.00251460
+v 0.00444130 0.01065100 0.00401461
+v 0.00398235 -0.01061830 0.00527901
+v 0.00444130 -0.01054118 0.00476854
+v 0.00398235 0.01092734 0.00148581
+v 0.00444130 0.01065743 0.00390335
+v 0.00444130 0.01073455 0.00251460
+v 0.00398235 -0.01077253 0.00426984
+v 0.00398235 -0.01081109 0.00401461
+v 0.00444130 -0.01065257 0.00401461
+v 0.00444130 0.01074740 0.00101460
+v 0.00398235 0.01093162 0.00066381
+v 0.00398235 -0.01086893 0.00326722
+v 0.00444130 -0.01076610 0.00251460
+v 0.00444130 0.01075169 -0.00001681
+v 0.00398235 0.01093805 -0.00226289
+v 0.00444130 0.01076025 -0.00300242
+v 0.00444130 0.01076454 -0.00449719
+v 0.00398235 -0.01092462 0.00251460
+v 0.00444130 -0.01077039 0.00183659
+v 0.00398235 -0.01093319 0.00148581
+v 0.00398235 0.01094019 -0.00325766
+v 0.00444130 0.01076454 -0.00636107
+v 0.00398235 0.01094448 -0.00636107
+v 0.00424500 -0.01084108 0.00148581
+v 0.00444130 -0.01077253 0.00047926
+v 0.00398235 -0.01093748 -0.00315164
+v 0.00444130 -0.01076825 -0.00636107
+v 0.00398235 -0.01093748 -0.00636107
+v 0.00398235 -0.01093962 -0.00614903
+v 0.00444130 -0.01077253 -0.00550505
+v 0.00404817 -0.01091391 -0.00636107
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 21
+f 1 21 25
+f 1 25 29
+f 1 29 36
+f 1 36 40
+f 1 40 46
+f 1 46 48
+f 1 48 53
+f 1 53 54
+f 1 54 51
+f 1 51 45
+f 1 45 43
+f 1 43 37
+f 1 37 33
+f 1 33 32
+f 1 32 27
+f 1 27 22
+f 1 22 15
+f 1 15 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 11
+f 2 11 10
+f 2 10 17
+f 2 17 23
+f 2 23 28
+f 2 28 34
+f 2 34 38
+f 2 38 44
+f 2 44 50
+f 2 50 55
+f 2 55 52
+f 2 52 47
+f 2 47 42
+f 2 42 41
+f 2 41 39
+f 2 39 35
+f 2 35 31
+f 2 31 30
+f 2 30 26
+f 2 26 24
+f 2 24 20
+f 2 20 19
+f 2 19 18
+f 2 18 12
+f 2 12 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 13
+f 6 13 7
+f 7 13 8
+f 8 13 14
+f 9 15 16
+f 9 16 10
+f 10 16 17
+f 12 18 13
+f 13 18 19
+f 13 19 14
+f 14 19 20
+f 14 20 21
+f 15 22 16
+f 16 22 23
+f 16 23 17
+f 20 24 21
+f 21 24 26
+f 21 26 25
+f 22 27 23
+f 23 27 28
+f 25 26 30
+f 25 30 31
+f 25 31 29
+f 27 32 28
+f 28 32 33
+f 28 33 34
+f 29 31 35
+f 29 35 36
+f 33 37 34
+f 34 37 38
+f 35 39 36
+f 36 39 41
+f 36 41 42
+f 36 42 40
+f 37 43 38
+f 38 43 45
+f 38 45 44
+f 40 42 46
+f 42 47 48
+f 42 48 46
+f 44 45 49
+f 44 49 50
+f 45 51 49
+f 47 52 56
+f 47 56 53
+f 47 53 48
+f 49 51 50
+f 50 51 54
+f 50 54 55
+f 52 55 54
+f 52 54 56
+f 53 56 54
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_183.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_183.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edb424b4f3b52027b983263595458e5de5228d90
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_183.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.01041081 0.00216323 -0.01298141
+v -0.01041081 0.00505713 -0.01298141
+v -0.00992686 0.00216323 -0.01298141
+v -0.01041081 0.00216323 0.00701069
+v -0.00992686 0.00505713 -0.01298141
+v -0.01041081 0.00505713 0.00374847
+v -0.00992686 0.00216323 0.00701069
+v -0.01041081 0.00326742 0.00701069
+v -0.00992686 0.00505713 0.00614963
+v -0.01041081 0.00501436 0.00401265
+v -0.01038878 0.00505713 0.00401265
+v -0.00992686 0.00448266 0.00701069
+v -0.01026543 0.00376202 0.00701069
+v -0.01041081 0.00356854 0.00681499
+v -0.01012757 0.00505713 0.00546862
+v -0.01041081 0.00433281 0.00585805
+v -0.00992686 0.00486394 0.00650971
+v -0.01041081 0.00483505 0.00459582
+v -0.01033033 0.00505713 0.00438056
+v -0.01024653 0.00380791 0.00701069
+v -0.01041081 0.00429230 0.00591871
+v -0.01015325 0.00505713 0.00534924
+v -0.01041081 0.00469625 0.00500678
+v -0.01041081 0.00432204 0.00587762
+v -0.01041081 0.00431666 0.00588545
+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 21
+f 1 21 25
+f 1 25 24
+f 1 24 16
+f 1 16 23
+f 1 23 18
+f 1 18 10
+f 1 10 6
+f 1 6 2
+f 2 6 11
+f 2 11 19
+f 2 19 22
+f 2 22 15
+f 2 15 9
+f 2 9 5
+f 3 5 9
+f 3 9 17
+f 3 17 12
+f 3 12 7
+f 4 7 12
+f 4 12 20
+f 4 20 13
+f 4 13 8
+f 6 10 11
+f 8 13 14
+f 9 15 16
+f 9 16 17
+f 10 18 11
+f 11 18 19
+f 12 17 21
+f 12 21 20
+f 13 20 14
+f 14 20 21
+f 15 22 23
+f 15 23 16
+f 16 24 17
+f 17 24 25
+f 17 25 21
+f 18 23 19
+f 19 23 22
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_184.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_184.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f91ae9424bcad22906ab5a860f1d333145755f4
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_184.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.00317310 -0.00939951 -0.02999134
+v -0.00337281 -0.00939951 -0.02996512
+v -0.00374816 -0.00934106 -0.02994129
+v -0.00374816 -0.00885402 -0.03012003
+v -0.00359760 -0.00839188 -0.03030591
+v -0.00317310 -0.00885402 -0.03018914
+v -0.00317310 -0.00939951 -0.00618603
+v -0.00365928 -0.00939951 -0.02991746
+v -0.00385070 -0.00926963 -0.02994844
+v -0.00385070 -0.00931996 -0.02992699
+v -0.00385070 -0.00885402 -0.03010096
+v -0.00374816 -0.00822845 -0.03034643
+v -0.00356563 -0.00839242 -0.03030830
+v -0.00317310 -0.00874471 -0.03022488
+v -0.00317310 -0.00839242 -0.00618603
+v -0.00385070 -0.00939951 -0.00618603
+v -0.00385070 -0.00939951 -0.02985312
+v -0.00385070 -0.00829285 -0.03030353
+v -0.00385070 -0.00823224 -0.03032498
+v -0.00385070 -0.00812563 -0.03035358
+v -0.00317310 -0.00822845 -0.03038694
+v -0.00317310 -0.00839242 -0.03033690
+v -0.00385070 -0.00839242 -0.00618603
+v -0.00317310 -0.00387108 -0.00618841
+v -0.00385070 -0.00672946 -0.03051801
+v -0.00317310 -0.00730416 -0.03049657
+v -0.00385070 -0.00387108 -0.00618841
+v -0.00317310 -0.00387108 -0.03052754
+v -0.00385070 -0.00662772 -0.03052278
+v -0.00374816 -0.00672946 -0.03052278
+v -0.00317310 -0.00672946 -0.03052516
+v -0.00385070 -0.00387108 -0.03052754
+v -0.00317310 -0.00523208 -0.03053231
+v -0.00385070 -0.00523208 -0.03052754
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 22
+f 1 22 21
+f 1 21 26
+f 1 26 31
+f 1 31 33
+f 1 33 28
+f 1 28 24
+f 1 24 15
+f 1 15 7
+f 1 7 16
+f 1 16 17
+f 1 17 8
+f 1 8 2
+f 2 8 3
+f 3 9 11
+f 3 11 4
+f 3 8 10
+f 3 10 9
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 7 15 23
+f 7 23 16
+f 8 17 10
+f 9 10 17
+f 9 17 16
+f 9 16 23
+f 9 23 27
+f 9 27 32
+f 9 32 34
+f 9 34 29
+f 9 29 25
+f 9 25 20
+f 9 20 19
+f 9 19 18
+f 9 18 11
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 13
+f 13 22 14
+f 15 24 27
+f 15 27 23
+f 20 25 26
+f 20 26 21
+f 24 28 32
+f 24 32 27
+f 25 29 30
+f 25 30 26
+f 26 30 31
+f 28 33 32
+f 29 34 33
+f 29 33 30
+f 30 33 31
+f 32 33 34
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_185.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_185.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2927751ba147b9f9e594c3ecf3137f6b837ba66
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_185.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00458747 -0.00596406 0.00647479
+v -0.00385070 -0.00596406 0.00647479
+v -0.00458747 -0.00596406 0.00701069
+v -0.00458747 -0.00296039 0.00647479
+v -0.00385070 -0.00596406 0.00701069
+v -0.00385070 -0.00296039 0.00647479
+v -0.00458747 -0.00296039 0.00701069
+v -0.00385070 -0.00296039 0.00701069
+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_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_186.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_186.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c05fb4e323226b783f65a5ffa9152953b3c76adb
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_186.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.01019573 -0.00513733 0.00963728
+v 0.01019573 -0.00492022 0.00930798
+v 0.01053341 -0.00456515 0.00930798
+v 0.01055635 -0.00460978 0.00963728
+v 0.01019573 0.00522691 0.00963728
+v 0.01019573 0.00506154 0.00930798
+v 0.01075503 -0.00373122 0.00930798
+v 0.01083342 -0.00373122 0.00963728
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_187.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_187.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f38a5057cc311db75d5139b3eb3731c62242688a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_187.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
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+v 0.00000158 -0.01077217 0.00870791
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_188.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_188.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38d6266fcf500226eb494fda3f9ceba27ee5f29c
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_188.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.00398235 -0.01093987 -0.01064568
+v 0.00444139 -0.01077119 -0.00700445
+v 0.00398235 -0.01093987 -0.00914675
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_189.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_189.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fc50e1ac1a2d73b3387973705034f996fdb65c1
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_189.obj
@@ -0,0 +1,210 @@
+# https://github.com/mikedh/trimesh
+v 0.00140326 -0.00010765 -0.03052451
+v 0.00140316 0.00908921 -0.03022314
+v 0.00140321 0.00558608 -0.03052451
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+v 0.00193339 -0.00010765 0.00699966
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_19.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efb7143996a8c1d2813db29afc843248e2b99eaa
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.00074973 0.01111352 0.01713193
+v -0.00065530 0.01110793 0.01713193
+v -0.00074906 0.01106527 0.01720679
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+f 48 52 49
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_190.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_190.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f987fb1cc7bf7c5a5e2ad2de2f8971725ccaa22
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_190.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00715824 -0.00221018 -0.03050043
+v -0.00775730 -0.00221018 -0.03047162
+v -0.00775730 -0.00140668 -0.03048963
+v -0.00775730 -0.00122197 -0.03049323
+v -0.00715824 -0.00182122 -0.03050763
+v -0.00715824 -0.00221018 0.00627884
+v -0.00775730 -0.00221018 0.00627884
+v -0.00775730 -0.00073390 -0.03049683
+v -0.00715824 -0.00073390 -0.03051123
+v -0.00715824 0.00141871 0.00627884
+v -0.00775730 0.00141871 0.00627884
+v -0.00775730 0.00076475 -0.03049683
+v -0.00715824 0.00076475 -0.03051123
+v -0.00715824 0.00141871 -0.03050403
+v -0.00775730 0.00141871 -0.03047882
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 13
+f 1 13 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 12
+f 2 12 8
+f 2 8 4
+f 2 4 3
+f 4 8 5
+f 5 8 9
+f 6 10 11
+f 6 11 7
+f 8 12 13
+f 8 13 9
+f 10 14 15
+f 10 15 11
+f 12 14 13
+f 12 15 14
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_191.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_191.obj
new file mode 100644
index 0000000000000000000000000000000000000000..729fafdf03c418bc1441a88d591c0604c5978547
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_191.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.00602487 0.00741596 -0.00733122
+v -0.00602487 0.00996314 -0.00733122
+v -0.00529440 0.00741596 -0.00733122
+v -0.00602487 0.00741596 0.00701069
+v -0.00552686 0.01026839 -0.00733122
+v -0.00602487 0.00996720 -0.00286552
+v -0.00529440 0.01038225 -0.00733122
+v -0.00529440 0.00741596 0.00701069
+v -0.00602487 0.00909094 0.00701069
+v -0.00552607 0.01026955 -0.00647908
+v -0.00542690 0.01031748 -0.00733122
+v -0.00602487 0.00996982 0.00013314
+v -0.00552314 0.01027333 -0.00348042
+v -0.00551992 0.01027711 -0.00048175
+v -0.00529440 0.01038283 -0.00647908
+v -0.00529440 0.00955129 0.00701069
+v -0.00551585 0.00943308 0.00701069
+v -0.00602487 0.00923761 0.00674957
+v -0.00602487 0.00997011 0.00101477
+v -0.00551813 0.01027885 0.00101477
+v -0.00529440 0.01038283 -0.00497975
+v -0.00529440 0.00995762 0.00561524
+v -0.00533967 0.00952718 0.00701069
+v -0.00602487 0.00924342 0.00672991
+v -0.00602487 0.00995733 0.00246075
+v -0.00550827 0.01027536 0.00251410
+v -0.00529440 0.01038196 0.00101477
+v -0.00529440 0.01038225 -0.00048175
+v -0.00529440 0.01038254 -0.00198109
+v -0.00529440 0.01000351 0.00542993
+v -0.00602487 0.00956698 0.00548328
+v -0.00602487 0.00933956 0.00639439
+v -0.00602487 0.00932968 0.00643229
+v -0.00602487 0.00995704 0.00247760
+v -0.00602487 0.00990418 0.00319638
+v -0.00539994 0.01020856 0.00401343
+v -0.00529440 0.01025997 0.00401343
+v -0.00529440 0.01034972 0.00288753
+v -0.00529440 0.01037324 0.00251410
+v -0.00529440 0.01017110 0.00453988
+v -0.00602487 0.00967415 0.00491331
+v -0.00602487 0.00983215 0.00401343
+v -0.00529440 0.01024690 0.00411591
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 24
+f 1 24 33
+f 1 33 32
+f 1 32 31
+f 1 31 41
+f 1 41 42
+f 1 42 35
+f 1 35 34
+f 1 34 25
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+f 1 12 6
+f 1 6 2
+f 2 6 5
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+f 3 15 21
+f 3 21 29
+f 3 29 28
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+f 3 37 43
+f 3 43 40
+f 3 40 30
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+f 3 16 8
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+f 4 23 17
+f 4 17 9
+f 5 10 11
+f 5 6 12
+f 5 12 10
+f 7 11 13
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+f 7 14 15
+f 9 17 18
+f 10 12 13
+f 10 13 11
+f 12 19 20
+f 12 20 14
+f 12 14 13
+f 14 20 15
+f 15 20 21
+f 16 22 23
+f 17 23 24
+f 17 24 18
+f 19 25 26
+f 19 26 20
+f 20 27 28
+f 20 28 29
+f 20 29 21
+f 20 26 27
+f 22 30 31
+f 22 31 32
+f 22 32 33
+f 22 33 24
+f 22 24 23
+f 25 34 26
+f 26 34 35
+f 26 35 36
+f 26 36 37
+f 26 37 38
+f 26 38 39
+f 26 39 27
+f 30 40 31
+f 31 40 36
+f 31 36 41
+f 35 42 36
+f 36 42 41
+f 36 40 43
+f 36 43 37
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_192.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_192.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0061b6738228da0507c9d2058163977668671567
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_192.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00513651 0.00252049 -0.02230585
+v 0.00513651 0.01048121 -0.02230585
+v 0.00553840 0.00252049 -0.02230585
+v 0.00513651 0.00252049 -0.01260796
+v 0.00513651 0.01049213 -0.02229351
+v 0.00513911 0.01049057 -0.02230585
+v 0.00553840 0.01028379 -0.02230585
+v 0.00553840 0.00252049 -0.01292315
+v 0.00553769 0.00252049 -0.01260796
+v 0.00513651 0.01047496 -0.01260796
+v 0.00553840 0.01028301 -0.02146755
+v 0.00513651 0.01048979 -0.02079159
+v 0.00553813 0.01027443 -0.01307790
+v 0.00553840 0.01027443 -0.01319657
+v 0.00553840 0.00688242 -0.01307695
+v 0.00553706 0.01027365 -0.01260796
+v 0.00513651 0.01047653 -0.01307695
+v 0.00547121 0.01030720 -0.01260796
+v 0.00525764 0.01041566 -0.01307695
+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 17
+f 1 17 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 11
+f 3 11 14
+f 3 14 15
+f 3 15 8
+f 4 9 16
+f 4 16 18
+f 4 18 10
+f 5 11 7
+f 5 7 6
+f 5 12 13
+f 5 13 14
+f 5 14 11
+f 8 15 9
+f 9 15 14
+f 9 14 16
+f 10 18 17
+f 12 17 19
+f 12 19 13
+f 13 19 18
+f 13 18 16
+f 13 16 14
+f 17 18 19
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_193.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_193.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e702aad2642b7b576fa967e38df5e93063ceb2c
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_193.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.00775736 0.00874332 -0.01097449
+v -0.00823098 0.00825868 -0.01097449
+v -0.00775736 -0.00660998 -0.01097449
+v -0.00775736 0.00874844 -0.01599659
+v -0.00841174 0.00809827 -0.02146777
+v -0.00841174 0.00809656 -0.01996466
+v -0.00841174 0.00808803 -0.01581729
+v -0.00841174 0.00807438 -0.01133812
+v -0.00841174 0.00807267 -0.01097952
+v -0.00841136 0.00807267 -0.01097449
+v -0.00841162 -0.00660998 -0.01097449
+v -0.00775736 -0.00868337 -0.01097617
+v -0.00775736 0.00875015 -0.02048749
+v -0.00841174 0.00809656 -0.02296586
+v -0.00775736 0.00874844 -0.02296586
+v -0.00841174 -0.00800930 -0.01097617
+v -0.00841174 -0.00805196 -0.01097617
+v -0.00824514 -0.00821408 -0.01097617
+v -0.00824514 -0.00821408 -0.01097785
+v -0.00841174 -0.00805367 -0.01130964
+v -0.00841174 -0.00805196 -0.01430748
+v -0.00841174 -0.00804514 -0.01730699
+v -0.00841174 -0.00803149 -0.02179956
+v -0.00775736 -0.00868166 -0.01153418
+v -0.00775736 0.00873137 -0.02390593
+v -0.00841174 0.00806243 -0.02410366
+v -0.00841174 -0.00802637 -0.02313343
+v -0.00824514 -0.00818336 -0.02296586
+v -0.00775736 -0.00866630 -0.01604351
+v -0.00775736 0.00855902 -0.02596537
+v -0.00810018 0.00810680 -0.02744502
+v -0.00813868 0.00814775 -0.02649154
+v -0.00820260 0.00821601 -0.02482757
+v -0.00841174 0.00791226 -0.02596537
+v -0.00841174 -0.00798541 -0.02427626
+v -0.00775736 -0.00862364 -0.02342332
+v -0.00775736 -0.00863900 -0.02296586
+v -0.00775736 0.00843274 -0.02746345
+v -0.00809954 0.00810509 -0.02746345
+v -0.00841174 0.00778598 -0.02746345
+v -0.00841174 -0.00790691 -0.02556823
+v -0.00816046 -0.00812705 -0.02596370
+v -0.00775736 -0.00851272 -0.02596370
+v -0.00775736 -0.00858610 -0.02441199
+v -0.00775736 0.00813239 -0.02809017
+v -0.00776959 0.00812557 -0.02809017
+v -0.00798270 0.00799076 -0.02809017
+v -0.00841174 0.00743444 -0.02809017
+v -0.00841174 -0.00781647 -0.02689371
+v -0.00810601 -0.00808439 -0.02746345
+v -0.00775736 -0.00841715 -0.02746345
+v -0.00775736 -0.00661339 -0.02809352
+v -0.00841174 -0.00661339 -0.02809352
+v -0.00841174 -0.00776869 -0.02746345
+v -0.00835499 -0.00759292 -0.02809352
+v -0.00799097 -0.00796835 -0.02809352
+v -0.00775736 -0.00819019 -0.02809352
+v -0.00841174 -0.00751442 -0.02809352
+v -0.00841174 -0.00756050 -0.02801979
+f 1 2 10
+f 1 10 11
+f 1 11 3
+f 1 3 12
+f 1 12 24
+f 1 24 29
+f 1 29 37
+f 1 37 36
+f 1 36 44
+f 1 44 43
+f 1 43 51
+f 1 51 57
+f 1 57 52
+f 1 52 45
+f 1 45 38
+f 1 38 30
+f 1 30 25
+f 1 25 15
+f 1 15 13
+f 1 13 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
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+f 4 13 5
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+f 5 48 53
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+f 5 59 54
+f 5 54 49
+f 5 49 41
+f 5 41 35
+f 5 35 27
+f 5 27 23
+f 5 23 22
+f 5 22 21
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+f 5 17 16
+f 5 16 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 5 13 15
+f 5 15 14
+f 9 11 10
+f 9 16 11
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 22
+f 12 22 23
+f 12 23 24
+f 14 15 25
+f 14 25 26
+f 17 20 18
+f 18 20 19
+f 23 27 28
+f 23 28 29
+f 23 29 24
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 26
+f 26 33 32
+f 26 32 34
+f 27 35 36
+f 27 36 37
+f 27 37 28
+f 28 37 29
+f 30 38 31
+f 31 38 39
+f 31 39 40
+f 31 40 32
+f 32 40 34
+f 35 41 42
+f 35 42 43
+f 35 43 44
+f 35 44 36
+f 38 45 46
+f 38 46 47
+f 38 47 39
+f 39 47 40
+f 40 47 48
+f 41 49 50
+f 41 50 42
+f 42 50 43
+f 43 50 51
+f 45 52 53
+f 45 53 46
+f 46 53 47
+f 47 53 48
+f 49 54 50
+f 50 54 55
+f 50 55 56
+f 50 56 51
+f 51 56 57
+f 52 57 56
+f 52 56 55
+f 52 55 58
+f 52 58 53
+f 54 59 55
+f 55 59 58
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_194.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_194.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d031d638a2a8e8b9fd7bc7f168e39449f3a5199
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_194.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01008939 -0.00064567 -0.01236197
+v 0.01008939 0.00285337 -0.01236197
+v 0.01084705 -0.00064567 -0.01236197
+v 0.01008939 -0.00064567 -0.00646368
+v 0.01084705 0.00285337 -0.01236197
+v 0.01008939 0.00285337 -0.00646368
+v 0.01084705 -0.00064567 -0.00646368
+v 0.01084705 0.00285337 -0.00646368
+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_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_195.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_195.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c82d7318e7f3fa833ced851a794b2c24b088e1ab
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_195.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.00087903 0.01145767 0.00441412
+v 0.00111327 0.01142581 0.00441412
+v 0.00087903 0.01151684 0.00405499
+v 0.00087903 -0.01144124 0.00441412
+v 0.00140311 0.01138485 0.00441412
+v 0.00140311 0.01142581 0.00417022
+v 0.00087903 0.01152139 0.00401393
+v 0.00140311 0.01144402 0.00405499
+v 0.00087903 -0.01148448 0.00414409
+v 0.00091663 -0.01149358 0.00405499
+v 0.00140311 -0.01136843 0.00441412
+v 0.00140311 0.01144857 0.00401393
+v 0.00140311 0.01145540 0.00393354
+v 0.00140311 0.01149863 0.00335964
+v 0.00140311 0.01156007 0.00251545
+v 0.00087903 0.01162834 0.00251545
+v 0.00087903 -0.01150496 0.00401393
+v 0.00140311 -0.01142987 0.00401393
+v 0.00140311 0.01156462 0.00187186
+v 0.00139223 0.01156690 0.00187186
+v 0.00087903 0.01163289 0.00238529
+v 0.00087903 -0.01160509 0.00264537
+v 0.00140311 -0.01149131 0.00316925
+v 0.00140311 -0.01153454 0.00187186
+v 0.00087903 0.01163289 0.00187186
+v 0.00087903 -0.01161191 0.00251545
+v 0.00140311 -0.01153454 0.00251545
+v 0.00135945 -0.01154137 0.00187186
+v 0.00087903 -0.01161191 0.00187186
+v 0.00087903 -0.01161419 0.00240645
+f 1 2 3
+f 1 3 7
+f 1 7 16
+f 1 16 21
+f 1 21 25
+f 1 25 29
+f 1 29 30
+f 1 30 26
+f 1 26 22
+f 1 22 17
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+f 1 5 2
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+f 3 12 7
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+f 5 18 23
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+f 5 24 19
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+f 5 15 14
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+f 5 13 12
+f 5 12 8
+f 5 8 6
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 7 15 16
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+f 10 18 11
+f 10 17 18
+f 15 19 20
+f 15 20 21
+f 15 21 16
+f 17 22 18
+f 18 22 23
+f 19 24 28
+f 19 28 29
+f 19 29 25
+f 19 25 20
+f 20 25 21
+f 22 26 27
+f 22 27 23
+f 24 27 28
+f 26 30 27
+f 27 30 28
+f 28 30 29
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_196.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_196.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e567babf9f20a113900e2b6c439623526d201bda
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_196.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00529440 -0.00821763 -0.01195060
+v -0.00458754 -0.00821763 -0.01195060
+v -0.00529440 -0.00821763 -0.00702700
+v -0.00529440 -0.00821617 -0.01912267
+v -0.00458754 -0.00821617 -0.01912267
+v -0.00458754 -0.00821763 -0.00702700
+v -0.00529440 -0.00821617 -0.00073344
+v -0.00529440 -0.00096212 -0.01912447
+v -0.00458754 -0.00096212 -0.01912447
+v -0.00458754 -0.00821617 -0.00073344
+v -0.00529440 0.00674156 -0.00073344
+v -0.00529440 0.00674302 -0.01912447
+v -0.00458754 0.00674302 -0.01912447
+v -0.00458754 0.00674156 -0.00073344
+v -0.00529440 0.00674449 -0.00702700
+v -0.00529440 0.00674449 -0.01195060
+v -0.00458754 0.00674449 -0.01195060
+v -0.00458754 0.00674449 -0.00702700
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 15
+f 1 15 16
+f 1 16 12
+f 1 12 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
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+f 2 13 17
+f 2 17 18
+f 2 18 14
+f 2 14 10
+f 2 10 6
+f 3 6 10
+f 3 10 7
+f 4 8 9
+f 4 9 5
+f 7 10 14
+f 7 14 11
+f 8 12 13
+f 8 13 9
+f 11 14 18
+f 11 18 15
+f 12 16 17
+f 12 17 13
+f 15 18 17
+f 15 17 16
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_197.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_197.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb91e8d4d0d664809ae3620c21e04ce917c29b1d
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_197.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00244474 -0.00586861 -0.03051424
+v 0.00244474 -0.00332926 -0.03052526
+v 0.00291999 -0.00301118 -0.03052894
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_198.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_198.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e1391b27ed206cead9e29cd06eddb0e6a00f762
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_198.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
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+v 0.00357759 0.00592668 -0.02877994
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_199.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_199.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fb93dfc24c1ef9a88fb1720a525bc76a715b7b2
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_199.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00715815 -0.00152191 -0.02962409
+v -0.00685448 -0.00152191 -0.02962409
+v -0.00715815 -0.00152191 -0.02144494
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+f 4 8 5
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_2.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fac8c895f8886699522b68ba86c9798cb0daf55
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,375 @@
+# https://github.com/mikedh/trimesh
+v -0.00680006 -0.00716981 0.02050554
+v -0.00624066 -0.00771466 0.02050554
+v -0.00680006 -0.00716981 0.02050657
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+f 115 121 125
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+f 118 119 120
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+f 120 126 125
+f 120 125 121
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_20.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6db5ea8cf3c0b199a49226761875929abbe66433
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v -0.01109940 0.00076391 0.00870791
+v -0.01107382 0.00096135 0.00870791
+v -0.01102975 0.00076391 0.00840548
+v -0.01109507 -0.00073365 0.00870791
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+v -0.00781611 0.00782838 0.00840548
+v -0.00787670 0.00775476 0.00840548
+v -0.00774095 0.00789029 0.00840548
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_200.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_200.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb7f47511b5caedba5ee969f0959a672ed64098e
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_200.obj
@@ -0,0 +1,243 @@
+# https://github.com/mikedh/trimesh
+v -0.00458754 -0.01071107 -0.00947742
+v -0.00481712 -0.01062247 -0.00947742
+v -0.00458754 -0.01070888 -0.01097828
+v -0.00458754 -0.01071107 -0.00915598
+v -0.00481719 -0.01062149 -0.00797908
+v -0.00529440 -0.01038911 -0.00852324
+v -0.00529440 -0.01038887 -0.00947742
+v -0.00529440 -0.01038789 -0.01001904
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+v -0.00458754 -0.01070570 -0.01247661
+v -0.00458754 -0.01071010 -0.00797908
+v -0.00529440 -0.01038691 -0.00701985
+v -0.00529440 -0.01038862 -0.00797908
+v -0.00458754 -0.01070937 -0.00765765
+v -0.00458754 -0.01070570 -0.00616185
+v -0.00481394 -0.01061905 -0.00648075
+v -0.00529440 -0.01038594 -0.01097828
+v -0.00529440 -0.01038203 -0.01247661
+v -0.00529440 -0.01038057 -0.01299799
+v -0.00480197 -0.01061856 -0.01397494
+v -0.00458754 -0.01069521 -0.01697414
+v -0.00458754 -0.01069887 -0.01547327
+v -0.00529440 -0.01038545 -0.00648075
+v -0.00458754 -0.01070253 -0.00498242
+v -0.00480944 -0.01061661 -0.00498242
+v -0.00529440 -0.01038130 -0.00498242
+v -0.00529440 -0.01037349 -0.01547327
+v -0.00529440 -0.01037202 -0.01597440
+v -0.00529440 -0.01036910 -0.01697414
+v -0.00529440 -0.01036470 -0.01846994
+v -0.00479090 -0.01061514 -0.01697414
+v -0.00478543 -0.01061295 -0.01846994
+v -0.00458754 -0.01069081 -0.01846994
+v -0.00458754 -0.01070058 -0.00433702
+v -0.00480716 -0.01061539 -0.00433702
+v -0.00501743 -0.01051336 -0.00433702
+v -0.00512855 -0.01045941 -0.00433702
+v -0.00529440 -0.01037886 -0.00433702
+v -0.00529440 -0.01035103 -0.02296746
+v -0.00477989 -0.01061051 -0.01996827
+v -0.00458754 -0.01068618 -0.01996827
+v -0.00458754 -0.00821763 -0.00433702
+v -0.00529440 -0.00821763 -0.00433702
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+v -0.00458754 -0.01064615 -0.02425319
+v -0.00529440 -0.01029440 -0.02480748
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+v -0.00458754 -0.01067641 -0.02296746
+v -0.00458754 -0.01067739 -0.02270171
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+v -0.00529302 -0.00821763 -0.03005923
+v -0.00529440 -0.00826230 -0.03004911
+v -0.00529440 -0.01024510 -0.02596413
+v -0.00458754 -0.01059391 -0.02596413
+v -0.00529440 -0.01023265 -0.02619697
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+v -0.00458754 -0.01052507 -0.02746499
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+v -0.00529440 -0.00962363 -0.02886461
+v -0.00458754 -0.01045624 -0.02816607
+v -0.00458754 -0.00930825 -0.02970742
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+v -0.00529440 -0.00947912 -0.02906203
+v -0.00458754 -0.01039521 -0.02830780
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_201.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_201.obj
new file mode 100644
index 0000000000000000000000000000000000000000..442d048cac4a060fed9a5a4a2ccb48093a89f7a2
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_201.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00553840 0.01001224 0.00454521
+v 0.00553840 0.01010726 0.00401389
+v 0.00553840 0.00309885 0.00454521
+v 0.00627875 0.00956649 0.00454521
+v 0.00553840 0.01011984 0.00385211
+v 0.00627875 0.00965732 0.00401389
+v 0.00627875 0.00966151 0.00396203
+v 0.00553840 0.00309885 0.00292091
+v 0.00627875 0.00309885 0.00454521
+v 0.00553840 0.01022254 0.00251513
+v 0.00627875 0.00977050 0.00251513
+v 0.00627875 0.00309885 0.00292091
+v 0.00553840 0.00309955 0.00153500
+v 0.00553840 0.01023652 0.00153500
+v 0.00627875 0.00977120 0.00249214
+v 0.00627875 0.00309955 0.00153500
+v 0.00627875 0.00978168 0.00155357
+v 0.00627875 0.00978168 0.00153500
+f 1 2 5
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+f 1 14 13
+f 1 13 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
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+f 4 7 6
+f 5 7 10
+f 7 11 10
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+f 8 16 12
+f 10 11 15
+f 10 15 14
+f 13 14 18
+f 13 18 16
+f 14 15 17
+f 14 17 18
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_202.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_202.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31efcc03ac0e12e573dcea4a2e8101a9bb4b6f90
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_202.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.01169924 -0.00073459 0.01141319
+v -0.01159627 -0.00073459 0.01068139
+v -0.01149221 -0.00156263 0.01068139
+v -0.01150747 -0.00223179 0.01141319
+v -0.01169815 0.00076422 0.01141319
+v -0.01159518 0.00076422 0.01068139
+v -0.01140614 -0.00223179 0.01068139
+v -0.01139415 -0.00227833 0.01068139
+v -0.01148241 -0.00232808 0.01141319
+v -0.01151673 0.00216675 0.01141319
+v -0.01140069 0.00226303 0.01068139
+v -0.01119040 -0.00305983 0.01068139
+v -0.01101497 -0.00373060 0.01068139
+v -0.01111467 -0.00373060 0.01141319
+v -0.01150420 0.00226303 0.01141319
+v -0.01101933 0.00371691 0.01068139
+v -0.01082593 -0.00424251 0.01068139
+v -0.01109288 -0.00378998 0.01141319
+v -0.01110868 0.00376184 0.01141319
+v -0.01100735 0.00376184 0.01068139
+v -0.01062708 -0.00475121 0.01068139
+v -0.01067720 -0.00485551 0.01141319
+v -0.01067338 0.00487712 0.01141319
+v -0.01062435 0.00477603 0.01068139
+v -0.01045547 -0.00508820 0.01068139
+v -0.01031818 -0.00555678 0.01141319
+v -0.01029094 0.00562653 0.01141319
+v -0.01023428 0.00552543 0.01068139
+v -0.01023700 -0.00550222 0.01068139
+v -0.01029257 -0.00560492 0.01141319
+v -0.00976684 0.00643852 0.01141319
+v -0.00965353 0.00643852 0.01068139
+v -0.00982296 -0.00617299 0.01068139
+v -0.01024463 -0.00568195 0.01141319
+v -0.00613360 0.00643852 0.01141319
+v -0.00613360 0.00643852 0.01068139
+v -0.00945794 -0.00673625 0.01068139
+v -0.00948137 -0.00685660 0.01141319
+v -0.00613360 -0.00995532 0.01141319
+v -0.00613360 -0.00984620 0.01068139
+v -0.00895564 -0.00743109 0.01068139
+v -0.00946394 -0.00688067 0.01141319
+v -0.00687561 -0.00947230 0.01141319
+v -0.00613360 -0.00985904 0.01075775
+v -0.00619244 -0.00980929 0.01068139
+v -0.00821799 -0.00819815 0.01068139
+v -0.00833621 -0.00820778 0.01141319
+v -0.00896981 -0.00744714 0.01088182
+v -0.00689195 -0.00946107 0.01141319
+v -0.00675194 -0.00944502 0.01068139
+v -0.00744819 -0.00893953 0.01068139
+v -0.00822725 -0.00831690 0.01141319
+v -0.00746508 -0.00895398 0.01087158
+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 26
+f 1 26 30
+f 1 30 34
+f 1 34 38
+f 1 38 42
+f 1 42 47
+f 1 47 52
+f 1 52 49
+f 1 49 43
+f 1 43 39
+f 1 39 35
+f 1 35 31
+f 1 31 27
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+f 1 15 10
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_203.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_203.obj
new file mode 100644
index 0000000000000000000000000000000000000000..981feb44a0cb9ab2aa08652a6d43e0838e94d49d
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_203.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00688905 -0.00246332 -0.01443985
+v 0.00553906 -0.00246332 -0.01443985
+v 0.00688905 -0.00277131 -0.01443985
+v 0.00688905 -0.00246332 -0.02981333
+v 0.00553919 -0.00277131 -0.01443985
+v 0.00553853 -0.00246332 -0.01490038
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+v 0.00688905 -0.00277131 -0.02981333
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_204.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_204.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9b7fc444c75e36bf9a045dbe04b509bd1a410df
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_204.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_205.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_205.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1b51bddbc46fa2dce010a37d62f7db1e5979607
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_205.obj
@@ -0,0 +1,420 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_206.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_206.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eb16824ab4143f7646577b7d01574c187f73cd9
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_206.obj
@@ -0,0 +1,213 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_207.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_207.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4344049848ecd6f763eac56fa1d28ce37f56655
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_207.obj
@@ -0,0 +1,204 @@
+# https://github.com/mikedh/trimesh
+v -0.01001345 0.00505723 -0.02820803
+v -0.00992686 0.00522156 -0.02820803
+v -0.00992686 0.00505723 -0.02820803
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+v -0.00992686 0.00541819 0.00544388
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+v -0.01017930 0.00505723 0.00520846
+v -0.01015320 0.00505723 0.00534971
+v -0.00992686 0.00604577 -0.02296821
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+v -0.01025420 0.00555958 0.00251456
+v -0.01041081 0.00513979 0.00323428
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_208.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_208.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b95fe8acef06c54794a5015e0d8d055803be7129
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_208.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.00292010 -0.01125536 -0.01629931
+v 0.00358297 -0.01107204 -0.01427078
+v 0.00358297 -0.01107204 -0.01114222
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+v 0.00292010 -0.01125199 -0.02079698
+v 0.00292010 -0.01125031 -0.02296745
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+v 0.00358297 -0.01106699 -0.00364611
+v 0.00358297 -0.01106195 0.00101419
+v 0.00292010 -0.01125031 -0.00880616
+v 0.00292010 -0.01121163 -0.02446372
+v 0.00358297 -0.01102326 -0.02446372
+v 0.00358297 -0.01105354 -0.02326316
+v 0.00358297 -0.01106026 -0.02296745
+v 0.00358297 -0.01106363 -0.02162791
+v 0.00358297 -0.01105858 0.00142818
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+v 0.00292010 -0.01123854 0.00018622
+v 0.00292010 -0.01113931 -0.02596294
+v 0.00358297 -0.01096104 -0.02596294
+v 0.00292010 -0.01123349 0.00142818
+v 0.00358297 -0.00610561 0.00142818
+v 0.00358297 -0.01087863 -0.02746512
+v 0.00292010 -0.01105354 -0.02746512
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+v 0.00292010 -0.01073904 -0.02865385
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_209.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_209.obj
new file mode 100644
index 0000000000000000000000000000000000000000..016f1d374a9c818822e71c93a3f8924f801322c2
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_209.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00688905 -0.00861358 -0.02814148
+v 0.00688905 -0.00786407 -0.02814148
+v 0.00718946 -0.00861358 -0.02814148
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+v 0.00759392 -0.00859039 -0.02746280
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+f 7 12 8
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_21.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3fb7ad16a3e13280292f36b4d74fd83bfb040ad
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,321 @@
+# https://github.com/mikedh/trimesh
+v -0.00074878 0.01098454 0.00773191
+v -0.00074878 0.01092324 0.00701076
+v -0.00219246 0.01071380 0.00701076
+v -0.00219246 0.01076318 0.00773191
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+v -0.00446110 0.01002076 0.00773191
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+v -0.00527746 0.00955930 0.00701076
+v -0.00530109 0.00961379 0.00773191
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+v -0.00677270 0.00860233 0.00773184
+v -0.00642897 0.00875047 0.00773191
+v 0.00298501 0.01052479 0.00701076
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_210.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_210.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32c50ad9675671ff491b21a8a6f45dc772e2dc4f
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_210.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00947276 -0.00538667 -0.01546252
+v -0.00947276 -0.00416287 -0.01546252
+v -0.00841174 -0.00538667 -0.01546252
+v -0.00947276 -0.00538667 0.00701069
+v -0.00841174 -0.00416287 -0.01546252
+v -0.00947276 -0.00416287 0.00701069
+v -0.00841174 -0.00538667 0.00365598
+v -0.00841351 -0.00538667 0.00701069
+v -0.00841174 -0.00416287 0.00400575
+v -0.00841330 -0.00416287 0.00701069
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 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 10
+f 7 10 8
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_211.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_211.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b696b3caa59cba5bfc4aaaf5636d3675306b776
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_211.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.00602487 0.00741625 -0.02743212
+v -0.00602487 0.00973658 -0.02743212
+v -0.00529440 0.00741625 -0.02743212
+v -0.00602487 0.00741625 -0.00733123
+v -0.00535425 0.01014296 -0.02743212
+v -0.00602487 0.00982082 -0.02596612
+v -0.00541174 0.01019554 -0.02596612
+v -0.00529440 0.01017637 -0.02743212
+v -0.00529440 0.00741625 -0.00733123
+v -0.00602487 0.00996287 -0.00733123
+v -0.00532858 0.01015836 -0.02743212
+v -0.00602487 0.00989112 -0.02441157
+v -0.00548639 0.01021965 -0.02446667
+v -0.00529440 0.01027135 -0.02570440
+v -0.00529440 0.01025712 -0.02596612
+v -0.00531292 0.01016678 -0.02743212
+v -0.00529440 0.01017869 -0.02739079
+v -0.00529440 0.01038231 -0.00733123
+v -0.00600513 0.00997506 -0.00733123
+v -0.00602487 0.00996287 -0.00736665
+v -0.00602487 0.00994050 -0.02296722
+v -0.00553966 0.01024143 -0.02296722
+v -0.00529440 0.01037854 -0.02296722
+v -0.00529440 0.01034107 -0.02405344
+v -0.00529440 0.01032509 -0.02446667
+v -0.00529440 0.01038318 -0.00797863
+v -0.00552686 0.01026845 -0.00733123
+v -0.00602487 0.00996170 -0.00886806
+v -0.00552886 0.01026583 -0.00947808
+v -0.00602487 0.00994166 -0.02236508
+v -0.00553751 0.01024695 -0.01997029
+v -0.00602487 0.00995328 -0.01486783
+v -0.00602487 0.00995793 -0.01186696
+v -0.00529440 0.01038028 -0.01997029
+v -0.00553522 0.01025247 -0.01697336
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+v -0.00553151 0.01026060 -0.01247698
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+v -0.00529440 0.01038348 -0.00947808
+v -0.00529440 0.01038289 -0.01247698
+v -0.00529440 0.01038202 -0.01547391
+v -0.00529440 0.01038144 -0.01697336
+v -0.00602487 0.00995996 -0.01036751
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+f 35 43 36
+f 36 43 37
+f 37 43 38
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_212.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_212.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2d93d28c1fcbbe30438f87199fcfcc8e8cf49b0
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_212.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.00061458 0.00056134 -0.01993324
+v -0.00061458 0.00056243 -0.02699601
+v 0.00002136 0.00056134 -0.01993324
+v -0.00061458 0.00056134 -0.00273464
+v -0.00061458 0.01147066 -0.02699601
+v 0.00002136 0.00056243 -0.02699601
+v 0.00002136 0.00056134 -0.00273464
+v -0.00061458 0.01163886 -0.00273464
+v -0.00061458 0.01152383 -0.02596296
+v 0.00002136 0.01152492 -0.02596296
+v 0.00002136 0.01146849 -0.02699601
+v 0.00002136 0.01164646 -0.00273464
+v 0.00002136 0.01164754 -0.00348509
+v -0.00061458 0.01164103 -0.00498361
+v -0.00061458 0.01158569 -0.02446443
+v 0.00002136 0.01158894 -0.02446443
+v 0.00002136 0.01164537 -0.00648214
+v -0.00060885 0.01163452 -0.01261635
+v -0.00061458 0.01163560 -0.01123894
+v -0.00061458 0.01161607 -0.02310365
+v 0.00002136 0.01162150 -0.02296828
+v 0.00002136 0.01163777 -0.01261635
+v -0.00061458 0.01163018 -0.01697181
+v -0.00061458 0.01163452 -0.01247623
+v -0.00061458 0.01161824 -0.02296828
+v -0.00061458 0.01162258 -0.02160275
+v 0.00002136 0.01162367 -0.02223921
+v 0.00002136 0.01163235 -0.01697181
+v -0.00061458 0.01162584 -0.02010660
+v 0.00002136 0.01162801 -0.01993324
+v 0.00002136 0.01163126 -0.01774363
+v 0.00002136 0.01162909 -0.01924216
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_213.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_213.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d05e81d8f229e6f5e706e9f4a3dad18df67eaf4
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_213.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.00458754 0.00674278 0.00189283
+v -0.00458754 0.00674278 -0.00073320
+v -0.00527192 0.00674278 0.00189283
+v -0.00458754 -0.01067757 0.00189283
+v -0.00529440 0.00674278 -0.00073320
+v -0.00458754 -0.01068781 -0.00073320
+v -0.00529440 0.00674278 0.00189258
+v -0.00529440 0.00673595 0.00189283
+v -0.00478017 -0.01060248 0.00189283
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+v -0.00475000 -0.01062637 -0.00073320
+v -0.00529440 -0.01035162 0.00189283
+v -0.00521850 -0.01038916 0.00189283
+v -0.00521158 -0.01040623 -0.00073320
+v -0.00479380 -0.01060931 -0.00073320
+v -0.00529440 -0.01035844 0.00101578
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+f 11 14 13
+f 12 17 19
+f 15 19 16
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_214.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_214.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c082b0702241e91653884ee31deb2eccdffc1c9
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_214.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.01018875 -0.00521143 0.00963728
+v -0.01018875 -0.00516402 0.00954564
+v -0.00963249 -0.00598323 0.00930798
+v -0.00989187 -0.00571214 0.00963728
+v -0.01018875 0.00516721 0.00963728
+v -0.01018875 -0.00504107 0.00930798
+v -0.00933054 -0.00647357 0.00930798
+v -0.00973178 -0.00597286 0.00963728
+v -0.01009047 0.00535238 0.00963728
+v -0.01018875 0.00494796 0.00930798
+v -0.00938019 -0.00654320 0.00963728
+v -0.00911777 -0.00677429 0.00930798
+v -0.00901948 -0.00705576 0.00963728
+v -0.00998408 0.00535238 0.00933918
+v 0.00016242 0.00535238 0.00963728
+v -0.00997496 0.00534794 0.00930798
+v -0.00840546 -0.00758165 0.00930798
+v -0.00864155 -0.00748388 0.00963728
+v -0.00997192 0.00535238 0.00930798
+v 0.00016242 0.00535238 0.00930798
+v 0.00016242 -0.00978152 0.00963728
+v -0.00800726 -0.00798904 0.00930798
+v -0.00807819 -0.00806014 0.00963728
+v 0.00016242 -0.00978152 0.00930798
+v -0.00588961 -0.00978152 0.00963728
+v -0.00759792 -0.00838753 0.00930798
+v -0.00749862 -0.00862307 0.00963728
+v -0.00569304 -0.00978152 0.00930798
+v -0.00583388 -0.00978152 0.00951502
+v -0.00655632 -0.00936525 0.00963728
+v -0.00678733 -0.00910008 0.00930798
+v -0.00706800 -0.00900083 0.00963728
+v -0.00600005 -0.00961709 0.00930798
+v -0.00648539 -0.00931488 0.00930798
+v -0.00690791 -0.00911489 0.00963728
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+f 30 35 31
+f 30 31 34
+f 31 35 32
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_215.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_215.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f784238118852dcb986050c9af2ac7a52e9d57d
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_215.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.00554753 0.00998659 0.00963728
+v 0.00571552 0.00989858 0.00963728
+v 0.00532420 0.00998659 0.00930847
+v -0.00553771 0.00998659 0.00963728
+v 0.00598627 0.00963684 0.00930798
+v 0.00653965 0.00938871 0.00963728
+v 0.00532420 0.00998613 0.00930798
+v 0.00428465 0.00998659 0.00930798
+v -0.00534206 0.00998659 0.00930798
+v -0.00647450 0.00934153 0.00930798
+v -0.00654564 0.00939098 0.00963728
+v 0.00646850 0.00933836 0.00930798
+v 0.00704954 0.00902309 0.00963728
+v 0.00676693 0.00912470 0.00930798
+v -0.00713261 0.00879129 0.00930798
+v -0.00724526 0.00884618 0.00963728
+v 0.00748236 0.00864250 0.00963728
+v 0.00758315 0.00840843 0.00930798
+v -0.00799429 0.00800789 0.00930798
+v -0.00806544 0.00807865 0.00963728
+v 0.00770173 0.00843111 0.00963728
+v 0.00806538 0.00807956 0.00963728
+v 0.00799423 0.00800970 0.00930798
+v -0.00877692 0.00715099 0.00930798
+v -0.00883226 0.00726531 0.00963728
+v 0.00862863 0.00750255 0.00963728
+v 0.00839345 0.00760189 0.00930798
+v -0.00932832 0.00649369 0.00930798
+v -0.00937773 0.00656446 0.00963728
+v 0.00900809 0.00707116 0.00963728
+v 0.00910888 0.00678946 0.00930798
+v -0.00997260 0.00535238 0.00930798
+v -0.01007142 0.00538822 0.00963728
+v 0.00912271 0.00691193 0.00963728
+v 0.00932430 0.00648961 0.00930798
+v -0.01009118 0.00535238 0.00963728
+v 0.00953181 0.00535238 0.00930798
+v 0.00937371 0.00656038 0.00963728
+v 0.00988360 0.00573932 0.00963728
+v 0.00962273 0.00600741 0.00930798
+v 0.01009902 0.00535238 0.00963728
+v 0.00997254 0.00535238 0.00930885
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+f 1 8 9
+f 1 9 4
+f 1 4 11
+f 1 11 16
+f 1 16 20
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+f 26 30 31
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+f 30 34 31
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+f 32 42 41
+f 32 41 36
+f 34 38 35
+f 35 38 39
+f 35 39 40
+f 37 40 42
+f 39 41 40
+f 40 41 42
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_216.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_216.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3abd55eb5c963dba1daa06ade7b69a924c780e0a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_216.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.01008939 -0.00064567 -0.02980825
+v 0.01008939 -0.00044665 -0.02990959
+v 0.01049881 -0.00008185 -0.02971893
+v 0.01083221 -0.00064567 -0.02912291
+v 0.01008939 -0.00064567 -0.01236197
+v 0.01008939 0.00046176 -0.02990616
+v 0.01049881 0.00009627 -0.02971893
+v 0.01084705 -0.00061998 -0.02911947
+v 0.01084416 -0.00064567 -0.02911088
+v 0.01084705 -0.00064567 -0.01236197
+v 0.01008939 0.00285337 -0.01236197
+v 0.01008939 0.00157227 -0.02982199
+v 0.01044304 0.00109546 -0.02967084
+v 0.01084705 0.00064913 -0.02910401
+v 0.01084705 -0.00061278 -0.02911947
+v 0.01084705 -0.00064259 -0.02910745
+v 0.01084705 -0.00064567 -0.02910401
+v 0.01084705 0.00285337 -0.01236197
+v 0.01008939 0.00285337 -0.02937712
+v 0.01008939 0.00262695 -0.02963820
+v 0.01032644 0.00226386 -0.02954030
+v 0.01083793 0.00226386 -0.02879140
+v 0.01084705 0.00067311 -0.02910058
+v 0.01084705 0.00285337 -0.02837057
+v 0.01009117 0.00285337 -0.02955404
+v 0.01023662 0.00285337 -0.02941147
+v 0.01075819 0.00285337 -0.02866257
+v 0.01084705 0.00145581 -0.02894083
+v 0.01084705 0.00226386 -0.02876048
+v 0.01084705 0.00224057 -0.02877079
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+f 8 16 9
+f 9 16 17
+f 11 18 24
+f 11 24 27
+f 11 27 26
+f 11 26 25
+f 11 25 19
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+f 13 20 21
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+f 13 22 23
+f 13 23 14
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+f 20 25 21
+f 21 25 26
+f 21 26 27
+f 21 27 22
+f 22 28 23
+f 22 27 24
+f 22 24 29
+f 22 29 30
+f 22 30 28
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_217.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_217.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b76f09863cb2c4e84bd37a4c336a894b2ae99028
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_217.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.00947276 0.00030210 -0.00788328
+v -0.00947276 0.00677828 -0.00788328
+v -0.00841174 0.00030210 -0.00788328
+v -0.00947276 0.00030210 0.00701069
+v -0.00897237 0.00748351 -0.00788328
+v -0.00947276 0.00677600 -0.00656971
+v -0.00841174 0.00806562 -0.00788328
+v -0.00841174 0.00030210 0.00528598
+v -0.00841268 0.00030210 0.00701069
+v -0.00947276 0.00542331 0.00701069
+v -0.00896614 0.00747667 -0.00497913
+v -0.00841174 0.00803978 0.00101578
+v -0.00841174 0.00804130 0.00060319
+v -0.00892522 0.00753290 -0.00788328
+v -0.00947276 0.00677296 -0.00497913
+v -0.00947276 0.00676992 -0.00357225
+v -0.00947276 0.00676080 -0.00048295
+v -0.00947276 0.00675625 0.00101578
+v -0.00947276 0.00674941 0.00242703
+v -0.00841174 0.00805878 -0.00536548
+v -0.00841174 0.00632004 0.00701069
+v -0.00942291 0.00551603 0.00701069
+v -0.00915028 0.00623189 0.00664184
+v -0.00947276 0.00585800 0.00622779
+v -0.00896302 0.00747287 -0.00348041
+v -0.00895347 0.00746147 0.00101578
+v -0.00841174 0.00802838 0.00245473
+v -0.00841174 0.00805042 -0.00237969
+v -0.00947276 0.00674865 0.00251450
+v -0.00841174 0.00694319 0.00701069
+v -0.00865851 0.00665213 0.00701069
+v -0.00947276 0.00589372 0.00614469
+v -0.00874731 0.00720081 0.00551196
+v -0.00930430 0.00645151 0.00551196
+v -0.00947276 0.00617185 0.00549446
+v -0.00894724 0.00745539 0.00251450
+v -0.00841174 0.00793187 0.00350588
+v -0.00947276 0.00666733 0.00328574
+v -0.00888731 0.00738015 0.00401323
+v -0.00841174 0.00738091 0.00600765
+v -0.00841174 0.00756482 0.00551196
+v -0.00841174 0.00771985 0.00481508
+v -0.00944264 0.00663086 0.00401323
+v -0.00947276 0.00658298 0.00401323
+v -0.00947276 0.00625925 0.00522767
+v -0.00841174 0.00788475 0.00401323
+v -0.00947276 0.00659134 0.00395783
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+f 1 3 8
+f 1 8 9
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+f 1 4 10
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+f 1 24 32
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+f 1 44 47
+f 1 47 38
+f 1 38 29
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+f 11 19 25
+f 12 26 27
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+f 13 28 14
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+f 23 32 24
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+f 23 33 34
+f 23 34 35
+f 23 35 32
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+f 26 36 27
+f 27 36 37
+f 29 38 39
+f 29 39 36
+f 30 40 31
+f 31 40 33
+f 33 41 42
+f 33 42 39
+f 33 39 34
+f 33 40 41
+f 34 39 43
+f 34 43 44
+f 34 44 45
+f 34 45 35
+f 36 39 37
+f 37 39 46
+f 38 47 43
+f 38 43 39
+f 39 42 46
+f 43 47 44
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_218.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_218.obj
new file mode 100644
index 0000000000000000000000000000000000000000..628a4554ec22488cabffdcda3ab191c14955f337
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_218.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.00458754 0.00603200 -0.02418537
+v -0.00458754 0.00603200 -0.03049127
+v -0.00529440 0.00603200 -0.02418537
+v -0.00458754 -0.00821763 -0.02418537
+v -0.00458754 0.00526066 -0.03052853
+v -0.00524715 0.00526066 -0.03052667
+v -0.00492644 0.00603200 -0.03049002
+v -0.00529440 0.00603200 -0.03047822
+v -0.00529440 -0.00821763 -0.02418537
+v -0.00458754 -0.00821763 -0.03019314
+v -0.00458754 0.00076371 -0.03053039
+v -0.00524715 0.00226176 -0.03052853
+v -0.00529440 0.00269137 -0.03052791
+v -0.00529440 0.00376261 -0.03052667
+v -0.00529440 0.00526066 -0.03052418
+v -0.00524735 0.00603200 -0.03048878
+v -0.00529440 -0.00821763 -0.02925903
+v -0.00458754 -0.00738771 -0.03040928
+v -0.00526410 -0.00821763 -0.03006644
+v -0.00524715 -0.00672934 -0.03045772
+v -0.00458754 -0.00522990 -0.03052853
+v -0.00529440 0.00076371 -0.03052853
+v -0.00529440 -0.00673213 -0.03044779
+v -0.00529295 -0.00821763 -0.03006085
+v -0.00458754 -0.00672934 -0.03048754
+v -0.00529440 -0.00668192 -0.03045772
+v -0.00529440 -0.00522990 -0.03052543
+v -0.00458754 -0.00588965 -0.03052543
+v -0.00524715 -0.00522990 -0.03052667
+v -0.00529440 -0.00518247 -0.03052667
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+f 1 8 3
+f 1 3 9
+f 1 9 4
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+f 1 25 28
+f 1 28 21
+f 1 21 11
+f 1 11 5
+f 1 5 2
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+f 2 6 7
+f 3 8 15
+f 3 15 14
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+f 20 27 25
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+f 21 29 30
+f 21 30 22
+f 25 27 28
+f 27 29 28
+f 27 30 29
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_219.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_219.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5217b2470d0868de89a077fa43688ca316649924
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_219.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.01041081 -0.00371899 -0.02878588
+v -0.01041469 -0.00371899 -0.02878247
+v -0.01041081 -0.00223327 -0.02945393
+v -0.01041081 -0.00371899 0.00532895
+v -0.01063704 -0.00371899 -0.02846890
+v -0.01084907 -0.00223327 -0.02880633
+v -0.01041081 -0.00204222 -0.02949142
+v -0.01041081 -0.00204222 0.00532895
+v -0.01071468 -0.00371899 0.00532895
+v -0.01064063 -0.00371899 -0.02845527
+v -0.01089385 -0.00310957 -0.02804966
+v -0.01089385 -0.00223327 -0.02865977
+v -0.01085011 -0.00204222 -0.02884042
+v -0.01089385 -0.00212166 -0.02870749
+v -0.01089196 -0.00204222 -0.02872794
+v -0.01089385 -0.00204222 0.00532895
+v -0.01089385 -0.00306788 0.00532895
+v -0.01089385 -0.00371899 0.00413259
+v -0.01065543 -0.00371899 -0.02838710
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+v -0.01089385 -0.00204222 -0.02872112
+v -0.01089385 -0.00371899 -0.02674424
+v -0.01089385 -0.00359409 -0.02732708
+f 1 2 3
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+f 1 7 8
+f 1 8 4
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+f 1 18 23
+f 1 23 20
+f 1 20 19
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+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 5 6
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+f 4 17 9
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+f 5 11 12
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+f 14 22 15
+f 20 24 21
+f 20 23 24
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_22.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61a6b16ab5473ceec7c3e35b1839dd12b205a044
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.01084719 -0.00427228 -0.02296724
+v 0.01084719 -0.00415115 -0.02446537
+v 0.01105798 -0.00373209 -0.02296724
+v 0.01105376 -0.00374307 -0.00646588
+v 0.01084719 -0.00427228 -0.00646588
+v 0.01101046 -0.00373209 -0.02446537
+v 0.01084719 -0.00395610 -0.02596569
+v 0.01141581 -0.00223339 -0.02446537
+v 0.01145366 -0.00223339 -0.02296724
+v 0.01145385 -0.00223339 -0.01996879
+v 0.01105798 -0.00373209 -0.00646588
+v 0.01084719 -0.00172092 -0.00646588
+v 0.01093067 -0.00373209 -0.02596569
+v 0.01084719 -0.00373209 -0.02737815
+v 0.01132960 -0.00223339 -0.02596569
+v 0.01136608 -0.00172092 -0.02647752
+v 0.01144703 -0.00172092 -0.02497939
+v 0.01147196 -0.00172092 -0.02446537
+v 0.01149683 -0.00172092 -0.02347906
+v 0.01150832 -0.00172092 -0.02296724
+v 0.01150923 -0.00172092 -0.02146911
+v 0.01151007 -0.00172092 -0.01996879
+v 0.01151033 -0.00172092 -0.01847066
+v 0.01145327 -0.00223339 -0.01847066
+v 0.01144522 -0.00223339 -0.01247596
+v 0.01144307 -0.00223339 -0.01097783
+v 0.01143645 -0.00223339 -0.00646588
+v 0.01145158 -0.00223339 -0.01697254
+v 0.01084719 -0.00172092 -0.02890483
+v 0.01149975 -0.00172092 -0.00646588
+v 0.01124215 -0.00223339 -0.02746382
+v 0.01084719 -0.00371311 -0.02746382
+v 0.01130850 -0.00172092 -0.02746382
+v 0.01150942 -0.00172092 -0.01697254
+v 0.01150260 -0.00172092 -0.00947751
+v 0.01085186 -0.00172092 -0.02889604
+v 0.01084790 -0.00223339 -0.02880159
+v 0.01084719 -0.00223339 -0.02880159
+v 0.01084719 -0.00223864 -0.02879939
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 29
+f 1 29 38
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+f 1 39 32
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+f 1 14 7
+f 1 7 2
+f 2 6 3
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+f 10 23 24
+f 10 24 11
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+f 11 26 27
+f 11 24 28
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+f 12 34 23
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+f 12 16 33
+f 12 33 36
+f 12 36 29
+f 13 14 31
+f 13 31 15
+f 14 32 31
+f 15 31 16
+f 16 31 33
+f 23 34 24
+f 24 34 35
+f 24 35 30
+f 24 30 28
+f 25 30 26
+f 25 28 30
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+f 29 36 37
+f 29 37 38
+f 31 32 39
+f 31 39 37
+f 31 37 33
+f 33 37 36
+f 37 39 38
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_220.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_220.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e8efd4730906a8fca3158b30b371c4e5cc245a8
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_220.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.00582824 -0.00978152 0.00963735
+v 0.00613654 -0.00982634 0.01068139
+v 0.00598119 -0.00982634 0.01001015
+v 0.00457698 -0.01051740 0.00930798
+v 0.00563074 -0.00978152 0.00930798
+v -0.00588958 -0.00978152 0.00963735
+v 0.00551994 -0.01022481 0.01068139
+v -0.00616657 -0.00982634 0.01068139
+v 0.00542360 -0.01017134 0.01001015
+v 0.00462274 -0.01054087 0.00963735
+v 0.00374601 -0.01099792 0.01068139
+v 0.00374601 -0.01090686 0.01001015
+v 0.00374601 -0.01073886 0.00930798
+v -0.00569208 -0.00978152 0.00930798
+v -0.00583298 -0.00978152 0.00951502
+v -0.00469371 -0.01046781 0.00930798
+v -0.00598954 -0.00982634 0.01001015
+v 0.00477087 -0.01061286 0.01068139
+v 0.00467452 -0.01056734 0.01001015
+v -0.00543436 -0.01017169 0.01001015
+v -0.00552709 -0.01022410 0.01068139
+v 0.00224786 -0.01139180 0.01068139
+v 0.00224786 -0.01129915 0.01001015
+v 0.00223823 -0.01118039 0.00963735
+v 0.00222980 -0.01107539 0.00930798
+v -0.00577517 -0.00978152 0.00942924
+v -0.00504176 -0.01032910 0.00963735
+v -0.00459014 -0.01052357 0.00930798
+v -0.00550421 -0.01023646 0.01068139
+v 0.00074851 -0.01158062 0.01068139
+v 0.00074851 -0.01148656 0.01001015
+v 0.00074851 -0.01127127 0.00930798
+v 0.00187333 -0.01123156 0.00963735
+v 0.00154455 -0.01117157 0.00930798
+v -0.00468528 -0.01057298 0.01001015
+v -0.00511401 -0.01044557 0.01068139
+v -0.00446008 -0.01057104 0.00930798
+v -0.00374713 -0.01100639 0.01068139
+v -0.00423728 -0.01082710 0.01068139
+v -0.00426498 -0.01081669 0.01068139
+v -0.00074964 -0.01158415 0.01068139
+v -0.00074964 -0.01148938 0.01001015
+v -0.00074843 -0.01137450 0.00963735
+v -0.00074843 -0.01127286 0.00930798
+v -0.00477801 -0.01061781 0.01068139
+v -0.00322808 -0.01088198 0.00930798
+v -0.00276924 -0.01108086 0.00963735
+v -0.00224899 -0.01130586 0.01001015
+v -0.00412649 -0.01073269 0.00963735
+v -0.00307634 -0.01118339 0.01068139
+v -0.00374713 -0.01091604 0.01001015
+v -0.00157699 -0.01148286 0.01068139
+v -0.00074964 -0.01137450 0.00963735
+v -0.00223815 -0.01118586 0.00963735
+v -0.00222851 -0.01107980 0.00930798
+v -0.00224899 -0.01139868 0.01068139
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 26
+f 1 26 15
+f 1 15 6
+f 1 6 8
+f 1 8 2
+f 2 7 3
+f 2 8 21
+f 2 21 29
+f 2 29 36
+f 2 36 45
+f 2 45 40
+f 2 40 39
+f 2 39 38
+f 2 38 50
+f 2 50 56
+f 2 56 52
+f 2 52 41
+f 2 41 30
+f 2 30 22
+f 2 22 11
+f 2 11 18
+f 2 18 7
+f 3 7 9
+f 3 9 4
+f 4 10 11
+f 4 11 12
+f 4 12 13
+f 4 13 25
+f 4 25 34
+f 4 34 32
+f 4 32 44
+f 4 44 55
+f 4 55 46
+f 4 46 37
+f 4 37 28
+f 4 28 16
+f 4 16 14
+f 4 14 5
+f 4 9 7
+f 4 7 10
+f 6 15 16
+f 6 16 17
+f 6 17 8
+f 7 18 19
+f 7 19 10
+f 8 17 20
+f 8 20 21
+f 10 19 11
+f 11 19 18
+f 11 22 12
+f 12 22 23
+f 12 23 13
+f 13 23 24
+f 13 24 25
+f 14 16 26
+f 15 26 16
+f 16 27 17
+f 16 28 29
+f 16 29 21
+f 16 21 27
+f 17 27 20
+f 20 27 21
+f 22 30 23
+f 23 30 31
+f 23 31 32
+f 23 32 33
+f 23 33 34
+f 23 34 24
+f 24 34 25
+f 28 35 36
+f 28 36 29
+f 28 37 38
+f 28 38 39
+f 28 39 40
+f 28 40 35
+f 30 41 31
+f 31 41 42
+f 31 42 32
+f 32 42 43
+f 32 43 44
+f 32 34 33
+f 35 45 36
+f 35 40 45
+f 37 46 47
+f 37 47 48
+f 37 48 49
+f 37 49 38
+f 38 49 51
+f 38 51 50
+f 41 52 48
+f 41 48 42
+f 42 48 53
+f 42 53 43
+f 43 53 44
+f 44 53 48
+f 44 48 54
+f 44 54 55
+f 46 55 47
+f 47 55 54
+f 47 54 48
+f 48 52 56
+f 48 56 51
+f 48 51 49
+f 50 51 56
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_221.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_221.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea6f7d14c8ef440abf3fb7aaee2a2e08bb9ecdf6
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_221.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v -0.00467209 -0.01011029 0.00870791
+v -0.00467209 -0.00993036 0.00840548
+v -0.00374797 -0.01035234 0.00840548
+v -0.00374797 -0.01052584 0.00870791
+v -0.00467209 0.01015301 0.00870791
+v -0.00467209 0.00994952 0.00840548
+v -0.00224742 -0.01077002 0.00840548
+v -0.00303841 -0.01072290 0.00870791
+v -0.00464784 0.01016586 0.00870791
+v -0.00467209 0.01005876 0.00856655
+v -0.00391267 0.01030937 0.00840548
+v -0.00251230 -0.01077002 0.00853875
+v 0.00000158 -0.01077002 0.00840548
+v -0.00279229 -0.01077002 0.00870791
+v -0.00415971 0.01039505 0.00870791
+v -0.00405723 0.01043147 0.00870791
+v -0.00374797 0.01036506 0.00840548
+v 0.00000158 -0.01077002 0.00870791
+v 0.00000158 0.01103979 0.00840548
+v -0.00374797 0.01053428 0.00870791
+v -0.00349224 0.01061568 0.00870791
+v -0.00317657 0.01054499 0.00840548
+v 0.00000158 0.01110834 0.00870791
+v -0.00075053 0.01104193 0.00840548
+v -0.00299221 0.01074420 0.00870791
+v -0.00219435 0.01081274 0.00840548
+v -0.00075053 0.01110834 0.00870791
+v -0.00220350 0.01089842 0.00870791
+v -0.00094725 0.01108477 0.00870791
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 18
+f 1 18 23
+f 1 23 27
+f 1 27 29
+f 1 29 28
+f 1 28 25
+f 1 25 21
+f 1 21 20
+f 1 20 16
+f 1 16 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 17
+f 2 17 22
+f 2 22 26
+f 2 26 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 6 10 11
+f 7 12 8
+f 7 13 18
+f 7 18 14
+f 7 14 12
+f 8 12 14
+f 9 15 11
+f 9 11 10
+f 11 15 16
+f 11 16 17
+f 13 19 23
+f 13 23 18
+f 16 20 17
+f 17 20 21
+f 17 21 22
+f 19 24 23
+f 21 25 26
+f 21 26 22
+f 23 24 27
+f 24 28 29
+f 24 29 27
+f 24 26 28
+f 25 28 26
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_222.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_222.obj
new file mode 100644
index 0000000000000000000000000000000000000000..035b977554a44e1f1a3ea233e3e7d47093c3fac9
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_222.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00553855 0.00309816 -0.01443835
+v 0.00627875 0.00309816 -0.01443835
+v 0.00553840 0.00309816 -0.01441020
+v 0.00553840 0.00391338 -0.01443835
+v 0.00627875 0.00398737 -0.01443835
+v 0.00627875 0.00309816 0.00153315
+v 0.00553840 0.00309816 0.00153315
+v 0.00553840 0.00398737 -0.01443209
+v 0.00553847 0.00398737 -0.01443835
+v 0.00627875 0.00398737 0.00153315
+v 0.00553840 0.00398737 0.00153315
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 3 7 11
+f 3 11 8
+f 3 8 4
+f 4 8 9
+f 5 9 8
+f 5 8 11
+f 5 11 10
+f 6 10 11
+f 6 11 7
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_223.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_223.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7929ff405a65a9ce8a91b38b904cd4c9402ea39b
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_223.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00553905 -0.00121625 -0.01443835
+v 0.00553891 -0.00075833 -0.01443835
+v 0.00627875 -0.00121625 -0.01443835
+v 0.00553840 -0.00121625 -0.01426738
+v 0.00553840 -0.00075833 -0.01428467
+v 0.00553840 0.00008082 -0.01431157
+v 0.00553884 0.00008082 -0.01443835
+v 0.00627875 0.00008082 -0.01443835
+v 0.00627875 -0.00121625 0.00518580
+v 0.00553840 -0.00121625 0.00518580
+v 0.00553840 0.00008082 0.00518580
+v 0.00627875 0.00008082 0.00518580
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 3 8 12
+f 3 12 9
+f 4 10 11
+f 4 11 6
+f 4 6 5
+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_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_224.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_224.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1e6d27b9ffe7491f70b3ba6651205389d8f9296
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_224.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00002142 0.00017983 -0.03052541
+v 0.00087898 0.00017983 -0.03052541
+v 0.00002142 0.00017983 -0.01155918
+v 0.00002142 0.00226379 -0.03053284
+v 0.00087898 0.00063529 -0.03052912
+v 0.00087898 0.00017983 -0.01155918
+v 0.00002142 0.00289559 -0.01155918
+v 0.00002142 0.00289559 -0.03053470
+v 0.00087898 0.00213376 -0.03053284
+v 0.00087898 0.00289559 -0.01155918
+v 0.00002142 0.00713500 -0.01156104
+v 0.00002142 0.00500338 -0.03053470
+v 0.00087898 0.00526073 -0.03053284
+v 0.00087898 0.00713500 -0.01156104
+v 0.00002142 0.00713500 -0.03051984
+v 0.00002142 0.00608519 -0.03053284
+v 0.00080746 0.00608451 -0.03053284
+v 0.00087898 0.00676056 -0.03053098
+v 0.00087898 0.00713500 -0.03051798
+v 0.00002142 0.00676056 -0.03053098
+v 0.00037482 0.00713500 -0.03051984
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 11
+f 1 11 15
+f 1 15 20
+f 1 20 16
+f 1 16 12
+f 1 12 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 13
+f 2 13 18
+f 2 18 19
+f 2 19 14
+f 2 14 10
+f 2 10 6
+f 3 6 10
+f 3 10 7
+f 4 8 5
+f 5 8 9
+f 7 10 14
+f 7 14 11
+f 8 12 13
+f 8 13 9
+f 11 14 19
+f 11 19 21
+f 11 21 15
+f 12 16 17
+f 12 17 13
+f 13 17 18
+f 15 21 18
+f 15 18 20
+f 16 20 18
+f 16 18 17
+f 18 21 19
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_225.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_225.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e42ef51a5540ca9b181ece64a2a2765ec810a5fb
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_225.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00553913 -0.00266179 -0.01443835
+v 0.00553840 -0.00121638 -0.01426983
+v 0.00553905 -0.00161650 -0.01443835
+v 0.00627875 -0.00266179 -0.01443835
+v 0.00553840 -0.00266179 -0.01422225
+v 0.00553905 -0.00121638 -0.01443835
+v 0.00553840 -0.00121638 0.00581512
+v 0.00627875 -0.00121638 -0.01443835
+v 0.00627875 -0.00266179 0.00581512
+v 0.00553840 -0.00266179 0.00581512
+v 0.00627875 -0.00121638 0.00581512
+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 10
+f 2 10 7
+f 2 7 11
+f 2 11 8
+f 2 8 6
+f 4 8 11
+f 4 11 9
+f 7 10 9
+f 7 9 11
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_226.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_226.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bad8cf52dafe494f24178cbc8ec69bd0b9aaaff
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_226.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00317310 -0.00044486 -0.01801964
+v -0.00317310 0.00054945 -0.01801964
+v -0.00276402 -0.00044486 -0.01801964
+v -0.00317310 -0.00044486 0.00343493
+v -0.00276402 0.00054945 -0.01801964
+v -0.00317310 0.00054945 0.00343493
+v -0.00276402 -0.00044486 0.00343493
+v -0.00276402 0.00054945 0.00343493
+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_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_227.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_227.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f41a39f45481c8d0007b0b8d4cab03a269229e8
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_227.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00317310 -0.00599111 -0.01801964
+v -0.00317310 -0.00499694 -0.01801964
+v -0.00276402 -0.00599111 -0.01801964
+v -0.00317310 -0.00599111 0.00701069
+v -0.00276402 -0.00499694 -0.01801964
+v -0.00317310 -0.00499694 0.00701069
+v -0.00276402 -0.00599111 0.00701069
+v -0.00276402 -0.00499694 0.00701069
+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_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_228.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_228.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d20ae18c90664d4f778183d2f5325741a9dd1665
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_228.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00969351 -0.00149453 -0.02891259
+v 0.01008939 -0.00149486 -0.02891259
+v 0.01008939 -0.00149453 -0.02891314
+v 0.00969351 -0.00149453 -0.03003492
+v 0.00969351 -0.00482016 -0.02891259
+v 0.01008939 -0.00428200 -0.02891259
+v 0.01008939 -0.00149453 -0.02978442
+v 0.00971719 -0.00149453 -0.03002778
+v 0.00969351 -0.00162704 -0.03003031
+v 0.00969351 -0.00482016 -0.02907366
+v 0.00984175 -0.00482016 -0.02891259
+v 0.00978637 -0.00482016 -0.02898412
+v 0.01008939 -0.00377966 -0.02921089
+v 0.00977517 -0.00149453 -0.02998987
+v 0.01008939 -0.00223323 -0.02971212
+v 0.00969351 -0.00223323 -0.02997109
+v 0.00969351 -0.00373213 -0.02961653
+v 0.01008939 -0.00373213 -0.02923473
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 17
+f 1 17 10
+f 1 10 5
+f 1 5 11
+f 1 11 6
+f 1 6 2
+f 2 6 13
+f 2 13 18
+f 2 18 15
+f 2 15 7
+f 2 7 3
+f 4 8 9
+f 5 10 12
+f 5 12 11
+f 6 11 12
+f 6 12 13
+f 7 15 16
+f 7 16 14
+f 8 14 16
+f 8 16 9
+f 10 17 12
+f 12 17 18
+f 12 18 13
+f 15 18 17
+f 15 17 16
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_229.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_229.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f34bcbf204bb27a59012a9bb9bc6fe2b24bdea6f
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_229.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.00685448 -0.00939095 -0.01690699
+v -0.00715815 -0.00916450 -0.01756796
+v -0.00685448 -0.00938787 -0.01797574
+v -0.00685448 -0.00865075 -0.01690565
+v -0.00715815 -0.00865075 -0.01690565
+v -0.00715815 -0.00916604 -0.01690699
+v -0.00715815 -0.00914909 -0.02204418
+v -0.00685448 -0.00937400 -0.02264919
+v -0.00685448 -0.00359030 -0.01690565
+v -0.00715815 -0.00152221 -0.01690565
+v -0.00715815 -0.00914524 -0.02296768
+v -0.00685448 -0.00937246 -0.02296768
+v -0.00688828 -0.00152221 -0.01690565
+v -0.00685448 -0.00152221 -0.01690965
+v -0.00715815 -0.00152221 -0.03051023
+v -0.00715815 -0.00909518 -0.02446686
+v -0.00685448 -0.00932163 -0.02446686
+v -0.00685448 -0.00152221 -0.03051956
+v -0.00704472 -0.00152221 -0.03051423
+v -0.00715815 -0.00182183 -0.03050890
+v -0.00715815 -0.00903741 -0.02596471
+v -0.00685448 -0.00926155 -0.02596471
+v -0.00685448 -0.00362496 -0.03050490
+v -0.00715815 -0.00332071 -0.03049557
+v -0.00715815 -0.00895422 -0.02746389
+v -0.00685448 -0.00917836 -0.02746389
+v -0.00685448 -0.00458929 -0.03047025
+v -0.00685448 -0.00512307 -0.03044893
+v -0.00715815 -0.00481959 -0.03042494
+v -0.00715815 -0.00890031 -0.02765046
+v -0.00685448 -0.00902278 -0.02799827
+v -0.00685448 -0.00523244 -0.03042894
+v -0.00715815 -0.00523706 -0.03034898
+v -0.00715815 -0.00821480 -0.02901505
+v -0.00685448 -0.00865152 -0.02866324
+v -0.00685448 -0.00685225 -0.03010378
+v -0.00687097 -0.00685379 -0.03009979
+v -0.00715815 -0.00653337 -0.03008646
+v -0.00715815 -0.00792057 -0.02938951
+v -0.00690011 -0.00834189 -0.02913098
+v -0.00685448 -0.00841506 -0.02908567
+v -0.00685448 -0.00689230 -0.03009179
+v -0.00685448 -0.00767178 -0.02981328
+v -0.00715815 -0.00714109 -0.02989590
+v -0.00715815 -0.00673132 -0.03004115
+v -0.00715815 -0.00755316 -0.02974798
+v -0.00685448 -0.00836268 -0.02914964
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+f 1 17 22
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+f 37 44 45
+f 37 45 38
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+f 39 47 40
+f 40 47 41
+f 43 47 46
+f 43 46 44
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_23.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c64ebf855759814a60f251e169510bf62ae766ad
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,234 @@
+# https://github.com/mikedh/trimesh
+v -0.00841174 0.00798168 -0.02509408
+v -0.00841174 0.00791468 -0.02596666
+v -0.00856587 0.00782586 -0.02509408
+v -0.00841174 -0.00793447 -0.02509408
+v -0.00841174 0.00778690 -0.02746558
+v -0.00890954 0.00740824 -0.02596666
+v -0.00863971 0.00775106 -0.02509408
+v -0.00871511 -0.00763996 -0.02509408
+v -0.00841174 -0.00790642 -0.02557141
+v -0.00841174 0.00687843 -0.02909677
+v -0.00924313 0.00636576 -0.02858232
+v -0.00884909 0.00733812 -0.02746558
+v -0.00894080 0.00744252 -0.02509408
+v -0.00939694 0.00658859 -0.02746558
+v -0.00894080 -0.00741401 -0.02509408
+v -0.00841174 -0.00781604 -0.02689571
+v -0.00841174 0.00678805 -0.02917886
+v -0.00947276 0.00646393 -0.02746558
+v -0.00884421 0.00577985 -0.02958143
+v -0.00947276 0.00531393 -0.02907847
+v -0.00947276 0.00573933 -0.02874962
+v -0.00943454 0.00665871 -0.02596666
+v -0.00939964 0.00677558 -0.02509408
+v -0.00947276 0.00659638 -0.02596666
+v -0.00910468 -0.00718806 -0.02509408
+v -0.00945458 -0.00662864 -0.02596666
+v -0.00940608 -0.00656164 -0.02746558
+v -0.00891005 -0.00737817 -0.02596666
+v -0.00841174 -0.00776930 -0.02746558
+v -0.00841174 0.00537314 -0.02994949
+v -0.00913241 0.00478100 -0.02981251
+v -0.00947276 0.00501006 -0.02925676
+v -0.00947276 0.00665560 -0.02509408
+v -0.00942280 -0.00674551 -0.02509408
+v -0.00947276 -0.00660059 -0.02596666
+v -0.00947276 -0.00646658 -0.02734063
+v -0.00947276 -0.00645256 -0.02746558
+v -0.00924707 -0.00634036 -0.02858703
+v -0.00885563 -0.00731117 -0.02746558
+v -0.00841174 -0.00756049 -0.02802238
+v -0.00841174 0.00520952 -0.03001066
+v -0.00934148 0.00376189 -0.02993642
+v -0.00947276 0.00376189 -0.02980885
+v -0.00947276 -0.00666448 -0.02509408
+v -0.00946424 -0.00667851 -0.02509408
+v -0.00947276 -0.00608792 -0.02830836
+v -0.00841174 -0.00678135 -0.02917990
+v -0.00841174 -0.00685927 -0.02910775
+v -0.00947276 -0.00572796 -0.02874858
+v -0.00884888 -0.00576380 -0.02958613
+v -0.00841174 0.00376189 -0.03027573
+v -0.00947276 0.00295783 -0.02999341
+v -0.00947276 0.00365281 -0.02983394
+v -0.00841174 -0.00605832 -0.02972363
+v -0.00947276 -0.00529477 -0.02908370
+v -0.00913989 -0.00476340 -0.02982035
+v -0.00841174 0.00226284 -0.03039754
+v -0.00947276 0.00226284 -0.03007653
+v -0.00841174 -0.00518880 -0.03002007
+v -0.00947276 -0.00498311 -0.02927035
+v -0.00947276 -0.00458264 -0.02950823
+v -0.00947276 -0.00440811 -0.02961122
+v -0.00947276 -0.00355106 -0.02989773
+v -0.00935436 -0.00373182 -0.02994426
+v -0.00841174 -0.00509842 -0.03003837
+v -0.00841174 0.00075132 -0.03043466
+v -0.00947276 0.00067496 -0.03012359
+v -0.00947276 -0.00298541 -0.02999393
+v -0.00947276 -0.00238392 -0.03006869
+v -0.00841174 -0.00354639 -0.03030605
+v -0.00841174 -0.00373182 -0.03028305
+v -0.00947276 0.00030721 -0.03012411
+v -0.00841174 -0.00072125 -0.03043519
+v -0.00947276 -0.00236522 -0.03007078
+v -0.00841174 -0.00223277 -0.03039754
+v -0.00947276 -0.00223277 -0.03008019
+v -0.00947276 -0.00064333 -0.03012411
+v -0.00841174 -0.00206603 -0.03040225
+v -0.00947276 -0.00101109 -0.03011522
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 23
+f 1 23 33
+f 1 33 44
+f 1 44 45
+f 1 45 34
+f 1 34 25
+f 1 25 15
+f 1 15 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 29
+f 1 29 40
+f 1 40 48
+f 1 48 47
+f 1 47 54
+f 1 54 59
+f 1 59 65
+f 1 65 71
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+f 1 10 5
+f 1 5 2
+f 2 5 6
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+f 2 7 3
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+f 6 14 13
+f 8 15 16
+f 8 16 9
+f 10 17 11
+f 11 18 14
+f 11 14 12
+f 11 17 19
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+f 11 20 21
+f 11 21 18
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+f 14 18 24
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+f 70 74 76
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+f 73 79 77
+f 75 76 79
+f 75 79 78
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_230.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_230.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74601e9ff1a1b05ad8d669341053ebb50da72e1e
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_230.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.00458754 0.00674457 -0.03048519
+v -0.00524770 0.00674457 -0.03045350
+v -0.00458754 0.00676097 -0.03048202
+v -0.00458754 0.00674457 0.00189283
+v -0.00529440 0.00674457 -0.03044082
+v -0.00529440 0.00676439 -0.03044082
+v -0.00524715 0.00676097 -0.03045033
+v -0.00495889 0.00761728 -0.03024115
+v -0.00458754 0.00761728 -0.03025700
+v -0.00458754 0.00761728 0.00189283
+v -0.00527192 0.00674457 0.00189283
+v -0.00529440 0.00674457 0.00188967
+v -0.00529440 0.00761728 -0.03021580
+v -0.00527683 0.00761728 -0.03022214
+v -0.00525524 0.00761728 -0.03022531
+v -0.00529440 0.00761728 0.00189283
+v -0.00529440 0.00759831 0.00189283
+f 1 2 3
+f 1 3 9
+f 1 9 10
+f 1 10 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 4 10 16
+f 4 16 17
+f 4 17 11
+f 5 12 17
+f 5 17 16
+f 5 16 13
+f 5 13 6
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 8
+f 8 15 14
+f 8 14 13
+f 8 13 16
+f 8 16 10
+f 8 10 9
+f 11 17 12
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_231.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_231.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1e964a4d47201273fffe07e6fd2afca5063ba7a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_231.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00458754 -0.01070047 -0.00433702
+v -0.00464781 -0.01067714 -0.00433702
+v -0.00458754 -0.00821788 -0.00433702
+v -0.00458754 -0.01069804 -0.00348087
+v -0.00480716 -0.01061540 -0.00433702
+v -0.00529440 -0.00821788 -0.00433702
+v -0.00458754 -0.00821788 -0.00073320
+v -0.00458754 -0.01069342 -0.00198233
+v -0.00529440 -0.01037599 -0.00348087
+v -0.00529440 -0.01037891 -0.00433702
+v -0.00479844 -0.01061151 -0.00198233
+v -0.00529440 -0.00821788 -0.00073320
+v -0.00458754 -0.01068929 -0.00073320
+v -0.00458754 -0.01069245 -0.00168108
+v -0.00475000 -0.01062634 -0.00073320
+v -0.00479380 -0.01060933 -0.00073320
+v -0.00529440 -0.01037064 -0.00198233
+v -0.00529440 -0.01036603 -0.00073320
+f 1 2 5
+f 1 5 10
+f 1 10 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 2
+f 2 4 5
+f 3 6 12
+f 3 12 7
+f 4 8 5
+f 5 9 10
+f 5 8 11
+f 5 11 9
+f 6 10 9
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+f 6 17 18
+f 6 18 12
+f 7 12 18
+f 7 18 16
+f 7 16 15
+f 7 15 13
+f 8 14 15
+f 8 15 11
+f 9 11 16
+f 9 16 17
+f 11 15 16
+f 13 15 14
+f 16 18 17
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_232.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_232.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e90e4e160f2262deeff8e5c4e5d9ea37c6569ee1
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_232.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.00715815 0.00174989 -0.02962409
+v -0.00715815 0.00757015 -0.02962409
+v -0.00685448 0.00174989 -0.02962409
+v -0.00715815 0.00174989 -0.02144494
+v -0.00685448 0.00763853 -0.02962409
+v -0.00715815 0.00792706 -0.02939191
+v -0.00685448 0.00832530 -0.02919175
+v -0.00685448 0.00174989 -0.02144494
+v -0.00715815 0.00922922 -0.02144494
+v -0.00715815 0.00823964 -0.02900440
+v -0.00689348 0.00836963 -0.02912530
+v -0.00685448 0.00838691 -0.02914131
+v -0.00685448 0.00942608 -0.02144494
+v -0.00712390 0.00925176 -0.02144494
+v -0.00715815 0.00922922 -0.02146976
+v -0.00715815 0.00897224 -0.02746481
+v -0.00685448 0.00843275 -0.02908607
+v -0.00685448 0.00942608 -0.02146976
+v -0.00715815 0.00922847 -0.02296852
+v -0.00685448 0.00919466 -0.02746481
+v -0.00715815 0.00908119 -0.02596605
+v -0.00685448 0.00942308 -0.02296852
+v -0.00715815 0.00920743 -0.02404936
+v -0.00685448 0.00929459 -0.02596605
+v -0.00685448 0.00941782 -0.02315987
+v -0.00685448 0.00938926 -0.02419587
+v -0.00685448 0.00938476 -0.02433758
+v -0.00685448 0.00938175 -0.02440723
+f 1 2 5
+f 1 5 3
+f 1 3 8
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+f 2 6 7
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+f 16 20 17
+f 16 21 20
+f 18 22 19
+f 19 22 23
+f 20 21 24
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+f 22 25 23
+f 23 25 26
+f 23 26 27
+f 23 27 28
+f 23 28 24
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_233.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_233.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aa6c377bf9b4e18e639f97105c939fec2f5ced2
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_233.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.00553847 0.00398745 -0.01443835
+v 0.00627875 0.00398745 -0.01443835
+v 0.00553840 0.00398745 -0.01443209
+v 0.00553963 0.01027503 -0.01443835
+v 0.00627875 0.00979738 -0.01443835
+v 0.00627875 0.00398745 0.00153315
+v 0.00553840 0.01027503 -0.01397710
+v 0.00553840 0.00398745 0.00153315
+v 0.00627875 0.00979800 -0.01397398
+v 0.00553840 0.01027503 -0.01397398
+v 0.00553840 0.01027441 -0.01319377
+v 0.00554014 0.01027441 -0.01397398
+v 0.00627875 0.00980046 -0.00498053
+v 0.00627875 0.00980107 -0.00647840
+v 0.00627875 0.00980107 -0.00648465
+v 0.00627875 0.00978261 0.00153315
+v 0.00553840 0.01023625 0.00153315
+v 0.00553840 0.01026949 -0.00947569
+v 0.00627875 0.00979861 -0.00348111
+v 0.00627875 0.00978938 0.00101562
+v 0.00553840 0.01024302 0.00101562
+v 0.00553840 0.01026518 -0.00647840
+v 0.00553840 0.01026272 -0.00498053
+v 0.00553840 0.01025348 -0.00198324
+v 0.00553840 0.01024856 -0.00052603
+v 0.00553840 0.01025841 -0.00348111
+f 1 2 6
+f 1 6 8
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+f 1 3 4
+f 1 4 5
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+f 20 26 24
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_234.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_234.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a1e4509658dab7566b2114b5516c28c6e59d94c
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_234.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.00688905 -0.00169446 -0.03051703
+v 0.00688905 -0.00127743 -0.03052070
+v 0.00759392 -0.00073260 -0.03050600
+v 0.00759392 -0.00169446 -0.03048028
+v 0.00688905 -0.00169446 0.00701069
+v 0.00688905 0.00076639 -0.03053173
+v 0.00759392 -0.00008592 -0.03050968
+v 0.00759392 -0.00169446 0.00701069
+v 0.00688905 0.00812202 0.00701069
+v 0.00688905 0.00287459 -0.03052070
+v 0.00759392 0.00141595 -0.03050968
+v 0.00759392 0.00786450 0.00701069
+v 0.00688905 0.00812202 -0.02928962
+v 0.00729026 0.00812202 0.00701069
+v 0.00688905 0.00361832 -0.03051336
+v 0.00759392 0.00287459 -0.03048028
+v 0.00759392 0.00812202 0.00621324
+v 0.00689209 0.00812202 -0.02936680
+v 0.00688905 0.00768001 -0.02979308
+v 0.00688905 0.00511731 -0.03043251
+v 0.00759392 0.00441298 -0.03038474
+v 0.00759392 0.00812202 -0.02860243
+v 0.00704609 0.00812202 -0.02927493
+v 0.00744371 0.00745901 -0.02967549
+v 0.00688905 0.00685557 -0.03008707
+v 0.00759392 0.00708330 -0.02975633
+v 0.00759392 0.00527105 -0.03022304
+v 0.00759392 0.00802786 -0.02880087
+v 0.00740645 0.00812202 -0.02888539
+v 0.00759392 0.00736868 -0.02958361
+v 0.00759392 0.00730911 -0.02962036
+v 0.00759392 0.00656634 -0.02994008
+v 0.00759392 0.00606667 -0.03005767
+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 20
+f 1 20 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
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+f 2 7 3
+f 3 7 11
+f 3 11 16
+f 3 16 21
+f 3 21 27
+f 3 27 33
+f 3 33 32
+f 3 32 26
+f 3 26 31
+f 3 31 30
+f 3 30 28
+f 3 28 22
+f 3 22 17
+f 3 17 12
+f 3 12 8
+f 3 8 4
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+f 5 12 14
+f 5 14 9
+f 6 10 11
+f 6 11 7
+f 9 14 17
+f 9 17 22
+f 9 22 29
+f 9 29 23
+f 9 23 18
+f 9 18 13
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+f 11 15 16
+f 12 17 14
+f 13 18 19
+f 15 20 16
+f 16 20 21
+f 18 23 24
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+f 19 26 25
+f 20 25 27
+f 20 27 21
+f 22 28 29
+f 23 29 28
+f 23 28 24
+f 24 28 30
+f 24 30 31
+f 24 31 26
+f 25 26 32
+f 25 32 33
+f 25 33 27
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_235.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_235.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e07529becaa4ea297ea166f51ec837641530484
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_235.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00992682 -0.00348295 -0.01622682
+v -0.00992682 0.00118612 -0.01622682
+v -0.00947276 -0.00348295 -0.01622682
+v -0.00992682 -0.00348295 -0.00580572
+v -0.00947276 0.00118612 -0.01622682
+v -0.00992682 0.00118612 -0.00580776
+v -0.00947276 -0.00348295 -0.00580368
+v -0.00961900 -0.00348295 -0.00580368
+v -0.00967896 0.00118612 -0.00580368
+v -0.00979573 0.00118612 -0.00580470
+v -0.00947276 0.00118612 -0.00580368
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 10
+f 2 10 9
+f 2 9 11
+f 2 11 5
+f 3 5 11
+f 3 11 7
+f 4 8 9
+f 4 9 10
+f 4 10 6
+f 7 11 9
+f 7 9 8
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_236.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_236.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2623a4f7f053cf85bae53b9ab863a55e81f4b1e
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_236.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.00193349 -0.00586728 -0.03051791
+v 0.00193349 -0.00489479 -0.03052158
+v 0.00244469 -0.00586728 -0.03051791
+v 0.00193349 -0.00586728 0.00701069
+v 0.00193349 0.00672251 -0.03052893
+v 0.00244469 0.00076183 -0.03053628
+v 0.00244469 -0.00586728 0.00701069
+v 0.00193349 0.00723955 0.00701069
+v 0.00244469 0.00675972 -0.03052526
+v 0.00193349 0.00707533 -0.03051791
+v 0.00244469 0.00723955 0.00701069
+v 0.00193349 0.00723955 -0.03051055
+v 0.00244469 0.00723955 -0.03049953
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 12
+f 1 12 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 9
+f 3 9 13
+f 3 13 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 5 9 6
+f 5 10 9
+f 8 11 13
+f 8 13 12
+f 9 10 12
+f 9 12 13
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_237.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_237.obj
new file mode 100644
index 0000000000000000000000000000000000000000..918d48952f9a3bcdb6f8026ac13c72acb009c50f
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_237.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00613395 0.00997031 0.01141319
+v -0.00613395 0.00984791 0.01068139
+v -0.00674034 0.00947036 0.01068139
+v -0.00686553 0.00949525 0.01141319
+v -0.00613395 0.00643852 0.01141319
+v -0.00613395 0.00643852 0.01068139
+v -0.00714045 0.00918235 0.01068139
+v -0.00751709 0.00902815 0.01141319
+v -0.00976696 0.00643852 0.01141319
+v -0.00965351 0.00643852 0.01068139
+v -0.00715361 0.00917267 0.01068139
+v -0.00743458 0.00895866 0.01068139
+v -0.00780624 0.00860876 0.01068139
+v -0.00820671 0.00821980 0.01068139
+v -0.00826005 0.00829828 0.01141319
+v -0.00947995 0.00688349 0.01141319
+v -0.00945541 0.00675903 0.01068139
+v -0.00859544 0.00782323 0.01068139
+v -0.00901653 0.00753592 0.01141319
+v -0.00828424 0.00827408 0.01141319
+v -0.00946892 0.00689905 0.01141319
+v -0.00917017 0.00715732 0.01068139
+v -0.00894753 0.00745363 0.01068139
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 20
+f 1 20 19
+f 1 19 21
+f 1 21 16
+f 1 16 9
+f 1 9 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 17
+f 2 17 22
+f 2 22 23
+f 2 23 18
+f 2 18 14
+f 2 14 13
+f 2 13 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 8 13 14
+f 8 14 15
+f 9 16 17
+f 9 17 10
+f 14 18 19
+f 14 19 20
+f 14 20 15
+f 16 21 17
+f 17 21 19
+f 17 19 22
+f 18 23 19
+f 19 23 22
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_238.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_238.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9524d00ccd4b4c72cc5eb7d721a185774aac2bb8
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_238.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00276402 -0.00044530 -0.01652172
+v -0.00317310 -0.00044530 -0.01652172
+v -0.00276402 -0.00499650 -0.01652172
+v -0.00276402 -0.00044530 -0.01801964
+v -0.00317310 -0.00044530 -0.01801964
+v -0.00317310 -0.00499650 -0.01652172
+v -0.00276402 -0.00499650 -0.01801964
+v -0.00317310 -0.00499650 -0.01801964
+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_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_239.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_239.obj
new file mode 100644
index 0000000000000000000000000000000000000000..746095cb85710920bfcc55479aa851d49f267343
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_239.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.00513651 -0.01045560 -0.01315797
+v 0.00513651 -0.01045196 -0.01466171
+v 0.00553840 -0.01024921 -0.01395634
+v 0.00553840 -0.01025103 -0.01260701
+v 0.00517235 -0.01043741 -0.01260701
+v 0.00513651 -0.01045560 -0.01260701
+v 0.00513651 -0.01042741 -0.02220146
+v 0.00551621 -0.01023375 -0.02296649
+v 0.00553773 -0.01024102 -0.01697435
+v 0.00553840 -0.01024102 -0.01678835
+v 0.00553840 -0.00649233 -0.01260701
+v 0.00513651 -0.00116887 -0.01260701
+v 0.00513651 -0.01042469 -0.02296649
+v 0.00513651 -0.01038650 -0.02446497
+v 0.00548093 -0.01021011 -0.02446497
+v 0.00553840 -0.01022011 -0.02296649
+v 0.00535528 -0.00116887 -0.01260701
+v 0.00553840 -0.00116887 -0.01279476
+v 0.00553789 -0.00116887 -0.01260876
+v 0.00513651 -0.00116887 -0.03053256
+v 0.00513651 -0.01033922 -0.02596344
+v 0.00543923 -0.01018011 -0.02596344
+v 0.00553840 -0.01012374 -0.02584588
+v 0.00553840 -0.01017465 -0.02446497
+v 0.00553840 -0.00116887 -0.03053081
+v 0.00524607 -0.00523125 -0.03051852
+v 0.00513651 -0.00523125 -0.03051852
+v 0.00513651 -0.01025284 -0.02746367
+v 0.00535547 -0.01013828 -0.02746367
+v 0.00553840 -0.01011919 -0.02596344
+v 0.00553840 -0.01002645 -0.02746367
+v 0.00553840 -0.00373195 -0.03052203
+v 0.00553840 -0.00523125 -0.03050624
+v 0.00524611 -0.00602681 -0.03048519
+v 0.00513651 -0.00673054 -0.03045887
+v 0.00513651 -0.00970186 -0.02889196
+v 0.00553840 -0.00953547 -0.02880598
+v 0.00524611 -0.00647687 -0.03046589
+v 0.00553840 -0.00675145 -0.03038517
+v 0.00524611 -0.00673054 -0.03045360
+v 0.00513651 -0.00828712 -0.03007284
+v 0.00515409 -0.00968004 -0.02891126
+v 0.00513651 -0.00968458 -0.02891477
+v 0.00553840 -0.00916906 -0.02932010
+v 0.00553840 -0.00819074 -0.03001494
+v 0.00527176 -0.00829348 -0.03004828
+v 0.00526373 -0.00780705 -0.03017461
+v 0.00513651 -0.00852806 -0.02998160
+v 0.00513651 -0.00965367 -0.02895337
+v 0.00513651 -0.00878992 -0.02974823
+v 0.00553840 -0.00878992 -0.02963418
+v 0.00553840 -0.00857352 -0.02980965
+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 27
+f 1 27 35
+f 1 35 41
+f 1 41 48
+f 1 48 50
+f 1 50 49
+f 1 49 43
+f 1 43 36
+f 1 36 28
+f 1 28 21
+f 1 21 14
+f 1 14 13
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+f 2 7 8
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+f 3 10 16
+f 3 16 24
+f 3 24 23
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+f 3 51 52
+f 3 52 45
+f 3 45 39
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+f 3 33 32
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+f 3 18 11
+f 3 11 4
+f 4 11 17
+f 4 17 12
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+f 8 14 15
+f 8 15 16
+f 8 16 9
+f 9 16 10
+f 11 18 19
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+f 12 17 19
+f 12 19 18
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+f 14 21 15
+f 15 21 22
+f 15 22 23
+f 15 23 24
+f 15 24 16
+f 20 25 26
+f 20 26 27
+f 21 28 29
+f 21 29 22
+f 22 30 23
+f 22 29 31
+f 22 31 30
+f 25 32 26
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 26 32 33
+f 28 36 37
+f 28 37 29
+f 29 37 31
+f 33 38 34
+f 33 39 40
+f 33 40 38
+f 34 38 35
+f 35 40 41
+f 35 38 40
+f 36 42 37
+f 36 43 42
+f 37 42 44
+f 39 45 46
+f 39 46 47
+f 39 47 40
+f 40 47 41
+f 41 46 48
+f 41 47 46
+f 42 43 49
+f 42 49 44
+f 44 49 50
+f 44 50 48
+f 44 48 51
+f 45 48 46
+f 45 52 48
+f 48 52 51
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_24.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bc9facd51479dd712b9f2776f6cef92b4f7cece
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.00126919 -0.00770996 -0.03049925
+v -0.00140310 -0.00672731 -0.03052130
+v -0.00061458 -0.00672731 -0.03052130
+v -0.00061458 -0.00770996 -0.03049558
+v -0.00140310 -0.00770996 -0.03049558
+v -0.00140310 -0.00757382 -0.03049925
+v -0.00140310 -0.00522984 -0.03052498
+v -0.00075027 -0.00223492 -0.03053233
+v -0.00061458 0.00208394 -0.03053601
+v -0.00061458 -0.00770996 -0.01887066
+v -0.00140310 -0.00770996 0.00700701
+v -0.00140310 0.00208394 -0.03053233
+v -0.00061458 0.00208394 0.00701069
+v -0.00061465 -0.00770996 0.00700701
+v -0.00061458 -0.00027537 0.00701069
+v -0.00140310 -0.00027537 0.00701069
+v -0.00140310 0.00208394 0.00701069
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 14
+f 1 14 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 7 8
+f 2 8 3
+f 2 6 5
+f 2 5 11
+f 2 11 16
+f 2 16 17
+f 2 17 12
+f 2 12 7
+f 3 8 9
+f 3 9 13
+f 3 13 15
+f 3 15 10
+f 3 10 4
+f 7 12 8
+f 8 12 9
+f 9 12 17
+f 9 17 13
+f 10 15 14
+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_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_25.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72c8122a5ddff10b88e58a7e467d7b54f32871fe
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,234 @@
+# https://github.com/mikedh/trimesh
+v 0.00854533 -0.00066402 0.00645283
+v 0.00969336 -0.00066402 0.00645283
+v 0.00854533 -0.00066402 0.00668792
+v 0.00854510 0.00672680 -0.01334329
+v 0.00854555 -0.00066318 -0.01334329
+v 0.00969336 0.00531803 0.00645283
+v 0.00969336 -0.00066402 0.00701069
+v 0.00969314 -0.00066318 -0.01334329
+v 0.00854791 -0.00066402 0.00701069
+v 0.00854533 0.00018410 0.00701069
+v 0.00854510 0.00672680 0.00701069
+v 0.00854510 0.00789757 -0.01334329
+v 0.00914823 0.00622983 0.00664608
+v 0.00969336 0.00528451 0.00651857
+v 0.00969314 0.00643181 -0.01334329
+v 0.00969314 0.00643348 -0.01209607
+v 0.00969314 0.00643600 -0.00910952
+v 0.00969314 0.00643683 -0.00761524
+v 0.00969314 0.00643683 -0.00612097
+v 0.00969314 0.00643600 -0.00497935
+v 0.00969314 0.00643264 -0.00347711
+v 0.00969314 0.00642594 -0.00198682
+v 0.00969314 0.00641756 -0.00048657
+v 0.00969314 0.00640918 0.00101168
+v 0.00969314 0.00638320 0.00251193
+v 0.00969314 0.00620469 0.00401019
+v 0.00969314 0.00580326 0.00546461
+v 0.00969336 0.00497359 0.00701069
+v 0.00854510 0.00678714 0.00701069
+v 0.00854510 0.00789673 -0.01247262
+v 0.00872247 0.00772241 -0.01334329
+v 0.00917509 0.00626755 0.00645283
+v 0.00874202 0.00720114 0.00551044
+v 0.00856410 0.00676703 0.00701069
+v 0.00866615 0.00664551 0.00701069
+v 0.00907450 0.00612256 0.00701069
+v 0.00942001 0.00552670 0.00701069
+v 0.00951397 0.00535155 0.00701069
+v 0.00950566 0.00672680 -0.01334329
+v 0.00950622 0.00672680 -0.01188089
+v 0.00950656 0.00672680 -0.00948408
+v 0.00950667 0.00672680 -0.00798981
+v 0.00951723 0.00671004 -0.00497935
+v 0.00950667 0.00672680 -0.00795594
+v 0.00951735 0.00670585 -0.00347711
+v 0.00951566 0.00670250 -0.00198682
+v 0.00951004 0.00669496 0.00101168
+v 0.00949947 0.00668574 0.00251193
+v 0.00943631 0.00661953 0.00401019
+v 0.00930401 0.00645024 0.00550845
+v 0.00961985 0.00592478 0.00547458
+v 0.00854510 0.00741401 0.00551044
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_26.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..521021dee833187b04bd40f16b098aed3d6e57fa
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.01138586 0.00076469 0.00963728
+v -0.01129458 0.00146778 0.00963728
+v -0.01118091 0.00156125 0.00930798
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+v -0.01074957 0.00376196 0.00930798
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+v -0.01088433 -0.00322524 0.00930798
+v -0.01108553 -0.00275990 0.00963728
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_27.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7226662ce9f2201233cd8ccf64f355328a5c65c6
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.00741069 0.00855215 0.00930798
+v 0.00758336 0.00840840 0.00930798
+v 0.00708665 0.00855215 0.00870791
+v -0.00737751 0.00855215 0.00930798
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+v 0.01071495 0.00309342 0.00870791
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+v -0.01071376 0.00309342 0.00870791
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_28.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96fc0ef1f1811e585972ffee04bf72687c153cba
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.00881128 -0.00641167 0.00701076
+v 0.00874046 -0.00641167 0.00773198
+v 0.00859361 -0.00676145 0.00773198
+v 0.00867481 -0.00661441 0.00701076
+v -0.00883386 -0.00641167 0.00701076
+v -0.00873711 -0.00641167 0.00773198
+v 0.00777821 -0.00776799 0.00773198
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+v 0.00663112 -0.00866092 0.00701076
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+v -0.00774032 -0.00772700 0.00701076
+v -0.00778524 -0.00777111 0.00773198
+v -0.00820503 -0.00725558 0.00773198
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+v -0.00220700 -0.01074575 0.00773198
+v 0.00074883 -0.01090437 0.00701076
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+v -0.00229337 -0.01068515 0.00701076
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+v -0.00152634 -0.01084912 0.00773198
+v -0.00074895 -0.01090259 0.00701076
+v -0.00147279 -0.01085714 0.00773198
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_29.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..642e992a8e19e845a6f62693ea47f48d2b768450
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
+v -0.00074930 0.00967007 0.01978691
+v -0.00003221 0.00966623 0.01978691
+v -0.00224856 0.00945494 0.01978691
+v -0.00075191 0.00961116 0.02050554
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+v -0.00224856 0.00938194 0.02050554
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+v -0.00311922 0.00904004 0.02050554
+v 0.00224531 0.00943189 0.02050554
+v 0.00224791 0.00943189 0.02050322
+v 0.00224791 0.00949976 0.01978691
+v -0.00356171 -0.00092653 0.01978691
+v -0.00356171 0.00556845 0.02050554
+v -0.00356041 0.00878648 0.02050554
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+v 0.00398663 0.00880313 0.02047909
+v 0.00524512 0.00822048 0.01978691
+v 0.00916245 -0.00341209 0.02050554
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+v 0.00972727 -0.00001477 0.01978691
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+v 0.00916245 0.00339919 0.01978691
+v 0.00901018 0.00379232 0.01978691
+v 0.00883839 0.00414831 0.01978691
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_3.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d74463afe4ddc016c54f6796b8145abf5438fec
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,225 @@
+# https://github.com/mikedh/trimesh
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+v 0.00917103 -0.00341272 0.02050321
+v 0.00919444 -0.00352074 0.01978678
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_30.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba69e45a74a584c00f456e4dc3d0898b0be4729d
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
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+v -0.00074717 0.01098390 0.00773212
+v -0.00219210 0.01076327 0.00773212
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_31.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b540b524ab1eb6fbdddd24be564f4333f864ecc
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,228 @@
+# https://github.com/mikedh/trimesh
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+v -0.01089390 -0.00410509 -0.00198538
+v -0.01103135 -0.00373203 -0.00348171
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+v -0.01102700 -0.00373203 -0.00048559
+v -0.01089390 -0.00408613 0.00101420
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_32.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e2a45b7297686c99b61772bd8d7e25969f0f1ba
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_32.obj
@@ -0,0 +1,246 @@
+# https://github.com/mikedh/trimesh
+v 0.00854555 -0.00066474 -0.03040097
+v 0.00854555 0.00074738 -0.03040097
+v 0.00969314 -0.00065131 -0.03006203
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+v 0.00854544 0.00771145 -0.02668928
+v 0.00854555 0.00764933 -0.02746402
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+v 0.00854555 0.00679215 -0.02901180
+v 0.00854555 0.00647732 -0.02930066
+v 0.00854555 0.00598954 -0.02967300
+v 0.00854555 0.00513739 -0.02997688
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+v 0.00854555 0.00376053 -0.03023234
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+v 0.00854555 0.00226529 -0.03035923
+v 0.00854532 0.00790287 -0.01624713
+v 0.00957669 0.00226529 -0.03004199
+v 0.00969314 0.00161380 -0.03002697
+v 0.00969325 0.00612722 -0.02719019
+v 0.00969336 -0.00066474 -0.01624713
+v 0.00854532 -0.00066474 -0.01334357
+v 0.00854544 0.00771565 -0.02662918
+v 0.00890129 0.00739914 -0.02596465
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+v 0.00924028 0.00635894 -0.02857769
+v 0.00888342 0.00658226 -0.02880142
+v 0.00884352 0.00578972 -0.02957782
+v 0.00913901 0.00478982 -0.02981826
+v 0.00934819 0.00376053 -0.02994181
+v 0.00854532 0.00790203 -0.01547408
+v 0.00854544 0.00791211 -0.01997218
+v 0.00854544 0.00790959 -0.02147155
+v 0.00854544 0.00790287 -0.02296758
+v 0.00854544 0.00787097 -0.02379741
+v 0.00854544 0.00780297 -0.02522164
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+v 0.00969314 0.00585941 -0.02802169
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+v 0.00940753 0.00659653 -0.02719019
+v 0.00969325 0.00623469 -0.02596465
+v 0.00969336 0.00642946 -0.01624713
+v 0.00969336 -0.00066474 -0.01334357
+v 0.00854532 0.00789615 -0.01334357
+v 0.00894659 0.00745203 -0.02446528
+v 0.00944069 0.00664942 -0.02596465
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+v 0.00940023 0.00658394 -0.02746402
+v 0.00854532 0.00789951 -0.01397471
+v 0.00854544 0.00790959 -0.01847448
+v 0.00898210 0.00749569 -0.01997218
+v 0.00898177 0.00749569 -0.02147155
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+v 0.00969325 0.00626743 -0.02547543
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+v 0.00969325 0.00635642 -0.02401947
+v 0.00969325 0.00640679 -0.02296758
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_33.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..260202c6e6d897d82d1a302df969199410123227
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_33.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.00723362 0.00736878 0.01791951
+v 0.00698136 0.00736878 0.01832888
+v 0.00798839 0.00676875 0.01791951
+v -0.00720918 0.00736878 0.01791951
+v -0.00687885 0.00736878 0.01832888
+v 0.00760200 0.00684907 0.01832888
+v 0.00811452 0.00664118 0.01791951
+v -0.00810811 0.00663409 0.01791951
+v -0.00794794 0.00647582 0.01832888
+v 0.00768008 0.00676993 0.01832888
+v 0.00825066 0.00601752 0.01832888
+v 0.00821663 0.00647582 0.01791951
+v 0.00795636 0.00648763 0.01832888
+v -0.00966370 0.00372841 0.01791951
+v -0.00950153 0.00359730 0.01832888
+v 0.00934779 0.00398472 0.01832888
+v 0.00965010 0.00385361 0.01791951
+v -0.01010215 0.00226848 0.01791951
+v -0.00992197 0.00226375 0.01832888
+v 0.00949994 0.00366699 0.01832888
+v 0.00967612 0.00379810 0.01791951
+v -0.01020626 0.00076484 0.01791951
+v -0.01002007 0.00076484 0.01832888
+v 0.00951996 0.00361147 0.01832888
+v 0.00970816 0.00370951 0.01791951
+v -0.01022828 -0.00073407 0.01791951
+v -0.01004409 -0.00073407 0.01832888
+v 0.00967612 0.00316263 0.01832888
+v 0.00993038 0.00226375 0.01832888
+v 0.01011657 0.00226375 0.01791951
+v -0.01011616 -0.00223534 0.01791951
+v -0.00999604 -0.00166719 0.01832888
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+v -0.00987191 -0.00356534 0.01791951
+v -0.00992597 -0.00223416 0.01832888
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+v 0.01003049 0.00076484 0.01832888
+v 0.01003449 0.00023568 0.01832888
+v -0.00950754 -0.00466973 0.01791951
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+v 0.00952797 -0.00375078 0.01832888
+v 0.00923767 -0.00469572 0.01791951
+v 0.00886729 -0.00469572 0.01832888
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_34.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46fb4461eb1b975662be2ff03a3dd28d773ce66a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_34.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.00292010 0.01066304 -0.02878118
+v 0.00319310 0.01058166 -0.02878118
+v 0.00292010 0.01023943 -0.02939440
+v 0.00292010 -0.01065503 -0.02878118
+v 0.00358297 0.01046480 -0.02878118
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+v 0.00292010 0.00990347 -0.02972343
+v 0.00292010 -0.01045679 -0.02906949
+v 0.00332081 -0.01053817 -0.02878118
+v 0.00358297 -0.01045888 -0.02878118
+v 0.00358297 0.00946734 -0.02989920
+v 0.00358297 0.00938596 -0.02995384
+v 0.00292010 0.00949030 -0.02999903
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+v 0.00358297 -0.01011874 -0.02926003
+v 0.00358297 0.00840520 -0.03030984
+v 0.00292010 0.00899574 -0.03017823
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+v 0.00358297 -0.00936960 -0.02996019
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+v 0.00292010 0.00825912 -0.03040297
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+v 0.00358297 0.00692362 -0.03051224
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+v 0.00358297 0.00542534 -0.03052754
+v 0.00292010 0.00608683 -0.03052822
+v 0.00292010 -0.00223297 -0.03053115
+v 0.00358297 -0.00206812 -0.03053149
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+f 39 42 40
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_35.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28aa1a0cc1459989d1832ba9e049eb13756bb88e
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_35.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.00317317 -0.01068130 0.00870791
+v 0.00317317 -0.01053069 0.00840548
+v 0.00351033 -0.01059345 0.00870791
+v 0.00317317 0.01068809 0.00870791
+v 0.00320353 -0.01052233 0.00840548
+v 0.00317317 0.01051866 0.00840548
+v 0.00374720 -0.01051605 0.00870791
+v 0.00374720 0.01052703 0.00870791
+v 0.00374720 -0.01034453 0.00840548
+v 0.00374720 0.01035760 0.00840548
+v 0.00416349 -0.01036754 0.00870791
+v 0.00505624 0.00995389 0.00870791
+v 0.00524216 0.00973007 0.00840548
+v 0.00391903 -0.01028177 0.00840548
+v 0.00512834 -0.00976720 0.00840548
+v 0.00462857 -0.01014790 0.00870791
+v 0.00587473 0.00947697 0.00870791
+v 0.00651110 0.00906907 0.00870791
+v 0.00682277 0.00863817 0.00840548
+v 0.00525084 -0.00970654 0.00840548
+v 0.00505679 -0.00994082 0.00870791
+v 0.00776594 0.00797927 0.00870791
+v 0.00781906 0.00783285 0.00840548
+v 0.00618153 -0.00910621 0.00840548
+v 0.00632084 -0.00920243 0.00870791
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+v 0.00786730 0.00788096 0.00870791
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+f 37 42 40
+f 37 40 39
+f 37 39 38
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_36.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60f1de71fbbfbdab009257951845439aedc00b6a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_36.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00553840 -0.00121638 0.00518580
+v 0.00627875 -0.00121638 0.00518580
+v 0.00553840 -0.00121638 0.00581506
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+v 0.00553840 0.00975314 0.00581506
+v 0.00553840 0.00985870 0.00545389
+v 0.00577516 0.00976185 0.00518580
+v 0.00627875 0.00932873 0.00581506
+v 0.00627875 0.00942667 0.00542863
+v 0.00627875 0.00941470 0.00550256
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+f 1 3 7
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+f 1 8 4
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+f 2 10 5
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+f 4 8 9
+f 6 9 11
+f 7 10 8
+f 8 10 12
+f 8 12 11
+f 8 11 9
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_37.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9c7d04f30b850942d6c61f09b082bead63aaffd
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_37.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.00871072 -0.00687784 0.00870791
+v 0.00871072 -0.00675372 0.00845894
+v 0.00907399 -0.00649467 0.00870791
+v 0.00871072 0.00690578 0.00870791
+v 0.00871072 -0.00674292 0.00844556
+v 0.00921944 -0.00630443 0.00870791
+v 0.00906369 0.00652530 0.00870791
+v 0.00871072 0.00677761 0.00846489
+v 0.00871072 -0.00670784 0.00840548
+v 0.00912459 -0.00616681 0.00840548
+v 0.00945507 -0.00590641 0.00870791
+v 0.00972606 -0.00523719 0.00840548
+v 0.00945694 0.00591950 0.00870791
+v 0.00972137 0.00526513 0.00840548
+v 0.00871072 0.00671419 0.00840823
+v 0.00871072 0.00670070 0.00840548
+v 0.00996215 -0.00504021 0.00870791
+v 0.00978484 -0.00511576 0.00840548
+v 0.00995653 0.00507219 0.00870791
+v 0.01053176 0.00376210 0.00870791
+v 0.01036032 0.00376210 0.00840548
+v 0.01038749 -0.00415107 0.00870791
+v 0.01030270 -0.00390551 0.00840548
+v 0.01073108 0.00303757 0.00870791
+v 0.01080416 0.00221185 0.00840548
+v 0.01053551 -0.00373146 0.00870791
+v 0.01036406 -0.00373146 0.00840548
+v 0.01089199 0.00221994 0.00870791
+v 0.01101612 0.00086803 0.00840548
+v 0.01054019 -0.00318233 0.00840548
+v 0.01061210 -0.00349265 0.00870791
+v 0.01110068 0.00076414 0.00870791
+v 0.01103158 0.00076414 0.00840548
+v 0.01080744 -0.00218796 0.00840548
+v 0.01073366 -0.00301368 0.00870791
+v 0.01110185 0.00056715 0.00870791
+v 0.01103322 -0.00062826 0.00840548
+v 0.01089667 -0.00219470 0.00870791
+v 0.01103322 -0.00073350 0.00840548
+v 0.01110325 -0.00073350 0.00870791
+v 0.01107866 -0.00093048 0.00870791
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+f 28 33 29
+f 30 34 31
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+f 36 40 37
+f 37 40 39
+f 38 39 41
+f 39 40 41
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_38.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..476be879231c062fbf10bc655e2d9fd16d06f799
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_38.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.00927094 -0.00591963 0.00840535
+v 0.00912425 -0.00616717 0.00840535
+v 0.00859363 -0.00676157 0.00773212
+v 0.00891236 -0.00599849 0.00773212
+v 0.00893953 -0.00591963 0.00773212
+v -0.00922993 -0.00591963 0.00840535
+v 0.00863166 -0.00681048 0.00840535
+v 0.00777870 -0.00776820 0.00773212
+v -0.00894018 -0.00591963 0.00773212
+v -0.00859971 -0.00676407 0.00773212
+v -0.00864137 -0.00681198 0.00840535
+v 0.00782216 -0.00781013 0.00840535
+v 0.00682250 -0.00861913 0.00840535
+v 0.00677361 -0.00858070 0.00773212
+v -0.00820492 -0.00725565 0.00773212
+v -0.00783005 -0.00781262 0.00840535
+v 0.00651826 -0.00885170 0.00840535
+v 0.00617961 -0.00910872 0.00840535
+v 0.00530129 -0.00958833 0.00773212
+v -0.00778659 -0.00777070 0.00773212
+v -0.00683402 -0.00861663 0.00840535
+v -0.00726865 -0.00818942 0.00773212
+v 0.00524877 -0.00970911 0.00840535
+v 0.00446100 -0.00999907 0.00773212
+v -0.00677788 -0.00858369 0.00773212
+v -0.00682677 -0.00862212 0.00840469
+v -0.00681772 -0.00862861 0.00840535
+v 0.00512563 -0.00976899 0.00840535
+v 0.00391771 -0.01028504 0.00840535
+v 0.00374567 -0.01034642 0.00840535
+v 0.00220815 -0.01074419 0.00773212
+v -0.00530556 -0.00958833 0.00773212
+v -0.00525666 -0.00971110 0.00840535
+v 0.00320238 -0.01052509 0.00840535
+v 0.00220815 -0.01079609 0.00840535
+v 0.00074851 -0.01101818 0.00840535
+v 0.00074851 -0.01096278 0.00773212
+v -0.00376261 -0.01023014 0.00773212
+v -0.00374631 -0.01035241 0.00840535
+v -0.00074916 -0.01101818 0.00840535
+v -0.00074916 -0.01096178 0.00773212
+v -0.00220699 -0.01074568 0.00773212
+v -0.00220699 -0.01079759 0.00840535
+v -0.00152425 -0.01084899 0.00773212
+f 1 2 3
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+f 1 21 27
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+f 40 43 44
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_39.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ef4a76521ce0afecfa5304aaecb37609be21759
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_39.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.00074859 0.01022823 0.01791951
+v -0.00067522 0.01022544 0.01791951
+v -0.00074874 0.01002233 0.01832888
+v 0.00021696 0.01002345 0.01832888
+v 0.00074859 0.01002066 0.01832888
+v 0.00167895 0.00996499 0.01832888
+v 0.00224168 0.01010990 0.01791951
+v -0.00074874 0.01022488 0.01791951
+v -0.00224890 0.01009507 0.01791951
+v -0.00224890 0.00988414 0.01832888
+v 0.00224734 0.00990708 0.01832888
+v 0.00224734 0.01010934 0.01791951
+v -0.00374906 0.00966677 0.01791951
+v -0.00357939 0.00947374 0.01832888
+v 0.00308579 0.00965642 0.01832888
+v 0.00359479 0.00970649 0.01791951
+v -0.00662213 0.00812840 0.01791951
+v -0.00646660 0.00796950 0.01832888
+v 0.00356086 0.00949136 0.01832888
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+v -0.00688087 0.00737055 0.01832888
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+v 0.00646362 0.00822576 0.01791951
+v 0.00723420 0.00737055 0.01791951
+v 0.00698535 0.00737055 0.01832888
+v 0.00647352 0.00797818 0.01832888
+v 0.00662763 0.00813540 0.01791951
+v 0.00675347 0.00801203 0.01791951
+v 0.00683406 0.00762401 0.01832888
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+f 25 30 26
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+f 27 30 29
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_4.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b9dba997f1df8737c820254a63727385b42446b
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,267 @@
+# https://github.com/mikedh/trimesh
+v -0.00906996 -0.00338898 0.02050554
+v -0.00891988 -0.00412974 0.02050554
+v -0.00892167 -0.00412812 0.02200314
+v -0.00892346 -0.00412372 0.02500143
+v -0.00906996 -0.00338898 0.02052726
+v 0.00917827 -0.00338898 0.02050554
+v -0.00839463 -0.00523103 0.02050554
+v -0.00839820 -0.00523103 0.02649903
+v -0.00892346 -0.00412001 0.02649903
+v -0.00906460 -0.00338898 0.02503142
+v 0.00917827 -0.00338898 0.02350177
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+v -0.00804088 -0.00575584 0.02050554
+v -0.00804267 -0.00575584 0.02649903
+v -0.00797120 -0.00575584 0.02721369
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+v -0.00824634 -0.00523103 0.02799766
+v -0.00885735 -0.00394901 0.02799766
+v -0.00898956 -0.00338898 0.02799766
+v -0.00906102 -0.00338898 0.02649903
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+v 0.00915147 -0.00346406 0.02649903
+v 0.00889598 -0.00421478 0.02500143
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+v -0.00867512 -0.00360169 0.02938459
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+v -0.00873051 -0.00338898 0.02948594
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+v -0.00737984 -0.00575584 0.02983759
+v -0.00768892 -0.00479427 0.03041470
+v -0.00794977 -0.00373237 0.03056570
+v -0.00803731 -0.00338898 0.03057294
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+v -0.00374771 -0.00575584 0.03103732
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+v 0.00472072 -0.00575584 0.03100733
+v 0.00322178 -0.00575584 0.03106628
+f 1 2 3
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_40.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e24e54b20a5ba0cd65c183d9e5b3bbac0a18670
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_40.obj
@@ -0,0 +1,243 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_41.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56a7652fba66488ac52129e7ace393e799cd78b8
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_41.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v -0.00947276 0.00554602 -0.02890025
+v -0.00954423 0.00554602 -0.02879894
+v -0.00947276 0.00574072 -0.02875003
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_42.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce8f2d6e42be1c7cbbcc5123fcb07e2fea85c2d3
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_42.obj
@@ -0,0 +1,246 @@
+# https://github.com/mikedh/trimesh
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+v -0.00771900 -0.00623319 0.02050554
+v -0.00804197 -0.00575607 0.02571506
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+v -0.00789230 -0.00575607 0.02799766
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+v -0.00753152 -0.00602188 0.02886953
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+v -0.00658939 -0.00680238 0.02929047
+v -0.00734246 -0.00579377 0.02986965
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diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_43.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c80485d7d07bc6132182da1ea7482bbae3012155
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_43.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_44.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c5fbc4e74163391997d1d6152f24e3ba9f218c0
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_44.obj
@@ -0,0 +1,276 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_45.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63863ff3dff4dacdce228befd68f1459d72f5dca
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_45.obj
@@ -0,0 +1,195 @@
+# https://github.com/mikedh/trimesh
+v -0.00613360 -0.00995198 0.01141319
+v -0.00613360 -0.00985810 0.01076986
+v -0.00570367 -0.01023132 0.01141319
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+v -0.00613360 0.00984434 0.01068139
+v -0.00478580 0.01062511 0.01068139
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diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_46.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fbecdb3c0262b32b8abc8704b54c898e3409c8b
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_46.obj
@@ -0,0 +1,312 @@
+# https://github.com/mikedh/trimesh
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diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_47.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98f0c500538080f959b1a9aa8a3c1fa73b571a86
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_47.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_48.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50c503d8dc3b6f06fce3d4cbd07d04cf73267462
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_48.obj
@@ -0,0 +1,228 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_49.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29f47585ea924b1583da88bed1d94550ba07f861
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_49.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
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+v -0.00385070 -0.00596377 -0.03052421
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_5.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bb18e0531fbe90fea392d04146cfd02f98a9336
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,384 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_50.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3b3b5d6c85501c4ef2a615edfdcc39af429e8e8
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_50.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.00992686 0.00522150 -0.02820803
+v -0.00992686 0.00497124 -0.02870842
+v -0.01041081 0.00460045 -0.02830752
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_51.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ad8a09b58f7f1fdf05b0694b25fc7829b55caae
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_51.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
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+v -0.00529440 0.01017449 -0.02746559
+v -0.00532858 0.01015857 -0.02743408
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+v -0.00529440 -0.01015879 -0.02746559
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+v -0.00602487 0.00932644 -0.02872501
+v -0.00602487 -0.00972083 -0.02743408
+v -0.00534303 -0.01013689 -0.02743408
+v -0.00534131 -0.01013490 -0.02746559
+v -0.00529440 -0.01015481 -0.02750922
+v -0.00577125 0.00885066 -0.02957422
+v -0.00529440 0.00834900 -0.03001291
+v -0.00602487 0.00902783 -0.02913401
+v -0.00602487 -0.00971884 -0.02746559
+v -0.00601221 -0.00972879 -0.02743408
+v -0.00529440 -0.00962328 -0.02886589
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+v -0.00602487 -0.00934856 -0.02866775
+v -0.00602487 0.00801455 -0.02994747
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+v -0.00529440 0.00830122 -0.03003897
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+v -0.00577633 -0.00882699 -0.02957937
+v -0.00602487 -0.00871949 -0.02948091
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+v -0.00602487 -0.00668895 -0.03030770
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+f 1 29 35
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_52.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d6dc81c49cf9fe5c8c5cff451705da1872d4066
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_52.obj
@@ -0,0 +1,252 @@
+# https://github.com/mikedh/trimesh
+v 0.00759383 0.00801699 -0.02881865
+v 0.00688918 0.00812213 -0.02929230
+v 0.00689217 0.00812213 -0.02937064
+v 0.00704617 0.00812213 -0.02927805
+v 0.00761918 0.00801699 -0.02879373
+v 0.00759383 0.00801699 0.00654061
+v 0.00688918 0.00837003 -0.02913204
+v 0.00688918 0.00812213 0.00701069
+v 0.00689392 0.00837532 -0.02912492
+v 0.00688918 0.00853656 -0.02884358
+v 0.00688918 0.00903060 -0.02794616
+v 0.00780078 0.00801699 -0.02851951
+v 0.00798387 0.00801699 0.00551854
+v 0.00718805 0.00876178 0.00550786
+v 0.00729034 0.00812213 0.00701069
+v 0.00688918 0.00837736 -0.02912492
+v 0.00688918 0.00846022 0.00701069
+v 0.00688918 0.00838280 -0.02911780
+v 0.00688918 0.00916616 -0.02746184
+v 0.00731194 0.00886189 -0.02746184
+v 0.00750041 0.00853656 -0.02787137
+v 0.00800211 0.00801699 -0.02798889
+v 0.00798837 0.00801699 0.00550429
+v 0.00688918 0.00898428 0.00550786
+v 0.00688918 0.00863681 0.00653349
+v 0.00737851 0.00891609 0.00400859
+v 0.00688918 0.00924549 -0.02596256
+v 0.00815161 0.00814834 -0.02596256
+v 0.00759383 0.00859388 -0.02746184
+v 0.00735990 0.00889761 -0.02596256
+v 0.00759383 0.00867634 -0.02596256
+v 0.00809977 0.00811248 -0.02746184
+v 0.00816497 0.00804484 -0.02746184
+v 0.00811214 0.00801699 -0.02768263
+v 0.00799649 0.00801699 0.00546512
+v 0.00688918 0.00926124 0.00400859
+v 0.00759383 0.00870119 0.00400859
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+v 0.00688918 0.00931246 -0.02446329
+v 0.00816497 0.00815704 -0.02552097
+v 0.00816497 0.00813666 -0.02593764
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+v 0.00739625 0.00892709 -0.02446329
+v 0.00816497 0.00805448 -0.02734075
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+v 0.00759383 0.00884939 0.00251288
+v 0.00816497 0.00825253 0.00250932
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+v 0.00759383 0.00885904 0.00101361
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+v 0.00759383 0.00885958 0.00075720
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+f 75 81 80
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+f 75 82 83
+f 75 83 78
+f 79 84 80
+f 80 84 85
+f 80 85 82
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_53.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b800b9f5ac9bff611eb73a9693aa26089c1540d0
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_53.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.00291999 0.01093558 0.00534516
+v 0.00291999 0.01114582 0.00401305
+v 0.00244474 0.01128095 0.00401305
+v 0.00285997 0.01093558 0.00545253
+v 0.00291999 0.01093558 -0.02804816
+v 0.00291999 0.01125448 0.00251317
+v 0.00244474 0.01139442 0.00251317
+v 0.00244474 0.01104183 0.00549951
+v 0.00284662 0.01093558 0.00547602
+v 0.00244474 0.01093558 -0.02837699
+v 0.00244474 0.01116466 -0.02759517
+v 0.00291999 0.01097589 -0.02791058
+v 0.00291999 0.01126147 0.00184208
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+v 0.00244474 0.01093558 0.00589881
+v 0.00244474 0.01119015 -0.02746431
+v 0.00291999 0.01106312 -0.02746431
+v 0.00291999 0.01126864 0.00101329
+v 0.00244474 0.01140780 0.00101329
+v 0.00244474 0.01139859 0.00207361
+v 0.00244474 0.01126276 -0.02616240
+v 0.00291999 0.01110921 -0.02663552
+v 0.00291999 0.01126975 0.00034220
+v 0.00244474 0.01140812 0.00081867
+v 0.00244474 0.01127285 -0.02596443
+v 0.00291999 0.01114369 -0.02596443
+v 0.00291999 0.01127063 -0.00115768
+v 0.00291999 0.01127095 -0.00265421
+v 0.00244474 0.01140831 -0.00068121
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+v 0.00291999 0.01127095 -0.00415409
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+v 0.00291999 0.01121283 -0.02446455
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_54.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..494d0859908a8edefff6aee7c901f0a8729b7f39
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_54.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00707949 -0.00854793 0.00870791
+v -0.00707949 -0.00841700 0.00840548
+v -0.00651346 -0.00906172 0.00870791
+v -0.00707949 0.00854390 0.00870791
+v -0.00682805 -0.00862133 0.00840548
+v -0.00707949 0.00843083 0.00840548
+v -0.00525792 -0.00971040 0.00840548
+v -0.00593612 -0.00943466 0.00870791
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+v -0.00467209 -0.00997027 0.00847265
+v -0.00467209 -0.01010913 0.00870791
+v -0.00505856 -0.00995241 0.00870791
+v -0.00631716 0.00923027 0.00870791
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+v -0.00467209 0.00995037 0.00840548
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_55.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9035a56a5c7f6e424438f3857291601000bbb2e7
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_55.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.00513651 0.01044697 -0.00124794
+v 0.00531657 0.01036085 -0.00124794
+v 0.00513651 0.01045722 -0.00424337
+v 0.00513651 -0.01047322 -0.00124794
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+v 0.00513651 -0.01047322 -0.00261223
+v 0.00520665 -0.01043836 -0.00124794
+v 0.00552149 0.01026037 -0.00124794
+v 0.00513651 0.01046748 -0.00876098
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+v 0.00553840 0.01026857 -0.00947592
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+v 0.00516287 -0.01045066 -0.00807161
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+f 29 34 30
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_56.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d747afb451f32f14a2476ba720228b7541190ad
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_56.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.01091354 0.00309342 0.00930798
+v 0.01108147 0.00224044 0.00930798
+v 0.01089145 0.00222104 0.00870791
+v 0.01084725 0.00309342 0.00910316
+v -0.01086011 0.00309342 0.00930798
+v 0.01109694 0.00078755 0.00870791
+v 0.01128034 0.00078755 0.00930798
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+v 0.01109915 0.00076410 0.00870791
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+v -0.01072312 0.00309342 0.00872988
+v -0.01091977 0.00201649 0.00870791
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+v -0.01117830 0.00156129 0.00930798
+v -0.01072975 0.00302551 0.00870791
+v -0.01088884 0.00222427 0.00870791
+v 0.01110136 0.00056763 0.00870791
+v 0.01128697 -0.00003309 0.00930798
+v -0.01071207 0.00309342 0.00870791
+v -0.01109875 0.00076410 0.00870791
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+v 0.01110136 -0.00073488 0.00870791
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_57.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3f01904514e3e5726b85d2a6ee965904f78389d
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_57.obj
@@ -0,0 +1,381 @@
+# https://github.com/mikedh/trimesh
+v 0.00074671 0.01148858 0.01646782
+v 0.00224741 0.01098839 0.01713173
+v 0.00224741 0.01132074 0.01646782
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+v 0.00262933 0.01092358 0.01713173
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+v -0.00074725 0.01110637 0.01713173
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+v 0.00374587 0.01064274 0.01713173
+v 0.00444680 0.01036523 0.01713173
+v 0.00471639 0.01061449 0.01687604
+v 0.00481748 0.01066102 0.01646782
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+v -0.00220752 0.01098839 0.01713173
+v 0.00511178 0.00999133 0.01713173
+v 0.00673380 0.00902917 0.01713166
+v 0.00674278 0.00926846 0.01696404
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+v -0.00224796 0.01098340 0.01713173
+v 0.00523534 0.00985340 0.01713173
+v 0.00867932 0.00720123 0.01713166
+v 0.00794245 0.00795567 0.01713166
+v 0.00718985 0.00870180 0.01713166
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_58.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abd99ad056e5b118101f9bbe6db69d4df27dc933
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_58.obj
@@ -0,0 +1,210 @@
+# https://github.com/mikedh/trimesh
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+v 0.01010127 0.00396982 0.01749021
+v 0.00965062 0.00385350 0.01791939
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_59.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ce53a5994dc994286c6e2a30ad367b1f5188dd2
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_59.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v 0.01072239 0.00243928 0.00840469
+v 0.01072455 0.00243519 0.00840528
+v 0.01075047 0.00221182 0.00773218
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_6.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b95cdbaab3f5d9c4075ca00e9551b01392e4651
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
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+v -0.00967189 -0.00144987 0.01978691
+v -0.00972772 -0.00073326 0.02050554
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+v -0.00617533 0.00767123 0.01978691
+v -0.00524749 0.00825590 0.01978691
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_60.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd9806f1cba5522e3e141cbcb01fda62db4736b7
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_60.obj
@@ -0,0 +1,225 @@
+# https://github.com/mikedh/trimesh
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+v 0.00784083 -0.00540038 0.01068139
+v 0.00783892 0.00430283 0.00963728
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+v -0.01082232 0.00376208 0.00963728
+v -0.01090983 0.00376208 0.01001022
+v -0.01101635 0.00371644 0.01068139
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+v -0.01159274 -0.00073410 0.01068139
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+v -0.00655554 -0.00936548 0.00963728
+v -0.01130740 -0.00223190 0.01001022
+v -0.01118566 -0.00221807 0.00963728
+v -0.01140251 -0.00223190 0.01068139
+v -0.00674957 -0.00944569 0.01068139
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+v -0.00738683 -0.00888834 0.01001022
+v -0.00706725 -0.00900174 0.00963728
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+v -0.01073101 -0.00410865 0.00963728
+v -0.01092504 -0.00372002 0.01002238
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+v -0.00821431 -0.00819683 0.01068139
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+v -0.00807735 -0.00805991 0.00963728
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+v -0.01055030 -0.00460238 0.00963728
+v -0.01082232 -0.00424142 0.01068139
+v -0.00895430 -0.00743064 0.01068139
+v -0.00890484 -0.00737394 0.01001022
+v -0.00863852 -0.00748458 0.00963728
+v -0.01057693 -0.00465632 0.01001022
+v -0.01033724 -0.00500484 0.00963728
+v -0.01018696 -0.00540038 0.01000388
+v -0.01028969 -0.00540038 0.01068139
+v -0.01062449 -0.00475036 0.01068139
+v -0.00945649 -0.00673637 0.01068139
+v -0.00943367 -0.00662435 0.01001022
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+v -0.00901707 -0.00705585 0.00963728
+v -0.01045138 -0.00508782 0.01068139
+v -0.00937850 -0.00654413 0.00963728
+v -0.00982173 -0.00617348 0.01068139
+v -0.01023452 -0.00550134 0.01068139
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+f 3 20 28
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_61.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3acf2fafdfca6590ee9b1acc8341139969dfed33
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_61.obj
@@ -0,0 +1,288 @@
+# https://github.com/mikedh/trimesh
+v -0.00622984 -0.00989233 0.01141319
+v -0.00570564 -0.01023324 0.01141319
+v -0.00624135 -0.00989233 0.01146301
+v 0.00622708 -0.00989233 0.01141319
+v -0.00564171 -0.01028861 0.01151003
+v -0.00562892 -0.01028100 0.01141319
+v -0.00624263 -0.00989233 0.01146917
+v 0.00622964 -0.00989233 0.01142159
+v 0.00562360 -0.01028309 0.01141319
+v -0.00578363 -0.01036432 0.01300853
+v -0.00558034 -0.01030668 0.01141319
+v -0.00487969 -0.01066700 0.01141319
+v -0.00489248 -0.01067328 0.01151003
+v -0.00636281 -0.00989233 0.01217112
+v 0.00624242 -0.00989233 0.01147085
+v 0.00563895 -0.01029070 0.01151003
+v 0.00487565 -0.01066244 0.01141319
+v -0.00503440 -0.01073796 0.01300853
+v -0.00579386 -0.01037060 0.01450647
+v -0.00652391 -0.00989233 0.01450647
+v -0.00650857 -0.00989233 0.01338134
+v -0.00650345 -0.00989233 0.01300853
+v -0.00380699 -0.01108268 0.01141319
+v -0.00374817 -0.01111769 0.01151003
+v -0.00374817 -0.01124496 0.01300853
+v 0.00651220 -0.00989233 0.01300853
+v 0.00578470 -0.01036927 0.01300853
+v 0.00488844 -0.01066871 0.01151003
+v 0.00374669 -0.01111008 0.01151003
+v 0.00374669 -0.01109714 0.01141319
+v -0.00504463 -0.01074177 0.01450647
+v -0.00570308 -0.01031505 0.01600609
+v -0.00635386 -0.00989233 0.01600609
+v -0.00495257 -0.01069440 0.01600609
+v -0.00374817 -0.01110475 0.01141319
+v -0.00224843 -0.01151321 0.01151003
+v -0.00224843 -0.01163972 0.01300853
+v -0.00374817 -0.01125105 0.01450647
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+v 0.00579749 -0.01037631 0.01450647
+v 0.00503547 -0.01073283 0.01300853
+v 0.00374669 -0.01123925 0.01300853
+v 0.00224567 -0.01163534 0.01300853
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+v 0.00224567 -0.01149247 0.01141319
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+v -0.00588847 -0.00989233 0.01646735
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+v -0.00519166 -0.00990907 0.01713179
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+v 0.00374541 -0.01065197 0.01713179
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_62.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a76e2f955c6e512ba2a17a0a208a4a8edfeb209f
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_62.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00276506 0.00727679 -0.03047032
+v -0.00317310 0.00727679 -0.03046298
+v -0.00276402 0.00811624 -0.03042262
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+v -0.00276402 0.00993159 0.00701069
+v -0.00317310 0.00993159 -0.02951274
+v -0.00276402 0.00993159 -0.02964849
+f 1 2 3
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+f 8 13 12
+f 10 14 15
+f 10 15 11
+f 12 13 15
+f 12 15 14
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_63.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f70d4529ff4984c44bf053d2c626d6208ad883f
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_63.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00061458 -0.00700443 -0.03051895
+v 0.00002136 -0.00700443 -0.03051895
+v -0.00061458 -0.00700443 -0.00274008
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+v -0.00061458 0.00056101 -0.03052711
+v 0.00002136 0.00056101 -0.03052711
+v 0.00002136 -0.00223382 -0.03053255
+f 1 2 5
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+f 8 9 13
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+f 10 14 15
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+f 12 13 17
+f 12 17 16
+f 14 18 15
+f 14 16 17
+f 14 17 18
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_64.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2edac9682544a881b5fd3e5f1ab9aca93309a63
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_64.obj
@@ -0,0 +1,291 @@
+# https://github.com/mikedh/trimesh
+v 0.00358301 -0.00868632 -0.03019084
+v 0.00358301 -0.00832447 -0.03032315
+v 0.00374699 -0.00868632 -0.03018348
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+v 0.00374699 -0.00822578 -0.03034520
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+v 0.00374699 -0.00672420 -0.03051059
+v 0.00398235 -0.00672420 -0.03049589
+v 0.00398235 0.01015699 0.00701069
+v 0.00358301 0.01038145 0.00685265
+v 0.00373781 0.01026922 0.00701069
+v 0.00358301 -0.00385843 -0.03052529
+v 0.00398235 -0.00396098 -0.03052529
+v 0.00398235 -0.00522649 -0.03051794
+v 0.00377260 0.01025567 0.00701069
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+v 0.00358301 0.01066009 0.00583459
+v 0.00358301 -0.00086494 -0.03053264
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+v 0.00376208 0.01069299 0.00542295
+v 0.00358301 0.01073943 0.00543398
+v 0.00358301 0.00149193 -0.03053264
+v 0.00358301 0.00492660 -0.03052529
+v 0.00398235 0.00652300 -0.03051426
+v 0.00398235 0.01064655 0.00526491
+v 0.00374699 0.01090971 0.00401163
+v 0.00358301 0.01095615 0.00401163
+v 0.00358301 0.00662556 -0.03051794
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+v 0.00398235 0.00675714 -0.03049589
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+v 0.00374699 0.01101033 0.00250843
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+v 0.00358301 0.00675714 -0.03051426
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+v 0.00374699 0.01103549 -0.01247215
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+v 0.00358301 0.00969064 -0.02967996
+v 0.00398235 0.00969064 -0.02954031
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+v 0.00374699 0.01103355 -0.01696706
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+v 0.00358301 0.01013570 -0.02923893
+v 0.00398235 0.00988802 -0.02934551
+v 0.00398235 0.01090197 -0.02446470
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+v 0.00398235 0.01004088 -0.02915440
+v 0.00374699 0.01098324 -0.02446470
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+v 0.00358301 0.01088456 -0.02746375
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_65.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..464ab79c572a80727683e2e01f3a2846099112a7
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_65.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00553853 -0.00266179 0.00581512
+v 0.00688905 -0.00266179 0.00581512
+v 0.00553853 -0.00266179 0.00701057
+v 0.00553853 0.00975376 0.00581512
+v 0.00688905 -0.00266179 0.00701057
+v 0.00688905 0.00888117 0.00581512
+v 0.00553853 0.00941469 0.00701057
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+v 0.00621743 0.00916555 0.00664661
+v 0.00637952 0.00927857 0.00581512
+v 0.00688905 0.00845946 0.00701057
+v 0.00688905 0.00863568 0.00654012
+v 0.00610677 0.00908899 0.00701057
+v 0.00663428 0.00867821 0.00701057
+v 0.00675208 0.00857856 0.00701057
+f 1 2 5
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+f 4 9 10
+f 6 10 9
+f 6 9 12
+f 7 13 9
+f 7 9 8
+f 9 13 14
+f 9 14 15
+f 9 15 12
+f 11 12 15
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_66.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f88257f726aa59fcdbf37eab84bc9d7f1a80dad3
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_66.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v -0.00841174 -0.00805546 -0.00831261
+v -0.00841174 -0.00805484 -0.00639877
+v -0.00900249 -0.00748878 -0.01397243
+v -0.00900259 -0.00748893 -0.01547145
+v -0.00841174 -0.00805438 -0.01130437
+v -0.00841174 -0.00805299 -0.00498146
+v -0.00900124 -0.00748739 -0.01247341
+v -0.00947276 -0.00679991 -0.01397243
+v -0.00947276 -0.00680269 -0.01547145
+v -0.00947276 -0.00680346 -0.01697047
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+v -0.00900145 -0.00748754 -0.01697047
+v -0.00841174 -0.00805252 -0.01430240
+v -0.00841174 -0.00805376 -0.01280338
+v -0.00841174 -0.00805221 -0.00464520
+v -0.00899459 -0.00747965 -0.00577025
+v -0.00899833 -0.00748398 -0.00947537
+v -0.00947276 -0.00679527 -0.01247341
+v -0.00899376 -0.00747857 -0.00498146
+v -0.00899210 -0.00747656 -0.00348244
+v -0.00898701 -0.00747053 0.00101461
+v -0.00947276 -0.00680254 -0.02161208
+v -0.00841174 -0.00804959 -0.01580142
+v -0.00899854 -0.00748414 -0.01996850
+v -0.00841174 -0.00804773 -0.00314304
+v -0.00947276 -0.00679047 -0.01097439
+v -0.00841174 -0.00803845 -0.00013872
+v -0.00841174 -0.00803458 0.00101461
+v -0.00841174 -0.00803211 0.00136658
+v -0.00898182 -0.00746480 0.00251363
+v -0.00947276 -0.00673959 0.00251363
+v -0.00947276 -0.00674624 0.00101461
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+v -0.00947276 -0.00675799 -0.00191743
+v -0.00947276 -0.00676975 -0.00489975
+v -0.00947276 -0.00677887 -0.00745154
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+v -0.00899480 -0.00747981 -0.02371762
+v -0.00841174 -0.00804541 -0.01730044
+v -0.00841174 -0.00802329 0.00251363
+v -0.00947276 -0.00668546 0.00299759
+v -0.00841174 -0.00787698 0.00401265
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+v -0.00871511 -0.00764035 -0.02509094
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+v -0.00947276 -0.00656668 0.00401265
+v -0.00841174 -0.00754492 0.00551167
+v -0.00875188 -0.00717558 0.00551167
+v -0.00927106 -0.00647542 0.00551167
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+v -0.00947276 -0.00666597 -0.02509094
+v -0.00841174 -0.00647542 -0.02509094
+v -0.00947276 -0.00647542 0.00433319
+v -0.00841174 -0.00692781 0.00700754
+v -0.00857272 -0.00674036 0.00700754
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+v -0.00947276 -0.00647542 -0.02509094
+v -0.00841174 -0.00647542 0.00334328
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+v -0.00867679 -0.00661617 0.00700754
+v -0.00878584 -0.00647542 0.00700754
+v -0.00841361 -0.00647542 0.00700754
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_67.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78c44ee616a89d37f104d3078fbd7f3d6cd6d3cb
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_67.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.00074887 -0.01164067 -0.01696919
+v 0.00002142 -0.01163257 -0.01247757
+v 0.00074887 -0.01163951 -0.02296628
+v 0.00087898 -0.01162331 -0.02146391
+v 0.00087898 -0.01162331 -0.01696919
+v 0.00074887 -0.01163951 -0.00048649
+v 0.00002142 -0.01163257 -0.00048649
+v 0.00002142 -0.01163141 -0.01397684
+v 0.00002142 -0.01162447 -0.02296628
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+v 0.00087898 -0.01158976 -0.02433236
+v 0.00087898 -0.01162216 -0.02296628
+v 0.00087898 -0.01161984 -0.00048649
+v 0.00074887 -0.01163836 0.00111191
+v 0.00002142 -0.01163141 0.00111191
+v 0.00002142 -0.01158860 -0.02446246
+v 0.00087898 -0.01158629 -0.02446246
+v 0.00002142 -0.01155505 -0.02519041
+v 0.00002142 -0.01147174 -0.02669278
+v 0.00074887 -0.01151455 -0.02596483
+v 0.00087898 -0.01161869 0.00111191
+v 0.00002142 -0.00887183 0.00111191
+v 0.00087898 -0.01149719 -0.02596483
+v 0.00002142 -0.01142314 -0.02746100
+v 0.00074887 -0.01141967 -0.02746100
+v 0.00087898 -0.01140347 -0.02746100
+v 0.00087898 -0.00887183 0.00111191
+v 0.00002142 -0.00241545 0.00110881
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+v 0.00066921 -0.01084346 -0.02908728
+v 0.00087898 -0.01084230 -0.02905011
+v 0.00087898 -0.00241545 0.00110881
+v 0.00002142 0.00017983 0.00110571
+v 0.00002142 -0.01048593 -0.02971920
+v 0.00011662 -0.01048593 -0.02971920
+v 0.00087898 -0.01065023 -0.02935987
+v 0.00087898 0.00017983 0.00110571
+v 0.00002142 0.00017983 -0.03052460
+v 0.00002142 -0.00985302 -0.03001039
+v 0.00066921 -0.00985070 -0.03001039
+v 0.00087898 -0.00981368 -0.03001658
+v 0.00087898 -0.01012377 -0.02985240
+v 0.00087898 0.00017983 -0.03052460
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+v 0.00087898 -0.00241545 -0.03052769
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+v 0.00002142 -0.00750072 -0.03050602
+v 0.00087898 -0.00672896 -0.03051531
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+f 1 4 5
+f 1 5 6
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+f 41 48 49
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+f 45 51 52
+f 45 50 51
+f 47 53 49
+f 47 49 48
+f 49 53 52
+f 49 52 54
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_68.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bbf15ce8375ada3d61509065f1df32bbcf0e150
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_68.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00458754 0.00761728 -0.03025965
+v -0.00495889 0.00761728 -0.03024141
+v -0.00458754 0.00829108 -0.03017574
+v -0.00458754 0.00761728 0.00701069
+v -0.00525524 0.00761728 -0.03022681
+v -0.00526182 0.00831578 -0.03004075
+v -0.00458754 0.00919081 -0.02984010
+v -0.00458754 0.00947250 0.00701069
+v -0.00529440 0.00761728 0.00701069
+v -0.00529440 0.00761728 -0.03021587
+v -0.00529440 0.00830306 -0.03003711
+v -0.00477201 0.00915303 -0.02981821
+v -0.00458754 0.00947250 -0.02944609
+v -0.00529440 0.00947250 0.00701069
+v -0.00529440 0.00835010 -0.03001157
+v -0.00529440 0.00947250 -0.02908127
+v -0.00498581 0.00947250 -0.02928192
+v -0.00489164 0.00947250 -0.02932205
+f 1 2 3
+f 1 3 7
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+f 1 13 8
+f 1 8 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 14
+f 4 14 9
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 8 13 18
+f 8 18 17
+f 8 17 16
+f 8 16 14
+f 9 14 16
+f 9 16 15
+f 9 15 11
+f 9 11 10
+f 11 15 12
+f 12 15 16
+f 12 16 17
+f 12 17 18
+f 12 18 13
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_69.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3f1fa3243116e385356732ac1c4e3675bde82a3
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_69.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.00715824 0.00141871 0.00701069
+v -0.00715824 0.00141871 0.00627884
+v -0.00775660 0.00141871 0.00701069
+v -0.00715824 -0.00265989 0.00701069
+v -0.00775730 0.00141871 0.00627884
+v -0.00715824 -0.00265989 0.00627884
+v -0.00775730 0.00032959 0.00701069
+v -0.00775730 -0.00265989 0.00701069
+v -0.00775730 -0.00265989 0.00627884
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 9
+f 2 9 5
+f 3 5 7
+f 4 8 9
+f 4 9 6
+f 5 9 8
+f 5 8 7
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_7.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3b73525aa2191896f8d5b2e47104ea413390d7b
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.01119886 -0.00387749 0.01393121
+v -0.01106952 -0.00420710 0.01393121
+v -0.01120325 -0.00387749 0.01433643
+v 0.01118825 -0.00387749 0.01393121
+v -0.01102787 -0.00431154 0.01393121
+v -0.01103225 -0.00431622 0.01450726
+v -0.01120325 -0.00387749 0.01450726
+v 0.01118825 -0.00387749 0.01450726
+v 0.01101507 -0.00431622 0.01393121
+v -0.01102568 -0.00431622 0.01393121
+v -0.01095114 -0.00431622 0.01579717
+v -0.01110460 -0.00387749 0.01600623
+v -0.01093799 -0.00431622 0.01600623
+v 0.01117948 -0.00387749 0.01469051
+v 0.01101507 -0.00431622 0.01450726
+v -0.01079111 -0.00431622 0.01640127
+v -0.01093141 -0.00387749 0.01646782
+v 0.01109399 -0.00387749 0.01600623
+v 0.01097780 -0.00431622 0.01524346
+v 0.01099753 -0.00431622 0.01486928
+v -0.01076480 -0.00431622 0.01646782
+v 0.01094491 -0.00387749 0.01646782
+v 0.01106768 -0.00387749 0.01613559
+v 0.01087695 -0.00431622 0.01625627
+v 0.01092738 -0.00431622 0.01600623
+v 0.01083311 -0.00431622 0.01646782
+v 0.01085722 -0.00425043 0.01646782
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+f 17 27 22
+f 18 23 24
+f 18 24 25
+f 18 25 19
+f 22 27 23
+f 23 27 26
+f 23 26 24
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_70.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18aac21010c0deac6c657d5d7a1cd4fdc574d5ce
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_70.obj
@@ -0,0 +1,204 @@
+# https://github.com/mikedh/trimesh
+v -0.00685448 0.00849141 0.00701069
+v -0.00689422 0.00863736 0.00652864
+v -0.00715815 0.00823277 0.00701069
+v -0.00685448 -0.00846665 0.00701069
+v -0.00685448 0.00863736 0.00661880
+v -0.00685448 0.00889971 0.00590493
+v -0.00715815 0.00874821 0.00562159
+v -0.00715815 -0.00821169 0.00701069
+v -0.00685448 -0.00859782 0.00667215
+v -0.00715815 0.00878516 0.00551120
+v -0.00715815 0.00877408 0.00554800
+v -0.00685448 0.00901056 0.00551120
+v -0.00715815 -0.00872345 0.00563447
+v -0.00685448 -0.00863107 0.00657464
+v -0.00715815 0.00901979 0.00438337
+v -0.00685448 0.00914542 0.00485989
+v -0.00715815 -0.00872714 0.00562343
+v -0.00685448 -0.00898764 0.00551120
+v -0.00685448 0.00930800 0.00401355
+v -0.00715815 0.00909000 0.00401355
+v -0.00715815 -0.00876409 0.00551120
+v -0.00715815 -0.00904306 0.00401355
+v -0.00685448 -0.00926291 0.00401355
+v -0.00685448 0.00934495 0.00372286
+v -0.00715815 0.00918053 0.00330337
+v -0.00715815 -0.00916315 0.00251407
+v -0.00685448 -0.00938115 0.00251407
+v -0.00685448 0.00943363 0.00256374
+v -0.00686919 0.00942439 0.00256374
+v -0.00710054 0.00927475 0.00256374
+v -0.00715815 0.00923410 0.00260606
+v -0.00715815 -0.00917423 0.00101642
+v -0.00685448 -0.00939224 0.00101642
+v -0.00685448 0.00944472 0.00241656
+v -0.00689259 0.00942070 0.00241288
+v -0.00715815 0.00923964 0.00216633
+v -0.00715815 -0.00918162 -0.00048306
+v -0.00685448 -0.00940517 -0.00192552
+v -0.00685448 0.00945026 0.00205042
+v -0.00685448 0.00945580 0.00101642
+v -0.00715815 0.00924334 0.00147271
+v -0.00715815 -0.00918717 -0.00192552
+v -0.00715815 -0.00919456 -0.00412599
+v -0.00685448 -0.00941441 -0.00497968
+v -0.00685448 0.00945395 -0.00066153
+v -0.00715815 0.00923780 -0.00947630
+v -0.00715815 0.00923964 -0.00647917
+v -0.00715815 0.00924149 -0.00329253
+v -0.00715815 0.00924334 0.00101642
+v -0.00715815 -0.00920010 -0.00614616
+v -0.00697293 -0.00933312 -0.00614616
+v -0.00685448 -0.00941810 -0.00623447
+v -0.00685448 0.00944287 -0.00965293
+v -0.00709160 0.00928029 -0.01178533
+v -0.00715815 0.00923595 -0.01097395
+v -0.00715815 -0.00919825 -0.00712128
+v -0.00685448 -0.00941441 -0.00816816
+v -0.00685448 0.00944102 -0.01097395
+v -0.00685448 0.00943917 -0.01178533
+v -0.00715815 0.00923410 -0.01178533
+v -0.00715815 -0.00918901 -0.01010554
+v -0.00710325 -0.00923520 -0.00816816
+v -0.00685448 -0.00940886 -0.01051950
+v -0.00685448 -0.00941256 -0.00902922
+v -0.00685448 -0.00940517 -0.01178533
+v -0.00715815 -0.00918162 -0.01178533
+v -0.00706446 -0.00925183 -0.01178533
+v -0.00692059 -0.00935713 -0.01178533
+v -0.00715815 -0.00918347 -0.01159766
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+f 1 23 27
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+f 1 24 19
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+f 33 37 38
+f 34 39 35
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+f 37 42 38
+f 38 42 43
+f 38 43 44
+f 40 45 46
+f 40 46 47
+f 40 47 48
+f 40 48 49
+f 40 49 41
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+f 43 51 44
+f 44 51 52
+f 45 53 54
+f 45 54 46
+f 46 54 55
+f 50 56 52
+f 50 52 51
+f 52 56 57
+f 53 58 54
+f 54 58 59
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+f 54 68 67
+f 54 67 66
+f 54 66 60
+f 54 60 55
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+f 61 68 62
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+f 62 68 65
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_71.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9211bb2369666e3ce2c1a943c717f39d8d085db
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_71.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.00002142 0.01091837 0.00701069
+v 0.00074887 0.01129915 0.00551299
+v 0.00002142 0.01111674 0.00623932
+v 0.00002142 -0.01090257 0.00701069
+v 0.00074887 0.01091380 0.00701069
+v 0.00002142 0.01130143 0.00551299
+v 0.00087898 0.01128091 0.00551299
+v 0.00087898 0.01130371 0.00538308
+v 0.00074887 0.01154084 0.00401413
+v 0.00002142 -0.01128563 0.00551299
+v 0.00074887 -0.01128791 0.00551299
+v 0.00074887 -0.01090257 0.00701069
+v 0.00087898 0.01089556 0.00701069
+v 0.00002142 0.01141088 0.00483111
+v 0.00087898 0.01139263 0.00483111
+v 0.00002142 0.01153400 0.00401413
+v 0.00087898 0.01152032 0.00401413
+v 0.00087898 0.01162977 0.00251586
+v 0.00074887 0.01164801 0.00251586
+v 0.00002142 -0.01151821 0.00401413
+v 0.00074887 -0.01152277 0.00401413
+v 0.00074887 -0.01139508 0.00483111
+v 0.00087898 -0.01126967 0.00551299
+v 0.00087898 -0.01088433 0.00701069
+v 0.00002142 0.01158873 0.00324277
+v 0.00087898 0.01163205 0.00238537
+v 0.00074887 0.01165485 0.00111227
+v 0.00002142 0.01163889 0.00251586
+v 0.00002142 -0.01162537 0.00251586
+v 0.00074887 -0.01163221 0.00251586
+v 0.00087898 -0.01160257 0.00264577
+v 0.00087898 -0.01150224 0.00401413
+v 0.00087898 -0.01137684 0.00483111
+v 0.00087898 0.01163661 0.00111227
+v 0.00087050 0.01163889 0.00111227
+v 0.00002142 0.01164345 0.00111227
+v 0.00002142 -0.01163221 0.00111227
+v 0.00074887 -0.01163905 0.00111227
+v 0.00087898 -0.01161853 0.00114634
+v 0.00087898 -0.01161169 0.00251586
+v 0.00087898 -0.01161853 0.00111227
+f 1 2 3
+f 1 3 6
+f 1 6 14
+f 1 14 16
+f 1 16 25
+f 1 25 28
+f 1 28 36
+f 1 36 37
+f 1 37 29
+f 1 29 20
+f 1 20 10
+f 1 10 4
+f 1 4 12
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+f 1 13 5
+f 1 5 2
+f 2 6 3
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+f 7 26 18
+f 7 18 17
+f 7 17 15
+f 7 15 8
+f 8 15 9
+f 9 16 14
+f 9 15 17
+f 9 17 18
+f 9 18 19
+f 9 19 16
+f 10 20 21
+f 10 21 22
+f 10 22 11
+f 11 23 24
+f 11 24 12
+f 11 22 33
+f 11 33 23
+f 16 19 25
+f 18 26 19
+f 19 27 28
+f 19 28 25
+f 19 26 27
+f 20 29 30
+f 20 30 21
+f 21 31 32
+f 21 32 33
+f 21 33 22
+f 21 30 31
+f 26 34 35
+f 26 35 27
+f 27 35 34
+f 27 34 41
+f 27 41 38
+f 27 38 37
+f 27 37 36
+f 27 36 28
+f 29 37 38
+f 29 38 30
+f 30 38 39
+f 30 39 40
+f 30 40 31
+f 38 41 39
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_72.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bbe29787e0703ba8f2b6ac6658f9b3d2f8faa61
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_72.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.00385078 -0.00295889 -0.03052928
+v -0.00458733 -0.00295889 -0.03052561
+v -0.00458733 -0.00252007 -0.03052561
+v -0.00458725 0.00076800 -0.03052561
+v -0.00385092 0.00526008 -0.03052561
+v -0.00385078 0.00627430 -0.03051826
+v -0.00385070 0.00766085 -0.03039332
+v -0.00385078 -0.00295889 0.00701069
+v -0.00458733 -0.00295889 0.00701069
+v -0.00458740 0.00766085 -0.03025001
+v -0.00458733 0.00627430 -0.03048151
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+v -0.00385078 0.00675905 -0.03051459
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_73.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c5f3ea9e4fdd3fe23af055ce49970723aeeab79
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_73.obj
@@ -0,0 +1,201 @@
+# https://github.com/mikedh/trimesh
+v 0.00087903 0.01162766 -0.01183294
+v 0.00140311 0.01155938 -0.01183294
+v 0.00087903 0.01161628 -0.01779391
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_74.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2c133903df5ec13fca587df7701201d672d7008
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_74.obj
@@ -0,0 +1,288 @@
+# https://github.com/mikedh/trimesh
+v 0.00358301 -0.01107280 -0.01276919
+v 0.00374697 -0.01102794 -0.01247419
+v 0.00358301 -0.01107280 -0.01247419
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+v 0.00398235 -0.01093987 -0.00914901
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+v 0.00358301 -0.01107256 -0.01114120
+v 0.00358301 -0.01107163 -0.01577022
+v 0.00398235 -0.01093941 -0.01213912
+v 0.00358301 -0.01107069 -0.01713599
+v 0.00374697 -0.01102514 -0.01697210
+v 0.00398235 -0.01093894 -0.00165735
+v 0.00398235 -0.01093847 -0.00015683
+v 0.00374697 -0.01102701 -0.00948044
+v 0.00374697 -0.01102514 -0.00647940
+v 0.00374697 -0.01102327 -0.00348201
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+v 0.00398235 -0.01093824 -0.01363964
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+v 0.00374697 -0.01102327 -0.01846897
+v 0.00398235 -0.01093660 -0.01513651
+v 0.00398235 -0.01093707 0.00101590
+v 0.00374697 -0.01101953 0.00101590
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_75.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b80df7759e9b3287e5ef1a901b41526f409733d
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_75.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00924137 -0.00469713 0.01791951
+v 0.00886774 -0.00469713 0.01832888
+v 0.00867909 -0.00523125 0.01832888
+v 0.00896847 -0.00522895 0.01791951
+v -0.00946959 -0.00469713 0.01791951
+v -0.00902086 -0.00469713 0.01832888
+v 0.00800142 -0.00649955 0.01832888
+v 0.00814245 -0.00663835 0.01791951
+v -0.00932306 -0.00510300 0.01791951
+v -0.00901353 -0.00509978 0.01832888
+v -0.00901720 -0.00491807 0.01832888
+v 0.00726698 -0.00704078 0.01832888
+v 0.00757468 -0.00704078 0.01791951
+v -0.00814173 -0.00663790 0.01791951
+v -0.00799887 -0.00649863 0.01832888
+v -0.00733585 -0.00704078 0.01832888
+v -0.00757395 -0.00704078 0.01791951
+v -0.00802268 -0.00675972 0.01791951
+v -0.00772230 -0.00678152 0.01832888
+v -0.00764721 -0.00685746 0.01832888
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+f 17 20 18
+f 18 20 19
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_76.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb4c52ad95485a493b3734d88aff66ebde84d951
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_76.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00276402 0.00054944 0.00701069
+v -0.00276402 0.00054944 0.00343528
+v -0.00317310 0.00054944 0.00701069
+v -0.00276402 -0.00499694 0.00701069
+v -0.00317310 0.00054944 0.00343528
+v -0.00276402 -0.00499694 0.00343528
+v -0.00317310 -0.00499694 0.00701069
+v -0.00317310 -0.00499694 0.00343528
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+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_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_77.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46125e2a214f7f124ff546f7a53527c882ed1e33
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_77.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_78.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2f135cfd3b180b14e303ffabaccd225a1593b59
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_78.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_79.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5da146d338ac21ab0adbb7e25f87083c3600c309
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_79.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_8.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d525a655204233659bcccc0128cc0c33ceb69a0
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,300 @@
+# https://github.com/mikedh/trimesh
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+f 79 94 95
+f 79 95 96
+f 79 96 97
+f 79 97 80
+f 79 90 92
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+f 80 98 99
+f 80 99 81
+f 88 100 89
+f 89 100 101
+f 89 101 90
+f 90 101 92
+f 92 101 93
+f 93 101 94
+f 94 101 95
+f 95 101 96
+f 96 101 97
+f 97 101 98
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_80.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..145d5c8e5cae14b63f77dd97c4913d638bf8c8fe
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_80.obj
@@ -0,0 +1,195 @@
+# https://github.com/mikedh/trimesh
+v 0.00969355 -0.00149354 -0.03003120
+v 0.00969351 0.00529177 -0.02873537
+v 0.00969355 -0.00108591 -0.03004275
+v 0.00977768 -0.00108591 -0.03002196
+v 0.00971723 -0.00149354 -0.03002196
+v 0.00969355 -0.00149354 -0.00646600
+v 0.00969351 0.00586013 -0.02802393
+v 0.01008931 0.00485308 -0.02856906
+v 0.00969359 0.00515667 -0.02889937
+v 0.00969359 0.00419544 -0.02946297
+v 0.00969359 0.00323343 -0.02979097
+v 0.00969359 0.00309988 -0.02981638
+v 0.00969359 0.00210604 -0.02998500
+v 0.00969351 0.00529177 -0.00646600
+v 0.00969359 0.00083190 -0.03005199
+v 0.00969359 -0.00048883 -0.03005892
+v 0.00969359 0.00161377 -0.03002196
+v 0.00969359 0.00119682 -0.03003813
+v 0.00986936 -0.00064179 -0.03000348
+v 0.01008931 -0.00080717 -0.02987875
+v 0.00977524 -0.00149354 -0.02998500
+v 0.01008931 -0.00149354 -0.00646600
+v 0.00974633 0.00529177 -0.00646368
+v 0.00969351 0.00643858 -0.00646368
+v 0.01008935 0.00545560 -0.02746263
+v 0.01008935 0.00542299 -0.02753655
+v 0.00969351 0.00610393 -0.02746263
+v 0.01008935 0.00529177 -0.02772827
+v 0.01008931 0.00377150 -0.02921120
+v 0.01008931 0.00309988 -0.02945835
+v 0.01008931 0.00262625 -0.02963159
+v 0.00978070 0.00309988 -0.02975863
+v 0.01008931 0.00157417 -0.02981407
+v 0.01008931 0.00119682 -0.02984410
+v 0.00976815 0.00119682 -0.03001503
+v 0.00986332 0.00066419 -0.03000348
+v 0.01008931 -0.00044535 -0.02990185
+v 0.01008931 -0.00108591 -0.02983948
+v 0.01008931 -0.00149354 -0.02977942
+v 0.01008935 0.00529177 -0.00646368
+v 0.01008935 0.00582363 -0.00646368
+v 0.00969351 0.00643858 -0.00648216
+v 0.00969351 0.00623515 -0.02596353
+v 0.01008935 0.00558449 -0.02596353
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+v 0.01008935 0.00566058 -0.02482477
+v 0.01008935 0.00582208 -0.00832774
+v 0.00969351 0.00643003 -0.01658319
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+v 0.01008935 0.00581975 -0.00981991
+v 0.00969351 0.00642848 -0.01807536
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+v 0.01008935 0.00577161 -0.02296764
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+v 0.00969351 0.00641062 -0.02255187
+v 0.01008935 0.00578015 -0.02176421
+v 0.01008935 0.00580500 -0.01728770
+v 0.00969351 0.00641916 -0.02105970
+v 0.01008935 0.00578947 -0.02026973
+v 0.01008935 0.00579801 -0.01877756
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 21
+f 1 21 39
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+f 1 22 6
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+f 2 7 8
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+f 2 56 60
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+f 10 32 11
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+f 13 34 35
+f 13 35 17
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_81.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cc21d8b4edb4674adea552e14731c16762eb87c
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_81.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.00715824 0.00837472 -0.02864627
+v -0.00766011 0.00837472 -0.02775173
+v -0.00775730 0.00843550 -0.02746507
+v -0.00731366 0.00885856 -0.02746507
+v -0.00715824 0.00867793 -0.02807639
+v -0.00715824 0.00837472 0.00663450
+v -0.00775730 0.00837472 -0.02757559
+v -0.00738809 0.00892061 -0.02596611
+v -0.00775730 0.00856208 -0.02596611
+v -0.00749665 0.00901029 -0.02372803
+v -0.00715824 0.00897261 -0.02746507
+v -0.00715824 0.00875106 0.00562253
+v -0.00716669 0.00837472 0.00661723
+v -0.00775730 0.00837472 0.00492831
+v -0.00775730 0.00873504 -0.02390763
+v -0.00775730 0.00875115 -0.02296819
+v -0.00749718 0.00901071 -0.02296819
+v -0.00715824 0.00922851 -0.02296819
+v -0.00715824 0.00920788 -0.02404578
+v -0.00715824 0.00908172 -0.02596611
+v -0.00715824 0.00877800 0.00555000
+v -0.00739830 0.00837472 0.00608534
+v -0.00719050 0.00876470 0.00551201
+v -0.00761055 0.00837472 0.00551201
+v -0.00739407 0.00892573 0.00401305
+v -0.00775730 0.00837779 0.00491450
+v -0.00775730 0.00875166 -0.02146924
+v -0.00715824 0.00922979 -0.02146924
+v -0.00749718 0.00901071 -0.01247203
+v -0.00715824 0.00924539 0.00101513
+v -0.00715824 0.00924462 -0.00048383
+v -0.00715824 0.00923951 -0.00947757
+v -0.00715824 0.00923840 -0.01097653
+v -0.00715824 0.00923720 -0.01247203
+v -0.00715824 0.00878857 0.00551201
+v -0.00715824 0.00918282 0.00330502
+v -0.00748968 0.00900449 0.00284566
+v -0.00775730 0.00866250 0.00332919
+v -0.00775730 0.00855969 0.00401305
+v -0.00715824 0.00902290 0.00438261
+v -0.00715824 0.00909357 0.00401305
+v -0.00775730 0.00875166 -0.02048835
+v -0.00749712 0.00901071 0.00101513
+v -0.00715824 0.00924505 0.00147104
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+v -0.00775730 0.00873009 0.00210999
+v -0.00775730 0.00872302 0.00264188
+v -0.00749665 0.00901029 0.00184750
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+v -0.00775730 0.00873743 -0.00102953
+v -0.00775730 0.00873615 0.00046598
+v -0.00775730 0.00875038 -0.01738337
+v -0.00775730 0.00874817 -0.01449597
+v -0.00715824 0.00924155 0.00216525
+v -0.00775730 0.00873436 0.00154011
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+f 1 4 5
+f 1 5 11
+f 1 11 20
+f 1 20 19
+f 1 19 18
+f 1 18 28
+f 1 28 34
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+f 1 30 44
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+f 17 31 32
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+f 25 36 37
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+f 25 38 39
+f 25 39 26
+f 25 35 40
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+f 29 43 30
+f 30 43 44
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+f 37 46 47
+f 37 47 38
+f 37 45 48
+f 37 48 46
+f 42 49 43
+f 43 50 51
+f 43 51 48
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+f 43 49 52
+f 43 52 53
+f 43 53 50
+f 44 48 54
+f 45 54 48
+f 46 48 55
+f 48 51 55
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_82.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..430284e7e963be103ef0bf8120410d061f71ce22
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_82.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00385070 -0.00782444 -0.03038834
+v -0.00415305 -0.00782444 -0.03037364
+v -0.00458747 -0.00738976 -0.03040672
+v -0.00458747 -0.00673036 -0.03048756
+v -0.00385070 -0.00681085 -0.03050960
+v -0.00385070 -0.00782444 0.00700701
+v -0.00458747 -0.00782444 -0.03029281
+v -0.00458747 -0.00596406 -0.03052063
+v -0.00451433 -0.00596406 -0.03052430
+v -0.00385070 -0.00662783 -0.03052430
+v -0.00385070 -0.00673036 -0.03051695
+v -0.00385070 -0.00596406 0.00700701
+v -0.00458747 -0.00782444 0.00700701
+v -0.00458747 -0.00596406 0.00700701
+v -0.00385070 -0.00596406 -0.03052430
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 10
+f 1 10 15
+f 1 15 12
+f 1 12 6
+f 1 6 13
+f 1 13 7
+f 1 7 2
+f 2 7 3
+f 3 7 13
+f 3 13 14
+f 3 14 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 6 12 14
+f 6 14 13
+f 8 14 12
+f 8 12 15
+f 8 15 9
+f 9 15 10
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_83.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cb3cdb9272f163bf77323754849e7ef760dc86c
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_83.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.01015231 -0.00548842 0.01646782
+v 0.00976139 -0.00548842 0.01713179
+v 0.00953518 -0.00596229 0.01713179
+v 0.00926134 -0.00673044 0.01697228
+v 0.00900536 -0.00749469 0.01676929
+v 0.00981497 -0.00617694 0.01646782
+v -0.01011575 -0.00548842 0.01646782
+v -0.00965737 -0.00548842 0.01713179
+v 0.00903512 -0.00672611 0.01713179
+v 0.00873747 -0.00781796 0.01646782
+v 0.00902917 -0.00752239 0.01646782
+v 0.00925737 -0.00719306 0.01646782
+v 0.00812431 -0.00775521 0.01713179
+v 0.00776316 -0.00811700 0.01713179
+v 0.00749726 -0.00898252 0.01676019
+v 0.00781872 -0.00872329 0.01646782
+v -0.01011377 -0.00549362 0.01646782
+v -0.01010782 -0.00548842 0.01648166
+v -0.00939544 -0.00618603 0.01713179
+v 0.00673924 -0.00900848 0.01713179
+v 0.00720556 -0.00923568 0.01646782
+v 0.00752901 -0.00900805 0.01646782
+v 0.00674321 -0.00924260 0.01696487
+v 0.00620347 -0.00979870 0.01646782
+v -0.00945695 -0.00673044 0.01646782
+v -0.00900254 -0.00749080 0.01676571
+v -0.00925653 -0.00673044 0.01696910
+v -0.00917121 -0.00654219 0.01713179
+v 0.00619354 -0.00938758 0.01713179
+v 0.00516566 -0.00990905 0.01713179
+v 0.00595939 -0.00990905 0.01646782
+v -0.00902635 -0.00751936 0.01646782
+v -0.00750833 -0.00899031 0.01676844
+v -0.00795679 -0.00794087 0.01713179
+v -0.00869695 -0.00718743 0.01713179
+v -0.00519260 -0.00990905 0.01713179
+v -0.00586331 -0.00990905 0.01646782
+v -0.00753611 -0.00901454 0.01646782
+v -0.00674436 -0.00945249 0.01646782
+v -0.00534540 -0.00990905 0.01698125
+v -0.00674436 -0.00925083 0.01697053
+v -0.00674039 -0.00902146 0.01713179
+v -0.00720472 -0.00868521 0.01713179
+v -0.00593276 -0.00954121 0.01713179
+v -0.00649036 -0.00919197 0.01713179
+v -0.00652211 -0.00917206 0.01713179
+f 1 2 3
+f 1 3 4
+f 1 4 5
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+f 1 6 12
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+f 1 22 21
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+f 19 27 28
+f 20 29 23
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+f 26 33 34
+f 26 34 35
+f 26 35 28
+f 26 28 27
+f 30 36 40
+f 30 40 37
+f 30 37 31
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+f 33 39 37
+f 33 37 40
+f 33 40 36
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+f 33 41 42
+f 33 42 43
+f 33 43 34
+f 36 44 41
+f 41 44 45
+f 41 45 46
+f 41 46 42
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_84.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..326168e07781db02b03804cf8c3ede6b098a467d
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_84.obj
@@ -0,0 +1,225 @@
+# https://github.com/mikedh/trimesh
+v 0.00553853 -0.00277131 -0.03052685
+v 0.00553853 -0.00223076 -0.03052842
+v 0.00674469 -0.00073178 -0.03053157
+v 0.00674469 -0.00277131 -0.03052527
+v 0.00553853 -0.00277131 -0.02981145
+v 0.00553853 0.00076719 -0.03053472
+v 0.00674469 0.00076719 -0.03053472
+v 0.00688905 0.00061512 -0.03053000
+v 0.00688905 -0.00073178 -0.03052685
+v 0.00688905 -0.00223076 -0.03052054
+v 0.00684754 -0.00277131 -0.03051424
+v 0.00688905 -0.00277131 -0.02981145
+v 0.00553933 -0.00246206 -0.01443992
+v 0.00553853 -0.00246206 -0.01490162
+v 0.00553853 0.00226488 -0.03053472
+v 0.00674469 0.00226488 -0.03053472
+v 0.00688905 0.00212176 -0.03053000
+v 0.00688905 -0.00277131 -0.03050794
+v 0.00688905 -0.00246206 -0.01443992
+v 0.00553853 -0.00172471 -0.01484804
+v 0.00553853 0.00391209 -0.01443992
+v 0.00553853 0.00496763 -0.03052527
+v 0.00674469 0.00376130 -0.03052212
+v 0.00688905 0.00361945 -0.03051424
+v 0.00688905 0.00938277 -0.01443992
+v 0.00553972 0.01027474 -0.01443992
+v 0.00553853 0.01027602 -0.01547519
+v 0.00553853 0.00526027 -0.03051109
+v 0.00674469 0.00526027 -0.03045121
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_85.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..818093fa1b90400f11de0a0b8283b60f4a80359a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_85.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00969355 -0.00642888 -0.02296521
+v 0.00969355 -0.00635160 -0.02446575
+v 0.01008931 -0.00581015 -0.02296521
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+v 0.01008931 -0.00581015 -0.00646368
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+v 0.00969355 -0.00586908 -0.00646368
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_86.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9e486138539d5376840b88eae50c9666e6168e5
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_86.obj
@@ -0,0 +1,225 @@
+# https://github.com/mikedh/trimesh
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+v -0.00317310 -0.01118855 -0.00948414
+v -0.00317310 -0.01118595 -0.01247154
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+v -0.00276402 -0.01129348 -0.00400171
+v -0.00317310 -0.01118283 -0.00441326
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+v -0.00276402 -0.01128725 -0.00100328
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_87.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2022e1f02cbe1a59cf7a516a4d336daf0d080b84
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_87.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.00061458 0.01147077 -0.02699915
+v -0.00021876 0.01146970 -0.02699915
+v -0.00061458 0.01144727 -0.02746569
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_88.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4b2049305550ed22f0d82f6abcb1f3d69389756
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_88.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.00784083 -0.00856248 0.01068139
+v 0.00784083 -0.00844285 0.01001022
+v 0.00815382 -0.00813809 0.01001022
+v 0.00821524 -0.00819728 0.01068139
+v 0.00784083 0.00430292 0.01068139
+v 0.00784083 -0.00825395 0.00963728
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+v 0.00859591 -0.00780814 0.01068139
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+v 0.00943485 -0.00662058 0.01001022
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+v 0.00895635 -0.00743286 0.01068139
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+v 0.01023627 -0.00550229 0.01068139
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+v 0.01100717 0.00376267 0.01068139
+v 0.01073610 0.00414047 0.00963728
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_89.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7b100107ee925b900afd8cb3148c2f798e0e845
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_89.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00841174 0.00808354 -0.01430800
+v -0.00841174 0.00808714 -0.01546241
+v -0.00854001 0.00795404 -0.01430800
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+v -0.00938552 0.00691682 -0.01430800
+v -0.00947276 -0.00416287 -0.01546241
+f 1 2 3
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+f 2 5 3
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+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 10 9
+f 8 9 12
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_9.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..135b6e80d0744c85b60a6d455c06683cbd50b42b
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v -0.01110065 -0.00073374 0.01713193
+v -0.01097953 -0.00223122 0.01713193
+v -0.01096063 -0.00223122 0.01717025
+v -0.01105514 -0.00073374 0.01721119
+v -0.01105584 0.00076375 0.01720417
+v -0.01109715 0.00076375 0.01713193
+v -0.01090742 -0.00265730 0.01713193
+v -0.00987337 -0.00356530 0.01791947
+v -0.01011630 -0.00223536 0.01791947
+v -0.01022762 -0.00073374 0.01791947
+v -0.01098583 0.00221780 0.01713193
+v -0.01020662 0.00076375 0.01791947
+v -0.01010510 0.00226330 0.01791947
+v -0.01096273 0.00226330 0.01716601
+v -0.01070159 -0.00356737 0.01713193
+v -0.01066168 -0.00373077 0.01713193
+v -0.00950791 -0.00466980 0.01791947
+v -0.01098023 0.00226330 0.01713193
+v -0.00966473 0.00372769 0.01791947
+v -0.01063998 0.00376285 0.01713193
+v -0.01091302 0.00265836 0.01713193
+v -0.01040825 -0.00443608 0.01713193
+v -0.00932308 -0.00510209 0.01791947
+v -0.00996438 0.00513831 0.01713193
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+v -0.01019471 -0.00488284 0.01713193
+v -0.00939659 -0.00618590 0.01713193
+v -0.00917186 -0.00654166 0.01713193
+v -0.00869789 -0.00718698 0.01713193
+v -0.00814341 -0.00663680 0.01791947
+v -0.00900734 0.00675162 0.01713193
+v -0.00662348 0.00812707 0.01791947
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+v -0.00394908 -0.00958627 0.01791947
+v -0.00394908 -0.00981172 0.01775425
+v -0.00451196 -0.01036604 0.01713193
+v -0.00524637 -0.00890371 0.01791947
+v -0.00593388 -0.00954076 0.01713193
+v -0.00506295 -0.01007233 0.01713193
+v -0.00524147 -0.00978897 0.01726939
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+f 57 60 59
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_90.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f563646e91b8cd54ae8560a62ffb92dd0c1ccbf
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_90.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.00759397 -0.00686721 -0.02962001
+v 0.00816497 -0.00686721 -0.02926747
+v 0.00759397 -0.00686721 0.00700701
+v 0.00759397 -0.00653797 -0.02994317
+v 0.00816497 -0.00670696 -0.02942171
+v 0.00816497 -0.00686721 0.00700701
+v 0.00784996 -0.00642870 -0.02988809
+v 0.00759397 0.00441456 0.00701069
+v 0.00759397 -0.00524429 -0.03022960
+v 0.00816497 -0.00525449 -0.03008271
+v 0.00816497 -0.00562161 -0.02999458
+v 0.00816497 0.00441456 0.00701069
+v 0.00759397 0.00786290 0.00701069
+v 0.00759397 -0.00373209 -0.03041321
+v 0.00816497 -0.00373209 -0.03034712
+v 0.00816497 0.00723354 0.00701069
+v 0.00759397 0.00801586 0.00654064
+v 0.00773270 0.00774635 0.00701069
+v 0.00759397 -0.00214122 -0.03047932
+v 0.00816486 -0.00222863 -0.03044627
+v 0.00816497 -0.00347132 -0.03036548
+v 0.00816497 0.00782356 0.00550874
+v 0.00759397 0.00801586 -0.02881211
+v 0.00798712 0.00801586 0.00550874
+v 0.00759397 -0.00073100 -0.03050502
+v 0.00816486 -0.00073100 -0.03048299
+v 0.00816497 -0.00315664 -0.03038017
+v 0.00816497 0.00801586 0.00455762
+v 0.00799640 0.00801586 0.00546467
+v 0.00798835 0.00801586 0.00550506
+v 0.00761935 0.00801586 -0.02879008
+v 0.00759397 0.00736757 -0.02958329
+v 0.00759397 0.00141492 -0.03050502
+v 0.00816486 0.00084384 -0.03048299
+v 0.00816486 0.00234147 -0.03044627
+v 0.00816486 0.00383765 -0.03033610
+v 0.00816486 0.00441456 -0.03023695
+v 0.00816486 0.00527555 -0.03007537
+v 0.00816486 0.00543143 -0.03004599
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+v 0.00816486 0.00729764 -0.02894432
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+v 0.00759397 0.00708203 -0.02975588
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+v 0.00759397 0.00617587 -0.03003865
+v 0.00759397 0.00656631 -0.02994317
+v 0.00784426 0.00645705 -0.02989176
+v 0.00800193 0.00801586 -0.02798219
+v 0.00759397 0.00440873 -0.03038017
+f 1 2 6
+f 1 6 3
+f 1 3 8
+f 1 8 13
+f 1 13 17
+f 1 17 23
+f 1 23 32
+f 1 32 49
+f 1 49 56
+f 1 56 55
+f 1 55 54
+f 1 54 53
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_91.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8342a8356c4c6b7fd9ae2b1babc3bb0817e7302
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_91.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00292010 0.01074344 0.00612495
+v 0.00345767 0.01063810 0.00612495
+v 0.00292010 0.01091462 0.00547465
+v 0.00292010 -0.01077671 0.00612495
+v 0.00358297 0.01058104 0.00612495
+v 0.00358297 0.01066005 0.00583738
+v 0.00358297 0.01073905 0.00543660
+v 0.00358297 0.01076100 0.00530186
+v 0.00292010 0.01114505 0.00401436
+v 0.00292010 -0.01090180 0.00547558
+v 0.00348992 -0.01061650 0.00612495
+v 0.00358297 -0.01058578 0.00612495
+v 0.00358297 0.01095631 0.00401436
+v 0.00292010 0.01122186 0.00293895
+v 0.00358297 -0.01094349 0.00401436
+v 0.00358297 -0.01075256 0.00524416
+v 0.00358297 -0.01072184 0.00543878
+v 0.00292010 -0.01112564 0.00401436
+v 0.00358297 -0.01063186 0.00590288
+v 0.00358297 0.01102874 0.00293895
+v 0.00292010 -0.01119807 0.00293895
+v 0.00358297 -0.01096544 0.00371713
+v 0.00358297 -0.01102030 0.00293895
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+f 2 5 6
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+f 5 16 15
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+f 10 18 15
+f 11 19 12
+f 11 17 19
+f 13 20 14
+f 14 20 23
+f 14 23 21
+f 15 18 22
+f 18 21 23
+f 18 23 22
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_92.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d205187d68de8a0000324d8bca64162da0cad0b
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_92.obj
@@ -0,0 +1,222 @@
+# https://github.com/mikedh/trimesh
+v -0.00602487 0.00603730 -0.03031932
+v -0.00680202 0.00603730 -0.03027912
+v -0.00602487 0.00671301 -0.03028278
+v -0.00602487 0.00603730 0.00701069
+v -0.00685448 0.00603730 -0.03026451
+v -0.00685448 0.00671263 -0.03012931
+v -0.00602487 0.00681774 -0.03027547
+v -0.00602487 0.00909088 0.00701069
+v -0.00685448 0.00603730 0.00701069
+v -0.00685448 0.00687780 -0.03009276
+v -0.00602487 0.00801630 -0.02994295
+v -0.00602487 0.00923758 0.00674759
+v -0.00663270 0.00868238 0.00701069
+v -0.00685448 0.00849488 0.00701069
+v -0.00685448 0.00689782 -0.03008545
+v -0.00644081 0.00785305 -0.02989179
+v -0.00602487 0.00874360 -0.02946792
+v -0.00602487 0.00932960 0.00642969
+v -0.00621903 0.00916288 0.00664528
+v -0.00675411 0.00858035 0.00701069
+v -0.00685448 0.00890261 0.00590350
+v -0.00685448 0.00832547 -0.02919021
+v -0.00685448 0.00838669 -0.02913540
+v -0.00685448 0.00843289 -0.02908424
+v -0.00602487 0.00902890 -0.02912809
+v -0.00602487 0.00933922 0.00639315
+v -0.00644089 0.00931805 0.00550886
+v -0.00685448 0.00901273 0.00550886
+v -0.00634685 0.00925221 -0.02856901
+v -0.00685448 0.00919522 -0.02746183
+v -0.00602487 0.00937233 -0.02866037
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_93.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c34c17da8fae7421b41224804f7cf1b2e2dbb4d0
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_93.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.00385070 -0.00387081 -0.03052638
+v -0.00385070 0.00068584 -0.03053005
+v -0.00317310 -0.00373044 -0.03053005
+v -0.00317310 -0.00387081 -0.03052638
+v -0.00385070 -0.00387081 0.00700701
+v -0.00385070 0.00526004 -0.03053005
+v -0.00317310 0.00526004 -0.03053005
+v -0.00317310 -0.00387081 0.00700701
+v -0.00385070 0.00641270 0.00701069
+v -0.00385070 0.00641270 -0.03051903
+v -0.00374816 0.00641270 -0.03052638
+v -0.00317310 0.00675957 -0.03052638
+v -0.00317310 0.00641270 0.00701069
+v -0.00385070 0.00991792 0.00701069
+v -0.00385070 0.00675957 -0.03051535
+v -0.00374816 0.00675957 -0.03051903
+v -0.00317310 0.00825911 -0.03037572
+v -0.00317310 0.00991792 0.00701069
+v -0.00385070 0.00991792 -0.02933945
+v -0.00385070 0.00826316 -0.03031692
+v -0.00374816 0.00825911 -0.03033529
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+v -0.00317641 0.00991792 -0.02951951
+v -0.00357756 0.00991792 -0.02943132
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+f 29 31 30
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_94.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd5e366231ab5a1eea7b630e56d7b74b217bbc1e
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_94.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00969347 -0.00515100 0.00674296
+v 0.00966751 -0.00515100 0.00683341
+v 0.00969347 -0.00526017 0.00654398
+v 0.00969347 -0.00515100 -0.02889699
+v 0.00965334 -0.00515100 0.00688044
+v 0.00955678 -0.00526084 0.00701069
+v 0.00969347 -0.00534914 0.00638117
+v 0.00969347 -0.00546348 -0.02841219
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+v 0.00854521 -0.00515100 0.00498828
+v 0.00854521 -0.00546348 0.00487251
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+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_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_95.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c02518fdc57a64cab3152457fffc12db4e27036
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_95.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.01041081 0.00326652 0.00701052
+v -0.01041081 0.00356769 0.00681611
+v -0.01069799 0.00228832 0.00701052
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+v -0.01041081 0.00357893 0.00680261
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+v -0.01051574 -0.00298735 0.00701052
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+v -0.01041081 0.00429210 0.00591877
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+v -0.01068650 0.00379337 0.00542722
+v -0.01089385 0.00269310 0.00594215
+v -0.01089385 0.00089572 0.00701052
+v -0.01059831 -0.00327728 0.00655766
+v -0.01069638 -0.00224045 0.00701052
+v -0.01042661 -0.00371899 0.00644835
+v -0.01041081 -0.00371899 0.00650531
+v -0.01041081 0.00431620 0.00588684
+v -0.01041081 0.00432182 0.00587926
+v -0.01041081 0.00433306 0.00585951
+v -0.01041081 0.00448565 0.00532895
+v -0.01065590 0.00392749 0.00532895
+v -0.01070305 0.00379096 0.00532895
+v -0.01089385 0.00301996 0.00547068
+v -0.01089385 -0.00085427 0.00701052
+v -0.01070995 -0.00217621 0.00701052
+v -0.01089385 -0.00220351 0.00629723
+v -0.01089385 -0.00298655 0.00547776
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+v -0.01089385 -0.00306767 0.00532895
+v -0.01071468 -0.00371899 0.00532895
+v -0.01069752 -0.00371899 0.00544336
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_96.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f104ad534483e7a070615586620287c715f8b0e0
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_96.obj
@@ -0,0 +1,291 @@
+# https://github.com/mikedh/trimesh
+v -0.01041081 -0.00204222 -0.02948866
+v -0.01085007 -0.00204222 -0.02883956
+v -0.01041081 -0.00151078 -0.02963290
+v -0.01041081 -0.00204222 0.00532551
+v -0.01089385 -0.00204222 -0.02872279
+v -0.01085778 -0.00061456 -0.02909370
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+v -0.01089385 -0.00204222 0.00532551
+v -0.01089385 -0.00062172 -0.02899411
+v -0.01089385 -0.00052945 -0.02899411
+v -0.01085385 0.00064858 -0.02909370
+v -0.01085215 0.00064858 -0.02909714
+v -0.01049673 0.00006922 -0.02970846
+v -0.01049673 -0.00003592 -0.02970846
+v -0.01041081 -0.00011531 -0.02975654
+v -0.01089385 0.00064858 0.00532895
+v -0.01041081 0.00448523 0.00532895
+v -0.01089385 0.00065574 -0.02897693
+v -0.01084430 0.00170216 -0.02889794
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+v -0.01041081 0.00014862 -0.02975310
+v -0.01041081 -0.00002591 -0.02975654
+v -0.01089385 0.00309978 0.00532895
+v -0.01041081 0.00469624 0.00500268
+v -0.01042897 0.00444446 0.00532895
+v -0.01083920 0.00226292 -0.02878805
+v -0.01089385 0.00226292 -0.02860946
+v -0.01041081 0.00226292 -0.02943027
+v -0.01041081 0.00152907 -0.02962946
+v -0.01070302 0.00379072 0.00532895
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+v -0.01041081 0.00483500 0.00459399
+v -0.01051337 0.00455247 0.00486874
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+v -0.01063872 0.00480996 0.00250933
+v -0.01089385 0.00406180 0.00299701
+v -0.01089385 0.00390802 0.00371479
+v -0.01041081 0.00390802 -0.02868501
+v -0.01041081 0.00435935 -0.02844804
+v -0.01078993 0.00390802 -0.02746238
+v -0.01054141 0.00460754 -0.02746238
+v -0.01041081 0.00485502 -0.02746238
+v -0.01041081 0.00460039 -0.02830380
+v -0.01089385 0.00387083 -0.02596156
+v -0.01041081 0.00526344 0.00101195
+v -0.01064217 0.00481568 0.00101195
+v -0.01089385 0.00417338 0.00101195
+v -0.01089385 0.00416766 0.00159236
+v -0.01089385 0.00415049 0.00250933
+v -0.01087967 0.00390802 -0.02596156
+v -0.01058127 0.00468622 -0.02596156
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+v -0.01041081 0.00500809 -0.02596156
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+v -0.01041081 0.00522553 -0.02296680
+v -0.01041081 0.00525557 -0.01397219
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diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_97.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e34d7418d030a54aa29f1a418b894e8d6505989c
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_97.obj
@@ -0,0 +1,261 @@
+# https://github.com/mikedh/trimesh
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diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_98.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f78e3bbe21c0e29a875f7676c6805f567a42f04a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_98.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_99.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2a9fe73aeba0900a746d6eccd15160934515398
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/collision/model_normalized_collision_99.obj
@@ -0,0 +1,561 @@
+# https://github.com/mikedh/trimesh
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diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/model.xml b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c63144ef37a2d42fd587e0bec28c387fbcce878e
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/model.xml
@@ -0,0 +1,494 @@
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diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/visual/image0.png b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/visual/image0.png
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diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/visual/model_normalized_0.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_3/visual/model_normalized_0.obj
new file mode 100644
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+mtllib materials.mtl
+usemtl xvqshn__base_link_vray
+o visuals
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diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_1.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..738099c22301a9d78b7527cb66894913fe5e217f
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_1.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_100.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1887ed7953f06e687b9c9a1ee0f94820de5eb96f
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_100.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
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+f 5 28 26
+f 5 26 22
+f 5 22 18
+f 5 18 17
+f 5 17 11
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 7 13 14
+f 8 15 9
+f 9 15 16
+f 9 16 10
+f 11 17 12
+f 12 17 13
+f 13 17 18
+f 13 18 14
+f 14 18 19
+f 15 20 16
+f 16 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 28
+f 23 28 31
+f 23 31 27
+f 24 29 25
+f 25 29 30
+f 27 31 32
+f 27 32 33
+f 27 33 34
+f 27 34 35
+f 29 36 37
+f 29 37 30
+f 32 34 33
+f 34 38 39
+f 34 39 40
+f 34 40 35
+f 36 41 37
+f 37 42 43
+f 37 41 42
+f 38 44 45
+f 38 45 46
+f 38 46 39
+f 41 47 48
+f 41 48 42
+f 42 48 49
+f 42 49 43
+f 44 50 45
+f 45 50 51
+f 47 52 48
+f 48 52 53
+f 48 53 49
+f 50 54 55
+f 50 55 51
+f 52 56 53
+f 53 56 57
+f 54 58 55
+f 55 58 59
+f 56 59 58
+f 56 58 57
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_101.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84d30bb67c584ec1978e36b3c8d040dfea46b7de
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_101.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00666167 0.00844260 0.00700055
+v 0.00551986 0.00844260 0.00700055
+v 0.00666167 0.00812187 0.00700055
+v 0.00666167 0.00844260 -0.02925912
+v 0.00551986 0.00812187 0.00700055
+v 0.00551986 0.00844260 -0.02989741
+v 0.00666167 0.00812187 -0.02952386
+v 0.00626717 0.00812187 -0.02982125
+v 0.00627678 0.00844260 -0.02954925
+v 0.00551986 0.00812187 -0.03004973
+v 0.00605052 0.00844260 -0.02971971
+v 0.00551986 0.00832436 -0.02996269
+v 0.00577742 0.00812187 -0.02998446
+v 0.00551986 0.00822197 -0.03001709
+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 12
+f 2 12 14
+f 2 14 10
+f 2 10 5
+f 3 5 10
+f 3 10 13
+f 3 13 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 12
+f 8 13 12
+f 8 12 11
+f 8 11 9
+f 10 14 13
+f 12 13 14
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_102.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..674896135c0d9b99bf2c2ba5c39df1b7250c9250
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_102.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.00703628 0.00561617 -0.03030936
+v -0.00795109 0.00561617 -0.03006642
+v -0.00703628 0.00680681 -0.03006642
+v -0.00703628 0.00561617 0.00514686
+v -0.00795109 0.00618752 -0.02993800
+v -0.00795109 0.00561617 0.00514686
+v -0.00784541 0.00645843 -0.02990330
+v -0.00703628 0.00690511 -0.02999006
+v -0.00703628 0.00690511 0.00514686
+v -0.00795109 0.00655180 -0.02974712
+v -0.00795109 0.00690511 0.00514686
+v -0.00795109 0.00690423 -0.02940005
+v -0.00795109 0.00690511 -0.02895234
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 6
+f 1 6 2
+f 2 5 3
+f 2 6 11
+f 2 11 13
+f 2 13 12
+f 2 12 10
+f 2 10 5
+f 3 5 7
+f 3 7 8
+f 4 9 11
+f 4 11 6
+f 5 10 7
+f 7 10 8
+f 8 10 12
+f 8 12 13
+f 8 13 11
+f 8 11 9
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_104.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89cddf0b508b7189fa982ecc3a67fd1c62c22024
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_104.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.00951006 0.00516115 -0.02724925
+v -0.01026223 0.00516115 -0.02724925
+v -0.00951006 0.00393785 -0.02724925
+v -0.00951006 0.00516115 -0.02907284
+v -0.01024983 0.00516115 -0.02747570
+v -0.01030006 0.00508953 -0.02724925
+v -0.01078990 0.00393785 -0.02724925
+v -0.00951006 0.00393785 -0.02969708
+v -0.00951006 0.00515767 -0.02907668
+v -0.00968294 0.00516115 -0.02891876
+v -0.01054160 0.00460783 -0.02747570
+v -0.00968708 0.00516115 -0.02891301
+v -0.01050339 0.00453189 -0.02823893
+v -0.01054761 0.00461980 -0.02724925
+v -0.01077950 0.00393785 -0.02747570
+v -0.01004224 0.00393785 -0.02917780
+v -0.00951006 0.00503671 -0.02920608
+v -0.00968858 0.00515708 -0.02891421
+v -0.01018318 0.00393785 -0.02899736
+v -0.01060399 0.00393785 -0.02841482
+f 1 2 6
+f 1 6 14
+f 1 14 7
+f 1 7 3
+f 1 3 8
+f 1 8 17
+f 1 17 9
+f 1 9 4
+f 1 4 10
+f 1 10 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 3 7 15
+f 3 15 20
+f 3 20 19
+f 3 19 16
+f 3 16 8
+f 4 9 10
+f 5 11 6
+f 5 12 13
+f 5 13 11
+f 6 11 14
+f 7 14 11
+f 7 11 15
+f 8 16 17
+f 9 17 10
+f 10 17 18
+f 10 18 12
+f 11 13 15
+f 12 18 13
+f 13 18 16
+f 13 16 19
+f 13 19 20
+f 13 20 15
+f 16 18 17
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_106.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_106.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e3ec980057c7d2ad5f479e1bd8f744023d606cc
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_106.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00688732 -0.00688565 0.00699688
+v 0.00688732 -0.00758429 0.00699688
+v 0.00688732 -0.00688565 -0.03007449
+v 0.00466008 -0.00688565 0.00700055
+v 0.00688732 -0.00758429 -0.02963015
+v 0.00466008 -0.00758429 0.00700055
+v 0.00688732 -0.00726096 -0.02983579
+v 0.00655262 -0.00758429 -0.02995698
+v 0.00684766 -0.00688565 -0.03009285
+v 0.00310111 -0.00688565 0.00700055
+v 0.00310111 -0.00758429 0.00700055
+v 0.00525868 -0.00758429 -0.03023607
+v 0.00524645 -0.00688565 -0.03041601
+v 0.00310111 -0.00688565 -0.03051516
+v 0.00310111 -0.00758429 -0.03036460
+v 0.00374457 -0.00758429 -0.03043070
+v 0.00374457 -0.00688565 -0.03051149
+v 0.00310408 -0.00758429 -0.03043437
+v 0.00310111 -0.00758169 -0.03043437
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 9
+f 1 9 13
+f 1 13 17
+f 1 17 14
+f 1 14 10
+f 1 10 4
+f 1 4 6
+f 1 6 2
+f 2 6 11
+f 2 11 15
+f 2 15 18
+f 2 18 16
+f 2 16 12
+f 2 12 8
+f 2 8 5
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 6
+f 5 8 7
+f 8 12 9
+f 9 12 13
+f 10 14 19
+f 10 19 15
+f 10 15 11
+f 12 16 13
+f 13 16 17
+f 14 17 18
+f 14 18 19
+f 15 19 18
+f 16 18 17
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_107.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_107.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aaa7f50c8c41ef17aa7bec0df3b8695658cda01
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_107.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00382294 0.00812056 0.00700055
+v 0.00382294 0.00690535 0.00700055
+v 0.00382294 0.00812175 0.00681683
+v 0.00313560 0.00812175 0.00700055
+v 0.00312407 0.00690535 0.00700055
+v 0.00382294 0.00690535 -0.03050466
+v 0.00382294 0.00812175 -0.03036135
+v 0.00136995 0.00812175 0.00481424
+v 0.00136995 0.00812080 0.00700055
+v 0.00136995 0.00690547 0.00700055
+v 0.00312407 0.00690535 -0.03052303
+v 0.00360439 0.00690535 -0.03051936
+v 0.00312407 0.00738584 -0.03049731
+v 0.00238823 0.00812175 -0.03046056
+v 0.00136995 0.00812175 -0.03048629
+v 0.00136995 0.00690547 -0.03053773
+v 0.00136995 0.00758101 -0.03051568
+v 0.00136995 0.00769033 -0.03051201
+v 0.00182193 0.00812175 -0.03047894
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 4
+f 1 4 9
+f 1 9 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 12
+f 2 12 6
+f 3 7 14
+f 3 14 19
+f 3 19 15
+f 3 15 8
+f 3 8 4
+f 4 8 9
+f 5 10 16
+f 5 16 11
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 8 15 18
+f 8 18 17
+f 8 17 16
+f 8 16 10
+f 8 10 9
+f 11 16 12
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 12 16 17
+f 13 19 14
+f 15 19 18
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_108.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_108.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a6a48c6158b48e3ff781e25629e69594ef4e2a9
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_108.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00664027 0.00393773 0.00700055
+v 0.00237616 0.00393773 0.00700055
+v 0.00664027 0.00345748 0.00700055
+v 0.00664027 0.00393773 -0.03052169
+v 0.00237616 0.00345748 0.00700055
+v 0.00152063 0.00393773 0.00699687
+v 0.00664027 0.00345748 -0.03052903
+v 0.00664027 0.00386905 -0.03052536
+v 0.00657161 0.00393773 -0.03052536
+v 0.00152063 0.00345748 0.00699687
+v 0.00152063 0.00393773 -0.03054006
+v 0.00555269 0.00345748 -0.03053638
+v 0.00524296 0.00393773 -0.03053271
+v 0.00152063 0.00345748 -0.03054006
+v 0.00237616 0.00393773 -0.03054006
+v 0.00237616 0.00345748 -0.03054006
+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 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 16
+f 3 16 12
+f 3 12 7
+f 4 8 9
+f 6 11 14
+f 6 14 10
+f 7 12 9
+f 7 9 8
+f 9 12 13
+f 11 15 16
+f 11 16 14
+f 12 16 15
+f 12 15 13
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_11.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9e0232b83c8cc77181a7997e268e0815111cc91
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_11.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
+v 0.00016222 0.01185412 0.01358201
+v 0.00074625 0.01185293 0.01358201
+v 0.00074625 0.01184975 0.01299810
+v -0.00075152 0.01185373 0.01358201
+v 0.00165999 0.01173538 0.01358201
+v 0.00224401 0.01165676 0.01299810
+v 0.00109526 0.01177470 0.01264887
+v 0.00074625 0.01181918 0.01264887
+v -0.00075152 0.01181878 0.01264887
+v -0.00075152 0.01184896 0.01299810
+v -0.00225104 0.01165278 0.01299810
+v -0.00225104 0.01165477 0.01358201
+v 0.00224401 0.01165993 0.01358201
+v 0.00224401 0.01162657 0.01264887
+v 0.00374353 0.01126083 0.01358201
+v 0.00374353 0.01125607 0.01299810
+v 0.00374353 0.01122708 0.01264887
+v 0.00259302 0.01153405 0.01264887
+v -0.00225104 0.01162340 0.01264887
+v -0.00375056 0.01126043 0.01358201
+v -0.00283507 0.01150148 0.01358201
+v -0.00375056 0.01125765 0.01299810
+v 0.00451522 0.01095545 0.01358201
+v 0.00500804 0.01075610 0.01299810
+v 0.00400485 0.01112541 0.01264887
+v -0.00339980 0.01132040 0.01264887
+v -0.00424514 0.01106704 0.01358201
+v -0.00375056 0.01122787 0.01264887
+v -0.00497298 0.01074577 0.01264887
+v -0.00500455 0.01076086 0.01299810
+v 0.00500980 0.01075848 0.01358201
+v 0.00575693 0.01039075 0.01299810
+v 0.00554997 0.01046144 0.01264887
+v 0.00497472 0.01074180 0.01264887
+v -0.00500981 0.01076364 0.01358201
+v -0.00572186 0.01036653 0.01264887
+v -0.00575343 0.01038320 0.01299810
+v -0.00546756 0.01053331 0.01358201
+v 0.00575868 0.01039115 0.01358201
+v 0.00572360 0.01037328 0.01264887
+v 0.00674082 0.00974901 0.01358201
+v 0.00674082 0.00974544 0.01299810
+v 0.00677064 0.00968944 0.01264887
+v 0.00600597 0.01018941 0.01264887
+v -0.00677591 0.00968428 0.01264887
+v -0.00575869 0.01038559 0.01358201
+v -0.00674785 0.00973948 0.01299810
+v 0.00761598 0.00912117 0.01358201
+v 0.00761072 0.00911799 0.01299810
+v 0.00700565 0.00953258 0.01264887
+v -0.00760723 0.00910767 0.01264887
+v -0.00674785 0.00974424 0.01358201
+v -0.00762126 0.00911958 0.01299810
+v -0.00709160 0.00950042 0.01358201
+v 0.00836487 0.00839882 0.01358201
+v 0.00836136 0.00839524 0.01299810
+v 0.00759669 0.00910608 0.01264887
+v -0.00834734 0.00836943 0.01264887
+v -0.00837014 0.00839206 0.01299810
+v -0.00762477 0.00912196 0.01358201
+v -0.00808251 0.00867799 0.01358201
+v 0.00881735 0.00794134 0.01358201
+v 0.00810705 0.00861405 0.01264887
+v 0.00895590 0.00779758 0.01329782
+v 0.00895064 0.00779758 0.01299810
+v 0.00892434 0.00779758 0.01264887
+v 0.00858234 0.00814387 0.01264887
+v -0.00890857 0.00779758 0.01264887
+v -0.00837365 0.00839445 0.01358201
+v -0.00894364 0.00779758 0.01292365
+v -0.00895241 0.00779758 0.01299810
+v 0.00895941 0.00779758 0.01358201
+v -0.00895767 0.00779758 0.01358201
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 21
+f 1 21 20
+f 1 20 27
+f 1 27 35
+f 1 35 38
+f 1 38 46
+f 1 46 52
+f 1 52 54
+f 1 54 60
+f 1 60 61
+f 1 61 69
+f 1 69 73
+f 1 73 72
+f 1 72 62
+f 1 62 55
+f 1 55 48
+f 1 48 41
+f 1 41 39
+f 1 39 31
+f 1 31 23
+f 1 23 15
+f 1 15 13
+f 1 13 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+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 4 11 12
+f 5 13 6
+f 6 14 7
+f 6 13 15
+f 6 15 16
+f 6 16 17
+f 6 17 18
+f 6 18 14
+f 7 14 18
+f 7 18 17
+f 7 17 25
+f 7 25 34
+f 7 34 33
+f 7 33 40
+f 7 40 44
+f 7 44 43
+f 7 43 50
+f 7 50 57
+f 7 57 63
+f 7 63 67
+f 7 67 66
+f 7 66 68
+f 7 68 58
+f 7 58 51
+f 7 51 45
+f 7 45 36
+f 7 36 29
+f 7 29 28
+f 7 28 26
+f 7 26 19
+f 7 19 9
+f 7 9 8
+f 9 19 10
+f 10 19 11
+f 11 20 21
+f 11 21 12
+f 11 19 22
+f 11 22 20
+f 15 23 24
+f 15 24 16
+f 16 24 25
+f 16 25 17
+f 19 26 22
+f 20 22 27
+f 22 28 29
+f 22 29 30
+f 22 30 27
+f 22 26 28
+f 23 31 24
+f 24 31 32
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 27 30 35
+f 29 36 37
+f 29 37 30
+f 30 37 38
+f 30 38 35
+f 31 39 32
+f 32 40 33
+f 32 39 41
+f 32 41 42
+f 32 42 43
+f 32 43 44
+f 32 44 40
+f 36 45 37
+f 37 46 38
+f 37 45 47
+f 37 47 46
+f 41 48 42
+f 42 48 49
+f 42 49 50
+f 42 50 43
+f 45 51 47
+f 46 47 52
+f 47 51 53
+f 47 53 54
+f 47 54 52
+f 48 55 56
+f 48 56 49
+f 49 56 57
+f 49 57 50
+f 51 58 59
+f 51 59 53
+f 53 60 54
+f 53 59 61
+f 53 61 60
+f 55 62 56
+f 56 63 57
+f 56 62 64
+f 56 64 65
+f 56 65 66
+f 56 66 67
+f 56 67 63
+f 58 68 59
+f 59 69 61
+f 59 68 70
+f 59 70 71
+f 59 71 69
+f 62 72 64
+f 64 72 73
+f 64 73 71
+f 64 71 70
+f 64 70 68
+f 64 68 66
+f 64 66 65
+f 69 71 73
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_110.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_110.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e5009b1cc9a1364dd50598933cd3e9c2f7f6dec
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_110.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.01162275 -0.00072953 -0.00049296
+v 0.01162015 -0.00074630 -0.00181190
+v 0.01162210 -0.00073139 -0.00181190
+v 0.01162145 0.00076920 -0.00181190
+v 0.01162145 0.00076920 -0.00049296
+v 0.01162145 -0.00072953 0.00100626
+v 0.01161885 -0.00074630 0.00103300
+v 0.01162015 -0.00074630 -0.00046709
+v 0.00497571 -0.00074630 -0.00181190
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_111.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6da8243b47fa144f501f2f35078af18c9d496180
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_111.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00053049 -0.00950524 0.00699692
+v 0.00053049 -0.00983238 0.00699692
+v 0.00053049 -0.00950308 0.00690243
+v 0.00025452 -0.00950308 0.00699692
+v -0.00059227 -0.00983238 0.00699692
+v 0.00053049 -0.00983238 -0.03002816
+v 0.00053049 -0.00950308 -0.03012265
+v -0.00059227 -0.00950308 0.00699692
+v -0.00059227 -0.00983238 -0.03002816
+v 0.00053049 -0.00968420 -0.03007177
+v -0.00059227 -0.00952062 -0.03011902
+v -0.00059227 -0.00950308 -0.03012265
+f 1 2 6
+f 1 6 10
+f 1 10 7
+f 1 7 3
+f 1 3 4
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+f 1 5 2
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+f 2 9 6
+f 3 7 12
+f 3 12 8
+f 3 8 4
+f 5 8 12
+f 5 12 11
+f 5 11 9
+f 6 9 10
+f 7 10 11
+f 7 11 12
+f 9 11 10
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_112.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_112.obj
new file mode 100644
index 0000000000000000000000000000000000000000..949d03e75f74f08bafced3b1cd7ef487f95e7dc1
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_112.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v 0.00938841 -0.00688565 -0.00798898
+v 0.00938817 -0.00688565 -0.00649003
+v 0.00897952 -0.00746188 0.00100474
+v 0.00897952 -0.00746209 -0.00349212
+v 0.00897952 -0.00746222 -0.00798898
+v 0.00938841 -0.00688565 -0.02297489
+v 0.00938768 -0.00688565 -0.00499108
+v 0.00938523 -0.00688565 0.00100474
+v 0.00897609 -0.00745716 0.00250369
+v 0.00885661 -0.00758429 0.00124791
+v 0.00885759 -0.00758429 0.00100474
+v 0.00885783 -0.00758429 -0.00175000
+v 0.00897952 -0.00746222 -0.02297489
+v 0.00934018 -0.00688565 -0.02447747
+v 0.00937568 -0.00688565 0.00250369
+v 0.00929096 -0.00688565 0.00351993
+v 0.00889970 -0.00736436 0.00400264
+v 0.00882209 -0.00758429 0.00278315
+v 0.00884975 -0.00758429 0.00250369
+v 0.00885783 -0.00758429 -0.02297489
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+v 0.00874153 -0.00717171 0.00550160
+v 0.00857700 -0.00758429 0.00453617
+v 0.00868669 -0.00758429 0.00400264
+v 0.00870407 -0.00758429 -0.02597642
+v 0.00890778 -0.00737448 -0.02597642
+v 0.00915801 -0.00688565 -0.02747538
+v 0.00895871 -0.00688565 0.00550160
+v 0.00886322 -0.00688565 0.00583913
+v 0.00785152 -0.00758429 0.00700055
+v 0.00798668 -0.00758429 0.00662309
+v 0.00836006 -0.00758429 0.00550160
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+v 0.00885269 -0.00730473 -0.02747538
+v 0.00801361 -0.00758429 -0.02882189
+v 0.00836961 -0.00688565 -0.02911951
+v 0.00844331 -0.00688565 0.00700055
+v 0.00688732 -0.00758429 0.00700055
+v 0.00760104 -0.00758429 -0.02933001
+v 0.00744581 -0.00742741 -0.02969296
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+v 0.00688732 -0.00688565 -0.03007768
+v 0.00690348 -0.00688565 -0.03007405
+v 0.00735277 -0.00758429 -0.02959859
+v 0.00690667 -0.00758429 -0.02963126
+v 0.00688732 -0.00726109 -0.02983813
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+f 44 50 51
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+f 44 53 50
+f 48 54 53
+f 50 53 54
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_114.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_114.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c6dfd8fc690b30e3cc4267b757f8f963dda2b4f
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_114.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00497571 0.00153822 -0.00837235
+v 0.00388868 0.00153822 -0.00837235
+v 0.00497571 0.00097001 -0.00837235
+v 0.00497571 0.00153822 -0.03054401
+v 0.00388868 0.00097001 -0.00837235
+v 0.00388868 0.00153822 -0.03054401
+v 0.00497571 0.00097001 -0.03054618
+v 0.00388868 0.00097001 -0.03054401
+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 6
+f 6 7 8
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_115.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_115.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16f99f9d291103b7a65bfc4d20a10f6cefcd9529
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_115.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.00275072 -0.01123308 0.01047043
+v 0.00275072 -0.01116720 0.01000005
+v 0.00374440 -0.01090838 0.01000005
+v 0.00374440 -0.01097426 0.01047087
+v 0.00275138 -0.01123151 0.01047087
+v 0.00275072 -0.01098681 0.01047087
+v 0.00275072 -0.01107779 0.00972533
+v 0.00374440 -0.01084250 0.00972533
+v 0.00463713 -0.01054290 0.00972533
+v 0.00467606 -0.01056329 0.01000005
+v 0.00474468 -0.01059623 0.01047087
+v 0.00275072 0.00479166 0.01047087
+v 0.00275072 0.00479166 0.00972533
+v 0.00656907 -0.00937430 0.00972533
+v 0.00542495 -0.01016487 0.01000005
+v 0.00549423 -0.01020251 0.01047087
+v 0.00949138 0.00479166 0.01047087
+v 0.00949138 0.00479166 0.00972533
+v 0.00728298 -0.00883470 0.00972533
+v 0.00737800 -0.00888019 0.01000005
+v 0.00662845 -0.00941508 0.01000005
+v 0.00670895 -0.00943390 0.01047087
+v 0.00949138 -0.00662769 0.01047087
+v 0.00949138 -0.00624025 0.00972533
+v 0.00809126 -0.00807237 0.00972533
+v 0.00814998 -0.00813040 0.01000005
+v 0.00768547 -0.00866686 0.01047087
+v 0.00742155 -0.00891627 0.01047087
+v 0.00721040 -0.00907626 0.01047087
+v 0.00944981 -0.00669357 0.01047087
+v 0.00943134 -0.00661357 0.01000005
+v 0.00949138 -0.00651789 0.01000005
+v 0.00949138 -0.00635633 0.00972614
+v 0.00948874 -0.00635789 0.00972533
+v 0.00885136 -0.00727081 0.00972533
+v 0.00889953 -0.00736336 0.01000005
+v 0.00819155 -0.00817432 0.01047087
+v 0.00868377 -0.00767081 0.01047087
+v 0.00909417 -0.00719552 0.01047087
+v 0.00939043 -0.00655554 0.00972533
+v 0.00885400 -0.00726768 0.00972533
+v 0.00893384 -0.00740414 0.01047087
+f 1 2 3
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+f 31 40 32
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+f 32 40 33
+f 33 40 34
+f 35 41 36
+f 36 39 42
+f 36 42 38
+f 36 41 40
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_116.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_116.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1026aa05c1b5efa4d91d335310eeff99cf63eb56
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_116.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00357147 0.00983584 -0.01273479
+v 0.00072012 0.00983584 -0.01273479
+v 0.00357147 0.00935727 -0.01273479
+v 0.00357147 0.00983584 -0.02955422
+v 0.00072012 0.00935727 -0.01273479
+v 0.00072012 0.00983584 -0.03002531
+v 0.00357147 0.00935727 -0.02997581
+v 0.00357147 0.00947805 -0.02990583
+v 0.00302632 0.00983584 -0.02976075
+v 0.00072012 0.00935727 -0.03017039
+v 0.00088621 0.00983584 -0.03002019
+v 0.00072012 0.00982596 -0.03002872
+v 0.00267070 0.00935727 -0.03008847
+v 0.00357147 0.00939161 -0.02996386
+v 0.00224503 0.00959944 -0.03005433
+v 0.00224503 0.00983584 -0.02989559
+v 0.00072012 0.00977747 -0.03004408
+v 0.00113826 0.00935727 -0.03016015
+v 0.00072012 0.00981579 -0.03003214
+v 0.00190755 0.00983584 -0.02995192
+v 0.00251718 0.00935727 -0.03010724
+v 0.00224503 0.00935727 -0.03012772
+v 0.00120023 0.00935727 -0.03015844
+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 16
+f 1 16 20
+f 1 20 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
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+f 2 19 17
+f 2 17 10
+f 2 10 5
+f 3 5 10
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+f 3 18 23
+f 3 23 22
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+f 3 21 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
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+f 11 15 19
+f 11 19 12
+f 11 20 15
+f 13 21 15
+f 13 15 14
+f 15 17 19
+f 15 20 16
+f 15 21 22
+f 15 22 23
+f 15 23 17
+f 17 23 18
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_117.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_117.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e31cd1b679a7fe26bf6763bfb78ab1d065a9b81a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_117.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.00286452 -0.01086565 -0.02826633
+v -0.00314762 -0.01086565 -0.02807191
+v -0.00375072 -0.01061694 -0.02847876
+v -0.00286452 -0.01074094 -0.02867679
+v -0.00286452 -0.01086565 0.00568637
+v -0.00383656 -0.01060197 -0.02844996
+v -0.00360019 -0.01086565 -0.02747422
+v -0.00383656 -0.01078625 -0.02756063
+v -0.00375072 -0.01008736 -0.02922767
+v -0.00286452 -0.01022511 -0.02942569
+v -0.00286452 -0.01062826 0.00675932
+v -0.00332080 -0.01058457 0.00656129
+v -0.00307235 -0.01086565 0.00546674
+v -0.00383656 -0.01006207 -0.02920966
+v -0.00375072 -0.01082438 -0.02747422
+v -0.00375072 -0.01086565 -0.02669291
+v -0.00383656 -0.01079343 -0.02747422
+v -0.00383656 -0.01000725 -0.02927807
+v -0.00286452 -0.00991875 -0.02972453
+v -0.00286452 -0.01054664 0.00700055
+v -0.00304332 -0.01050356 0.00700055
+v -0.00375444 -0.01026051 0.00700055
+v -0.00383656 -0.01024645 0.00694294
+v -0.00383656 -0.01065122 0.00547394
+v -0.00379250 -0.01067378 0.00543793
+v -0.00375653 -0.01086565 0.00419936
+v -0.00383465 -0.01086565 -0.02612404
+v -0.00383656 -0.01086474 -0.02612764
+v -0.00383656 -0.00983238 -0.02944730
+v -0.00299622 -0.00983238 -0.02975694
+v -0.00286452 -0.00983238 -0.02978214
+v -0.00286452 -0.00983238 0.00700055
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+v -0.00383656 -0.01066356 0.00540553
+v -0.00383342 -0.01086565 0.00400133
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+v -0.00383656 -0.01086443 0.00400133
+v -0.00383656 -0.01086565 0.00397973
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+f 24 35 25
+f 25 35 26
+f 26 35 36
+f 27 37 28
+f 29 38 32
+f 29 32 31
+f 29 31 30
+f 35 39 36
+f 36 39 40
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_118.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_118.obj
new file mode 100644
index 0000000000000000000000000000000000000000..677e848b43a0aa7fa05c8663fda5441008cf0004
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_118.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v -0.00575295 0.00516108 0.00699688
+v -0.00730677 0.00516108 0.00700055
+v -0.00580940 0.00445282 0.00700055
+v -0.00575295 0.00445294 0.00699688
+v -0.00575295 0.00516108 -0.03050864
+v -0.00782694 0.00516108 0.00700055
+v -0.00580940 0.00393773 0.00700055
+v -0.00575295 0.00445294 -0.03050864
+v -0.00580940 0.00393773 -0.03052701
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+v -0.00674904 0.00516108 -0.03046089
+v -0.00782715 0.00445282 0.00699688
+v -0.00782694 0.00445294 0.00700055
+v -0.00782694 0.00516108 -0.03017436
+v -0.00711166 0.00393773 0.00700055
+v -0.00782715 0.00393773 -0.03035803
+v -0.00730677 0.00516108 -0.03031395
+v -0.00782715 0.00393773 0.00699688
+v -0.00782715 0.00445282 -0.03025885
+f 1 2 3
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+f 1 6 2
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+f 6 18 13
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+f 7 16 10
+f 7 10 9
+f 10 16 11
+f 11 16 17
+f 12 19 16
+f 12 16 18
+f 13 18 15
+f 14 17 16
+f 14 16 19
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_119.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_119.obj
new file mode 100644
index 0000000000000000000000000000000000000000..487c2b0346b22c0ae70f5e1cdacdba7738c4140f
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_119.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00327515 0.00874634 0.00165119
+v -0.00472627 0.00874634 0.00165119
+v -0.00327515 0.00844266 0.00165119
+v -0.00327515 0.00874634 -0.01833146
+v -0.00472627 0.00844266 0.00165119
+v -0.00472627 0.00874634 -0.01833146
+v -0.00327515 0.00844266 -0.01833146
+v -0.00472627 0.00844266 -0.01833146
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+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_12.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a88dedaa167218e85d496cd4386f658dffada575
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_12.obj
@@ -0,0 +1,213 @@
+# https://github.com/mikedh/trimesh
+v -0.00621750 0.00983607 -0.01432341
+v -0.00622482 0.00983607 -0.01162786
+v -0.00553058 0.01025944 -0.01432341
+v 0.00622145 0.00983607 -0.01432341
+v -0.00623092 0.00983607 -0.00862224
+v -0.00553058 0.01025998 -0.01398389
+v -0.00478022 0.01065252 -0.01432341
+v 0.00553575 0.01027869 -0.01432341
+v 0.00622267 0.00983607 -0.01398389
+v -0.00623824 0.00983607 -0.00429975
+v -0.00552570 0.01026782 -0.00948674
+v -0.00552692 0.01026550 -0.01098611
+v -0.00552448 0.01026978 -0.00798834
+v -0.00552326 0.01027156 -0.00648994
+v -0.00552082 0.01027441 -0.00429975
+v -0.00478022 0.01065199 -0.01398389
+v -0.00375045 0.01103242 -0.00429975
+v -0.00375045 0.01103277 -0.00499056
+v -0.00375045 0.01103331 -0.00948674
+v -0.00375045 0.01103366 -0.01398389
+v -0.00375045 0.01103366 -0.01432341
+v 0.00536616 0.01036475 -0.01432341
+v 0.00553209 0.01027869 -0.01248451
+v 0.00622511 0.00983607 -0.00499056
+v 0.00622633 0.00983607 -0.00648994
+v 0.00622511 0.00983607 -0.00948674
+v 0.00622145 0.00983607 -0.00429975
+v -0.00477534 0.01064183 -0.00798834
+v -0.00477168 0.01063559 -0.00429975
+v -0.00225094 0.01145027 -0.00429975
+v -0.00225094 0.01145009 -0.00499056
+v -0.00225094 0.01144207 -0.01398389
+v -0.00225094 0.01144171 -0.01432341
+v 0.00478661 0.01065662 -0.01432341
+v 0.00551867 0.01027869 -0.00648994
+v 0.00589568 0.01003920 -0.00429975
+v 0.00551501 0.01027851 -0.00499056
+v 0.00551257 0.01027797 -0.00429975
+v -0.00144201 0.01155308 -0.00429975
+v -0.00075266 0.01164075 -0.00499056
+v -0.00075266 0.01164004 -0.00648994
+v -0.00075266 0.01163772 -0.00948674
+v -0.00075266 0.01163380 -0.01432341
+v -0.00191053 0.01148537 -0.01432341
+v 0.00477929 0.01065163 -0.01098611
+v 0.00398134 0.01095152 -0.01432341
+v 0.00374342 0.01103776 -0.00798834
+v 0.00374342 0.01103723 -0.00648994
+v 0.00374342 0.01103634 -0.00499056
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+v 0.00477197 0.01064664 -0.00798834
+v 0.00476465 0.01064147 -0.00499056
+v 0.00510750 0.01047362 -0.00429975
+v -0.00075266 0.01164039 -0.00429975
+v 0.00074563 0.01165625 -0.00429975
+v 0.00074563 0.01165590 -0.00499056
+v 0.00074563 0.01165411 -0.00648994
+v 0.00074563 0.01164699 -0.01098611
+v 0.00074563 0.01164164 -0.01432341
+v 0.00429491 0.01082251 -0.00429975
+v 0.00374342 0.01103741 -0.01432341
+v 0.00374342 0.01103759 -0.01398389
+v 0.00374342 0.01103794 -0.01098611
+v 0.00224514 0.01146452 -0.00429975
+v 0.00305284 0.01123377 -0.00429975
+v 0.00476221 0.01064023 -0.00429975
+v 0.00224514 0.01146238 -0.00648994
+v 0.00224514 0.01146399 -0.00499056
+v 0.00224514 0.01146007 -0.00798834
+v 0.00224514 0.01144938 -0.01432341
+v 0.00258433 0.01135618 -0.01432341
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+f 7 12 11
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_120.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_120.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec867d4f68208e35575b24981305ce4b0d67e837
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_120.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00368817 0.00310738 0.00972526
+v 0.00368817 -0.00127602 0.00972526
+v 0.00368817 0.00310738 0.00941181
+v -0.01099864 0.00310738 0.00972526
+v 0.00368817 -0.00127602 0.00941181
+v -0.01134625 -0.00127602 0.00972526
+v -0.01089362 0.00310738 0.00941181
+v -0.01112289 0.00224924 0.00941181
+v -0.01122348 0.00225954 0.00972526
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+v -0.01142317 0.00076980 0.00972526
+v -0.01132406 0.00018154 0.00941181
+v -0.01132406 0.00076980 0.00941181
+v -0.01131815 0.00156787 0.00972526
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+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
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+f 1 11 6
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+f 2 6 13
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+f 10 13 12
+f 11 16 17
+f 11 17 12
+f 14 18 16
+f 14 16 19
+f 14 19 15
+f 16 18 17
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_121.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_121.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6860508043866882595a7247959962d653de7f20
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_121.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.01122909 -0.00302299 -0.01098096
+v -0.01104432 -0.00372750 -0.01098096
+v -0.01122909 -0.00302299 -0.01028108
+v 0.01106886 -0.00302299 -0.01098096
+v -0.01103552 -0.00372750 -0.00498829
+v -0.01122469 -0.00302299 -0.00498829
+v -0.01122689 -0.00302299 -0.00728445
+v -0.01085295 -0.00424376 -0.01098096
+v -0.01084635 -0.00424556 -0.00499123
+v 0.01123823 -0.00302299 -0.01019132
+v 0.01123823 -0.00302563 -0.01098096
+v -0.01084635 -0.00424460 -0.00498829
+v 0.01113705 -0.00302299 -0.00498829
+v -0.01069237 -0.00424556 -0.01098096
+v -0.01085075 -0.00424556 -0.01022183
+v -0.01085075 -0.00424556 -0.00948675
+v 0.01076751 -0.00424556 -0.00498829
+v 0.01123823 -0.00302299 -0.00869242
+v 0.01105786 -0.00372965 -0.00498829
+v 0.01105786 -0.00373133 -0.01098096
+v 0.01123383 -0.00302467 -0.00498829
+v 0.01123383 -0.00302299 -0.00499123
+v 0.01085549 -0.00424556 -0.01098096
+v 0.01085549 -0.00424556 -0.00498829
+v 0.01123603 -0.00302299 -0.00569580
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+f 1 13 22
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+f 19 24 20
+f 19 25 21
+f 20 24 23
+f 21 25 22
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_122.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_122.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fefcd4882414a52d4a6999bdb8da646a21321e99
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_122.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.00310074 -0.00688565 0.00699688
+v 0.00119120 -0.00688565 0.00700055
+v 0.00310074 -0.00758429 0.00699688
+v 0.00310074 -0.00688565 -0.03051163
+v 0.00119120 -0.00758429 0.00700055
+v -0.00842193 -0.00688565 0.00700055
+v 0.00310074 -0.00758429 -0.03036465
+v 0.00310074 -0.00724844 -0.03047121
+v 0.00224466 -0.00758429 -0.03048958
+v 0.00074455 -0.00758429 -0.03051163
+v 0.00224466 -0.00688565 -0.03052266
+v -0.00785911 -0.00758429 0.00700055
+v -0.00842193 -0.00691396 0.00700055
+v -0.00842193 -0.00688565 -0.02904554
+v 0.00302630 -0.00758429 -0.03043814
+v 0.00310074 -0.00758169 -0.03043079
+v 0.00010503 -0.00758429 -0.03051531
+v 0.00074455 -0.00688565 -0.03053001
+v -0.00842193 -0.00753205 0.00550138
+v -0.00837230 -0.00758429 0.00550138
+v -0.00836554 -0.00688565 -0.02914475
+v -0.00801701 -0.00758429 -0.02882140
+v -0.00842193 -0.00755222 -0.02802037
+v -0.00139396 -0.00758429 -0.03051531
+v -0.00209326 -0.00688565 -0.03053735
+v -0.00059427 -0.00688565 -0.03053368
+v -0.00842193 -0.00758429 0.00525152
+v -0.00767187 -0.00688565 -0.02981349
+v -0.00745532 -0.00743323 -0.02969591
+v -0.00836441 -0.00758429 -0.02809019
+v -0.00736283 -0.00758429 -0.02960037
+v -0.00842193 -0.00758429 -0.02793586
+v -0.00359224 -0.00688565 -0.03052633
+v -0.00289181 -0.00758429 -0.03048958
+v -0.00655863 -0.00758429 -0.02996047
+v -0.00685753 -0.00688565 -0.03010010
+v -0.00706957 -0.00758429 -0.02977307
+v -0.00508897 -0.00688565 -0.03045652
+v -0.00438967 -0.00758429 -0.03040140
+v -0.00605108 -0.00758429 -0.03008173
+v -0.00446750 -0.00758429 -0.03039038
+v -0.00525816 -0.00758429 -0.03023973
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+f 3 24 17
+f 3 17 10
+f 3 10 9
+f 3 9 15
+f 3 15 7
+f 4 8 9
+f 4 9 10
+f 4 10 11
+f 6 14 23
+f 6 23 32
+f 6 32 27
+f 6 27 19
+f 6 19 13
+f 7 15 16
+f 8 16 15
+f 8 15 9
+f 10 17 11
+f 11 17 18
+f 12 13 19
+f 12 19 20
+f 14 21 22
+f 14 22 23
+f 17 24 25
+f 17 25 26
+f 17 26 18
+f 19 27 20
+f 21 28 29
+f 21 29 22
+f 22 30 23
+f 22 29 31
+f 23 30 32
+f 24 33 25
+f 24 34 33
+f 28 35 29
+f 28 36 35
+f 29 37 31
+f 29 35 37
+f 33 34 38
+f 34 39 38
+f 35 36 40
+f 36 38 40
+f 38 39 41
+f 38 41 42
+f 38 42 40
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_123.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_123.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08d7b8d0b8c75710f74dc62c1fc62e82809a6842
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_123.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00418425 0.00393773 0.00536867
+v 0.00418425 0.00393773 0.00621035
+v 0.00418425 0.00445281 0.00536867
+v 0.01063556 0.00393773 0.00536867
+v 0.00418425 0.00445281 0.00621035
+v 0.01042462 0.00393773 0.00621035
+v 0.01045051 0.00445281 0.00536867
+v 0.01051430 0.00428134 0.00536867
+v 0.01041515 0.00431567 0.00585728
+v 0.01060524 0.00393773 0.00553585
+v 0.01018400 0.00445281 0.00621035
+v 0.01036336 0.00415973 0.00621035
+v 0.01036210 0.00445281 0.00578395
+v 0.01046062 0.00443280 0.00536867
+v 0.01035073 0.00418116 0.00621035
+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 10
+f 1 10 6
+f 1 6 2
+f 2 6 12
+f 2 12 15
+f 2 15 11
+f 2 11 5
+f 3 5 11
+f 3 11 13
+f 3 13 7
+f 4 8 9
+f 4 9 10
+f 6 10 9
+f 6 9 12
+f 7 13 14
+f 8 14 9
+f 9 14 13
+f 9 13 15
+f 9 15 12
+f 11 15 13
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_124.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_124.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a309f8ac9659abc8d0e7cf601df65c41191db2bc
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_124.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00992049 -0.00528651 0.01702784
+v 0.00977496 -0.00528651 0.01726153
+v 0.00937654 -0.00639897 0.01702784
+v 0.00533215 -0.00528651 0.01702784
+v 0.00927907 -0.00528651 0.01763883
+v 0.00916228 -0.00672397 0.01702784
+v 0.00533215 -0.00981617 0.01702784
+v 0.00533215 -0.00528651 0.01763883
+v 0.00829896 -0.00670845 0.01763883
+v 0.00811345 -0.00792600 0.01702784
+v 0.00533215 -0.00981617 0.01705643
+v 0.00537123 -0.00981617 0.01702784
+v 0.00533215 -0.00929519 0.01763883
+v 0.00820554 -0.00681531 0.01763883
+v 0.00819071 -0.00683039 0.01763883
+v 0.00794681 -0.00809493 0.01702784
+v 0.00533215 -0.00961398 0.01738660
+v 0.00652876 -0.00929962 0.01702784
+v 0.00674167 -0.00915330 0.01702784
+v 0.00673089 -0.00829357 0.01763883
+v 0.00684408 -0.00819425 0.01763883
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 16
+f 1 16 19
+f 1 19 18
+f 1 18 12
+f 1 12 7
+f 1 7 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 11
+f 4 11 17
+f 4 17 13
+f 4 13 8
+f 5 9 6
+f 5 8 13
+f 5 13 20
+f 5 20 21
+f 5 21 15
+f 5 15 14
+f 5 14 9
+f 6 9 10
+f 7 12 11
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 11 12 18
+f 11 18 17
+f 13 17 18
+f 13 18 19
+f 13 19 20
+f 15 21 16
+f 16 21 19
+f 19 21 20
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_125.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_125.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eac0d4fa4b0a3171f5e13c050de1b5daf8f282b4
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_125.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v -0.00796018 -0.00874392 0.01264878
+v -0.00796018 0.00701529 0.01264878
+v -0.00796018 -0.00872366 0.01240434
+v -0.00771859 -0.00893354 0.01206504
+v -0.00761742 -0.00907530 0.01264878
+v -0.00693190 0.00701529 0.01264878
+v -0.00796018 0.00701529 0.01206504
+v -0.00796018 -0.00867948 0.01206504
+v -0.00759264 -0.00905321 0.01206504
+v -0.00744604 -0.00916183 0.01206504
+v -0.00700933 -0.00951531 0.01264878
+v -0.00693190 0.00701529 0.01206504
+v 0.00258690 0.00701345 0.01264878
+v -0.00693190 -0.00950242 0.01206504
+v -0.00693190 -0.00956686 0.01264878
+v 0.00258690 0.00701345 0.01206504
+v 0.00258690 -0.01151650 0.01264878
+v -0.00629077 -0.00992586 0.01206504
+v -0.00603061 -0.01016335 0.01264878
+v 0.00258690 -0.01146496 0.01206504
+v 0.00224414 -0.01160487 0.01264878
+v 0.00224414 -0.01155517 0.01206504
+v -0.00570127 -0.01031431 0.01206504
+v -0.00575392 -0.01034377 0.01264878
+v 0.00189519 -0.01164906 0.01264878
+v 0.00074405 -0.01179082 0.01264878
+v 0.00074405 -0.01173927 0.01206504
+v -0.00523462 -0.01055181 0.01206504
+v -0.00558151 -0.01043398 0.01264878
+v 0.00039510 -0.01179266 0.01264878
+v -0.00018718 -0.01174295 0.01206504
+v -0.00495174 -0.01069172 0.01206504
+v -0.00500646 -0.01071566 0.01264878
+v -0.00075294 -0.01178898 0.01264878
+v -0.00075294 -0.01174111 0.01206504
+v -0.00446444 -0.01088135 0.01206504
+v -0.00401638 -0.01110227 0.01264878
+v -0.00225096 -0.01159751 0.01264878
+v -0.00225096 -0.01155148 0.01206504
+v -0.00168727 -0.01162329 0.01206504
+v -0.00374899 -0.01115750 0.01206504
+v -0.00374899 -0.01120537 0.01264878
+f 1 2 7
+f 1 7 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 15
+f 1 15 19
+f 1 19 24
+f 1 24 29
+f 1 29 33
+f 1 33 37
+f 1 37 42
+f 1 42 38
+f 1 38 34
+f 1 34 30
+f 1 30 26
+f 1 26 25
+f 1 25 21
+f 1 21 17
+f 1 17 13
+f 1 13 6
+f 1 6 2
+f 2 6 12
+f 2 12 7
+f 3 8 4
+f 4 8 7
+f 4 7 12
+f 4 12 16
+f 4 16 20
+f 4 20 22
+f 4 22 27
+f 4 27 31
+f 4 31 35
+f 4 35 40
+f 4 40 39
+f 4 39 41
+f 4 41 36
+f 4 36 32
+f 4 32 28
+f 4 28 23
+f 4 23 18
+f 4 18 14
+f 4 14 10
+f 4 10 9
+f 4 9 5
+f 5 9 10
+f 5 10 11
+f 6 13 16
+f 6 16 12
+f 10 14 15
+f 10 15 11
+f 13 17 20
+f 13 20 16
+f 14 18 19
+f 14 19 15
+f 17 21 22
+f 17 22 20
+f 18 23 19
+f 19 23 24
+f 21 25 22
+f 22 25 26
+f 22 26 27
+f 23 28 29
+f 23 29 24
+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 32 36 37
+f 32 37 33
+f 34 38 39
+f 34 39 40
+f 34 40 35
+f 36 41 37
+f 37 41 42
+f 38 42 39
+f 39 42 41
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_127.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_127.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1eb7b703e49c09cd936265c11d2dda213132e37
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_127.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.01044453 0.00516127 0.00268961
+v -0.01040362 0.00516127 0.00319050
+v -0.01029558 0.00545217 0.00268961
+v -0.00574800 0.00516127 0.00268961
+v -0.01033558 0.00516127 0.00400408
+v -0.01019261 0.00543792 0.00400408
+v -0.01024777 0.00554453 0.00268961
+v -0.00574800 0.00561617 0.00268961
+v -0.00574800 0.00516127 0.00700055
+v -0.01029328 0.00516127 0.00426992
+v -0.01010296 0.00516127 0.00530757
+v -0.01003676 0.00561617 0.00426739
+v -0.01008089 0.00561617 0.00400408
+v -0.01020318 0.00561617 0.00268961
+v -0.00574800 0.00561617 0.00700055
+v -0.00960508 0.00516127 0.00700055
+v -0.01008227 0.00516127 0.00541349
+v -0.00980828 0.00561617 0.00544514
+v -0.00935545 0.00561617 0.00700055
+v -0.00954026 0.00529859 0.00700055
+v -0.00966300 0.00516127 0.00683978
+v -0.01007675 0.00516127 0.00543670
+v -0.00968415 0.00561617 0.00594180
+v -0.00938579 0.00561617 0.00694738
+v -0.00942487 0.00551349 0.00700055
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 16
+f 1 16 21
+f 1 21 22
+f 1 22 17
+f 1 17 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 15
+f 4 15 9
+f 5 10 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 7
+f 6 10 11
+f 8 14 13
+f 8 13 12
+f 8 12 18
+f 8 18 23
+f 8 23 24
+f 8 24 19
+f 8 19 15
+f 9 15 19
+f 9 19 25
+f 9 25 20
+f 9 20 16
+f 11 17 18
+f 11 18 12
+f 16 20 21
+f 17 22 18
+f 18 22 23
+f 19 24 25
+f 20 25 21
+f 21 25 24
+f 21 24 23
+f 21 23 22
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_128.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_128.obj
new file mode 100644
index 0000000000000000000000000000000000000000..330a9da85ac726ceea3616ff8395852e3dbb5956
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_128.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00071954 0.00983580 -0.00111242
+v -0.00241607 0.00983580 -0.00111242
+v 0.00071954 0.00935727 -0.00111242
+v 0.00071954 0.00983580 -0.03002303
+v -0.00241607 0.00935727 -0.00111242
+v -0.00241607 0.00983580 -0.02983815
+v 0.00071954 0.00935727 -0.03016810
+v 0.00071954 0.00981575 -0.03003157
+v 0.00060720 0.00983580 -0.03002588
+v -0.00241607 0.00935727 -0.03007139
+v -0.00225125 0.00983580 -0.02989504
+v -0.00241607 0.00957763 -0.03003725
+v 0.00064925 0.00935727 -0.03017094
+v -0.00061592 0.00983580 -0.03002588
+v -0.00241607 0.00935830 -0.03010552
+v -0.00225125 0.00935727 -0.03012259
+v -0.00091610 0.00983580 -0.03002019
+v -0.00225125 0.00960358 -0.03004863
+v -0.00065766 0.00935727 -0.03017094
+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 17
+f 1 17 11
+f 1 11 6
+f 1 6 2
+f 2 6 12
+f 2 12 15
+f 2 15 10
+f 2 10 5
+f 3 5 10
+f 3 10 16
+f 3 16 19
+f 3 19 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 7 13 8
+f 8 13 9
+f 9 13 19
+f 9 19 14
+f 10 15 16
+f 11 17 18
+f 11 18 12
+f 12 18 15
+f 14 19 17
+f 15 18 16
+f 16 18 17
+f 16 17 19
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_129.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_129.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9342ae08acbaa5ec32664f378b2d20dacd66828c
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_129.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v -0.00951006 0.00516115 0.00700055
+v -0.00960559 0.00516115 0.00700055
+v -0.00951006 0.00393785 0.00700055
+v -0.00951006 0.00516115 -0.02724901
+v -0.00966310 0.00516115 0.00683963
+v -0.01041920 0.00431488 0.00585063
+v -0.01018523 0.00393785 0.00700055
+v -0.00951006 0.00393785 -0.02724901
+v -0.01026226 0.00516115 -0.02724901
+v -0.01003581 0.00516115 0.00557572
+v -0.01065433 0.00393785 0.00530416
+v -0.01061343 0.00393785 0.00552878
+v -0.01051039 0.00393785 0.00600820
+v -0.01048799 0.00393785 0.00611213
+v -0.01029015 0.00393785 0.00670553
+v -0.01009607 0.00513911 0.00541144
+v -0.01051429 0.00455441 0.00485157
+v -0.01078988 0.00393785 -0.02724901
+v -0.01054768 0.00461980 -0.02724901
+v -0.01058149 0.00468699 -0.02597505
+v -0.01027382 0.00516115 -0.02703445
+v -0.01007699 0.00516115 0.00543491
+v -0.01083468 0.00393785 0.00418441
+v -0.01008277 0.00516115 0.00541144
+v -0.01010330 0.00516115 0.00530752
+v -0.01029362 0.00516115 0.00426823
+v -0.01033567 0.00516115 0.00400338
+v -0.01057947 0.00468843 0.00400338
+v -0.01085954 0.00393785 0.00400338
+v -0.01086864 0.00393785 -0.02597505
+v -0.01033004 0.00516115 -0.02597505
+v -0.01093743 0.00393785 -0.02447646
+v -0.01061459 0.00474987 -0.02447646
+v -0.01040388 0.00516115 0.00318871
+v -0.01045952 0.00516115 0.00250479
+v -0.01063901 0.00480999 0.00250479
+v -0.01097660 0.00393785 0.00250479
+v -0.01095694 0.00393785 0.00277970
+v -0.01035663 0.00516115 -0.02537494
+v -0.01094553 0.00393785 -0.02422837
+v -0.01064248 0.00480317 -0.02297787
+v -0.01039319 0.00516115 -0.02447646
+v -0.01046473 0.00516115 0.00100285
+v -0.01064248 0.00481634 0.00100285
+v -0.01098642 0.00393785 0.00100285
+v -0.01098541 0.00393785 0.00124759
+v -0.01098556 0.00393785 -0.02297787
+v -0.01044623 0.00516115 -0.02297787
+v -0.01042065 0.00516115 -0.02374896
+v -0.01064248 0.00481490 -0.01398301
+v -0.01046198 0.00516115 -0.01248442
+v -0.01046039 0.00516115 -0.01398301
+v -0.01045577 0.00516115 -0.01698018
+v -0.01046487 0.00516115 0.00031558
+v -0.01064248 0.00481634 -0.01098583
+v -0.01098642 0.00393785 -0.01223968
+v -0.01098628 0.00393785 -0.01523686
+v -0.01064248 0.00481610 -0.01248442
+v -0.01046270 0.00516115 -0.01098583
+v -0.01046487 0.00516115 -0.00199432
+v -0.01046473 0.00516115 -0.00349290
+v -0.01046314 0.00516115 -0.00949060
+f 1 2 7
+f 1 7 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 21
+f 1 21 31
+f 1 31 39
+f 1 39 42
+f 1 42 49
+f 1 49 48
+f 1 48 53
+f 1 53 52
+f 1 52 51
+f 1 51 59
+f 1 59 62
+f 1 62 61
+f 1 61 60
+f 1 60 54
+f 1 54 43
+f 1 43 35
+f 1 35 34
+f 1 34 27
+f 1 27 26
+f 1 26 25
+f 1 25 24
+f 1 24 22
+f 1 22 10
+f 1 10 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 15
+f 3 15 14
+f 3 14 13
+f 3 13 12
+f 3 12 11
+f 3 11 23
+f 3 23 29
+f 3 29 38
+f 3 38 37
+f 3 37 46
+f 3 46 45
+f 3 45 56
+f 3 56 57
+f 3 57 47
+f 3 47 40
+f 3 40 32
+f 3 32 30
+f 3 30 18
+f 3 18 8
+f 4 8 18
+f 4 18 19
+f 4 19 9
+f 5 10 6
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 6 10 16
+f 6 16 17
+f 6 17 11
+f 9 19 20
+f 9 20 21
+f 10 22 16
+f 11 17 23
+f 16 22 24
+f 16 24 25
+f 16 25 17
+f 17 26 27
+f 17 27 28
+f 17 28 29
+f 17 29 23
+f 17 25 26
+f 18 30 19
+f 19 30 20
+f 20 31 21
+f 20 30 32
+f 20 32 33
+f 20 33 31
+f 27 34 28
+f 28 34 35
+f 28 35 36
+f 28 36 37
+f 28 37 38
+f 28 38 29
+f 31 33 39
+f 32 40 41
+f 32 41 33
+f 33 42 39
+f 33 41 42
+f 35 43 44
+f 35 44 36
+f 36 44 45
+f 36 45 46
+f 36 46 37
+f 40 47 41
+f 41 48 49
+f 41 49 42
+f 41 47 50
+f 41 50 51
+f 41 51 52
+f 41 52 53
+f 41 53 48
+f 43 54 44
+f 44 54 60
+f 44 60 55
+f 44 55 56
+f 44 56 45
+f 47 57 58
+f 47 58 50
+f 50 58 59
+f 50 59 51
+f 55 58 57
+f 55 57 56
+f 55 60 58
+f 58 60 61
+f 58 61 62
+f 58 62 59
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_130.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_130.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78d4d33cf27dcae3bc0c078a8049e3f08f98a59f
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_130.obj
@@ -0,0 +1,309 @@
+# https://github.com/mikedh/trimesh
+v -0.01150141 -0.00170008 -0.01412100
+v -0.01143381 -0.00222856 -0.01412100
+v -0.01150366 -0.00170008 -0.01333128
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_131.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_131.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4721340b41080f42eb1600e471c502e2fa92803d
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_131.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.00666239 0.00874640 -0.02559351
+v -0.00666239 0.00874640 -0.01439194
+v -0.00666239 0.00935727 -0.02559351
+v 0.00753651 0.00874640 -0.02559351
+v -0.00666239 0.00935727 -0.01439194
+v 0.00768115 0.00874640 -0.01439194
+v 0.00675852 0.00935727 -0.02559351
+v 0.00743961 0.00883806 -0.02559351
+v 0.00758987 0.00874640 -0.02447730
+v 0.00692844 0.00935727 -0.01439194
+v 0.00768396 0.00874640 -0.01444237
+v 0.00765587 0.00877133 -0.01439194
+v 0.00683014 0.00935727 -0.02447730
+v 0.00736378 0.00890958 -0.02559351
+v 0.00739186 0.00893140 -0.02447730
+v 0.00742697 0.00895718 -0.02297732
+v 0.00762638 0.00874640 -0.02359134
+v 0.00692704 0.00935727 -0.01501802
+v 0.00744663 0.00897494 -0.01439194
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+v 0.00690176 0.00935727 -0.02297732
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+v 0.00691861 0.00935727 -0.01802236
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_132.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_132.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a11902c5b1c745a4a7c75cb563c7db8d341b6a0d
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_132.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00059227 -0.00950308 0.00700055
+v -0.00059227 -0.00983238 0.00700055
+v -0.00059227 -0.00950308 -0.02102317
+v -0.00448622 -0.00950308 0.00700055
+v -0.00448622 -0.00983238 0.00700055
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+v -0.00448622 -0.00950308 -0.02102317
+v -0.00448622 -0.00983238 -0.02102317
+f 1 2 6
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+f 1 4 5
+f 1 5 2
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+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_133.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_133.obj
new file mode 100644
index 0000000000000000000000000000000000000000..647142858a01fc5f0b8dfacace1e3b25db22f6d4
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_133.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.00339348 -0.00357800 0.01794145
+v 0.00976050 -0.00357800 0.01794145
+v 0.00339348 -0.00357800 0.01832390
+v 0.00339348 0.00422233 0.01794145
+v 0.01011555 -0.00222806 0.01794145
+v 0.00995398 -0.00222806 0.01832390
+v 0.00957167 -0.00357800 0.01832390
+v 0.00339348 0.00422233 0.01832390
+v 0.00934560 0.00422233 0.01794145
+v 0.01018603 -0.00072923 0.01794145
+v 0.01003310 -0.00072923 0.01832390
+v 0.00908031 0.00422233 0.01832390
+v 0.00962951 0.00387874 0.01794145
+v 0.00935026 0.00400320 0.01832390
+v 0.01018071 0.00076884 0.01794145
+v 0.01003111 0.00023207 0.01832390
+v 0.00949919 0.00368327 0.01832390
+v 0.00966409 0.00380391 0.01794145
+v 0.01002513 0.00076884 0.01832390
+v 0.01010225 0.00222186 0.01794145
+v 0.00997858 0.00169425 0.01832390
+v 0.00952513 0.00360768 0.01832390
+v 0.00970531 0.00368480 0.01794145
+v 0.01009760 0.00226843 0.01794145
+v 0.00992539 0.00226843 0.01832390
+v 0.00967473 0.00317017 0.01832390
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+f 23 25 24
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_134.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_134.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c7cd536012679df2e3e3ad67a2c1f54c32313fd
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_134.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.00134144 -0.01174904 0.01400311
+v -0.00134144 -0.01174904 0.01408469
+v -0.00134144 -0.01174566 0.01358206
+v -0.00075270 -0.01182000 0.01358206
+v -0.00075270 -0.01182338 0.01408469
+v -0.00134144 0.00543316 0.01408469
+v -0.00134144 0.00543316 0.01358206
+v 0.00074695 -0.01182338 0.01358206
+v 0.00074695 -0.01182338 0.01408469
+v 0.00643938 0.00543316 0.01408469
+v 0.00643938 0.00543316 0.01358206
+v 0.00133036 -0.01175242 0.01358206
+v 0.00157027 -0.01172539 0.01408469
+v 0.00643938 -0.00993959 0.01408469
+v 0.00643938 -0.00993621 0.01358206
+v 0.00224584 -0.01163923 0.01358206
+v 0.00224584 -0.01164261 0.01408469
+v 0.00183304 -0.01169329 0.01408469
+v 0.00579199 -0.01036534 0.01408469
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+v 0.00578971 -0.01036365 0.01358206
+v 0.00374397 -0.01124895 0.01358206
+v 0.00374397 -0.01125402 0.01408469
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_136.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_136.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4b51441d58ad133b3f70858d3c6aff8ab67092a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_136.obj
@@ -0,0 +1,219 @@
+# https://github.com/mikedh/trimesh
+v 0.01150788 0.00246868 0.01206504
+v 0.01156082 0.00226733 0.01206504
+v 0.01147335 0.00246868 0.01164798
+v -0.01151468 0.00246868 0.01206504
+v 0.01165521 0.00152929 0.01206504
+v 0.01151248 0.00226733 0.01149908
+v 0.01145953 0.00246868 0.01149908
+v -0.01148476 0.00246868 0.01169931
+v -0.01151929 0.00226733 0.01149908
+v -0.01156533 0.00226733 0.01206504
+v 0.01174959 0.00076827 0.01206504
+v 0.01170125 0.00076827 0.01149908
+v 0.01149867 0.00226733 0.01139522
+v 0.01144572 0.00246868 0.01139522
+v -0.01146634 0.00246868 0.01149908
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+v -0.01171266 0.00076827 0.01149908
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_137.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_137.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9297964dc1a06b16a9c05b52a53b6bbfa0b8b79
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_137.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.00225103 -0.00515995 -0.03054342
+v -0.00225103 -0.00601566 -0.03054241
+v -0.00296086 -0.00601566 -0.03054164
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+v -0.00375054 -0.00515995 -0.03054164
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+v 0.00224422 -0.00601566 -0.03053733
+v -0.00446037 -0.00601566 -0.03053606
+v -0.00524895 -0.00522671 -0.03053783
+v -0.00524895 -0.00515995 -0.03053758
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+v 0.00447762 -0.00522671 -0.03053453
+v 0.00374373 -0.00522671 -0.03053707
+v 0.00374373 -0.00601566 -0.03053377
+v -0.00524895 -0.00601566 -0.03050152
+v -0.00531567 -0.00515995 -0.03053733
+v -0.00669596 -0.00525452 -0.03047002
+v -0.00669596 -0.00522671 -0.03047129
+v -0.00669596 -0.00516238 -0.03047383
+v 0.00447762 -0.00515995 -0.02794911
+v 0.00447762 -0.00601566 -0.03050101
+v -0.00595879 -0.00601566 -0.03046876
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+v -0.00669596 -0.00527956 -0.03046876
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+v -0.00669596 -0.00515995 -0.02794911
+v -0.00669596 -0.00601566 -0.03031815
+v -0.00669596 -0.00601566 -0.02794911
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_138.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_138.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cb51eab876d13ef595ed36b45adb484775ffbe5
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_138.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.00566868 -0.00412487 0.02392842
+v -0.00566868 -0.00412487 0.02957958
+v -0.00566868 -0.00337719 0.02392842
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+v -0.00566868 -0.00337719 0.02957958
+v 0.00836131 -0.00412487 0.02957958
+v 0.00918113 -0.00337719 0.02392842
+v 0.00897036 -0.00399912 0.02392842
+v 0.00892676 -0.00412487 0.02517526
+v 0.00872616 -0.00337719 0.02957958
+v 0.00841945 -0.00412487 0.02943520
+v 0.00866511 -0.00363249 0.02943908
+v 0.00852411 -0.00380025 0.02957958
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_139.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_139.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0a6d96930ad448d80dffe39c27a904b893a2a7a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_139.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.01156074 -0.00127233 -0.01848267
+v 0.01151310 -0.00170004 -0.01848267
+v 0.01151268 -0.00170004 -0.01998111
+v 0.01151101 -0.00170004 -0.02297799
+v 0.01155823 -0.00127233 -0.02147955
+v 0.01156032 -0.00127233 -0.01698267
+v 0.01151227 -0.00170004 -0.01698267
+v 0.01149931 -0.00170004 -0.02350621
+v 0.01155656 -0.00127233 -0.02297799
+v 0.01155948 -0.00127233 -0.01548423
+v 0.01155865 -0.00127233 -0.01450146
+v 0.01153608 -0.00146950 -0.01450146
+v 0.01151059 -0.00170004 -0.01548423
+v 0.01153525 -0.00127233 -0.02393411
+v 0.01147466 -0.00170004 -0.02447643
+v 0.00729223 -0.00127233 -0.01450146
+v 0.01150934 -0.00170004 -0.01450146
+v 0.01152146 -0.00127233 -0.02447643
+v 0.01144875 -0.00170004 -0.02500465
+v 0.01147466 -0.00127233 -0.02543255
+v 0.00729223 -0.00170004 -0.01450146
+v 0.00729223 -0.00127233 -0.03050624
+v 0.01136768 -0.00170004 -0.02650465
+v 0.01139777 -0.00127233 -0.02693255
+v 0.00729223 -0.00170004 -0.03051094
+v 0.00757680 -0.00127233 -0.03050467
+v 0.00729223 -0.00127534 -0.03051251
+v 0.01131044 -0.00170004 -0.02747488
+v 0.01136601 -0.00127233 -0.02747488
+v 0.00824162 -0.00127233 -0.03048586
+v 0.00824162 -0.00170004 -0.03047332
+v 0.01085078 -0.00170004 -0.02891062
+v 0.01085454 -0.00127233 -0.02898899
+v 0.00975555 -0.00127233 -0.03003445
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_14.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9e4295968fb5b9a4db6bf69e2904dd94e941630
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_14.obj
@@ -0,0 +1,222 @@
+# https://github.com/mikedh/trimesh
+v -0.00075080 0.01104246 0.00843128
+v 0.00074402 0.01103844 0.00843128
+v -0.00075080 0.01098495 0.00774249
+v -0.00219162 0.01076695 0.00774249
+v -0.00219162 0.01082044 0.00843128
+v 0.00081098 0.01102908 0.00843128
+v 0.00074402 0.01097960 0.00774249
+v -0.00320905 0.01055563 0.00843128
+v -0.00375556 0.01025471 0.00774249
+v -0.00374908 0.01038578 0.00843128
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+v 0.00218267 0.01081911 0.00843128
+v -0.00447921 0.01001531 0.00774249
+v -0.00393701 0.01032025 0.00843128
+v 0.00218483 0.01076294 0.00774249
+v 0.00374230 0.01038846 0.00843128
+v -0.00524390 0.00974382 0.00843128
+v -0.00515533 0.00978662 0.00843128
+v -0.00529790 0.00961810 0.00774249
+v 0.00374662 0.01025471 0.00774249
+v 0.00523496 0.00974515 0.00843128
+v 0.00529112 0.00961810 0.00774249
+v -0.00619004 0.00914732 0.00843128
+v -0.00677328 0.00860567 0.00774249
+v 0.00678594 0.00869394 0.00843128
+v 0.00677082 0.00860968 0.00774249
+v -0.00678624 0.00868725 0.00843128
+v -0.00777343 0.00779251 0.00774249
+v 0.00782065 0.00784200 0.00843128
+v 0.00777528 0.00779920 0.00774249
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+v -0.00781663 0.00783264 0.00843128
+v -0.00858564 0.00679479 0.00774249
+v -0.00866557 0.00681218 0.00843128
+v 0.00867606 0.00680951 0.00843128
+v 0.00820515 0.00727225 0.00774249
+v -0.00960091 0.00531293 0.00774249
+v -0.00912784 0.00620766 0.00843128
+v 0.00858750 0.00679613 0.00774249
+v 0.00972373 0.00526745 0.00843128
+v 0.00960061 0.00531961 0.00774249
+v -0.01000054 0.00449442 0.00774249
+v -0.00972620 0.00525943 0.00843128
+v 0.01037826 0.00376820 0.00843128
+v 0.01023785 0.00377890 0.00774249
+v -0.01036992 0.00376820 0.00843128
+v -0.01030296 0.00396079 0.00843128
+v -0.00976940 0.00516982 0.00843128
+v -0.01075659 0.00221812 0.00774249
+v 0.01074980 0.00221946 0.00774249
+v 0.01080596 0.00221812 0.00843128
+v 0.01080596 0.00221946 0.00843115
+v -0.01054273 0.00323992 0.00843128
+v -0.01097260 0.00077103 0.00774249
+v -0.01103308 0.00077103 0.00843128
+v -0.01080627 0.00221812 0.00843128
+v 0.01085997 0.00151999 0.00774249
+v 0.01102198 0.00083924 0.00843128
+v -0.01097260 -0.00072823 0.00774249
+v -0.01103092 -0.00072823 0.00843128
+v 0.01097230 0.00077103 0.00774249
+v 0.01103062 0.00077103 0.00843128
+v -0.01086459 -0.00146916 0.00774249
+v -0.01081059 -0.00216730 0.00843128
+v 0.01103494 -0.00065868 0.00843128
+v 0.01097230 -0.00072823 0.00774249
+v -0.01075659 -0.00216730 0.00774249
+v -0.01068530 -0.00262068 0.00843128
+v 0.01103278 -0.00072823 0.00843128
+v 0.01075412 -0.00218602 0.00774249
+v -0.01042176 -0.00262068 0.00774249
+v 0.01069796 -0.00262068 0.00843128
+v 0.01080813 -0.00219137 0.00843128
+v 0.01049923 -0.00255782 0.00774249
+v 0.01044738 -0.00262068 0.00774249
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_140.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_140.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff37738f4ddcc0c6f2137603151185cf61ed45f3
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_140.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.00264116 -0.01058009 0.00700055
+v 0.00374713 -0.01025653 0.00700055
+v 0.00375894 -0.01022542 0.00774229
+v 0.00264116 -0.01043906 0.00774229
+v 0.00264116 0.01060897 0.00700055
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+v 0.00264116 0.01043682 0.00774229
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+v 0.00590350 -0.00915104 0.00700055
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_141.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_141.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2edf121b811507a983d5cb659b2b43f648fd0249
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_141.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.01112229 -0.00074630 -0.02834165
+v 0.01112229 -0.00069216 -0.02836106
+v 0.01143401 -0.00074630 -0.02747460
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+v 0.01158076 -0.00072950 -0.02447710
+v 0.01157895 -0.00074630 -0.02447710
+v 0.01162200 -0.00072950 -0.01184007
+v 0.01161985 -0.00074630 -0.01398507
+v 0.01112229 0.00000314 -0.02835298
+v 0.01162132 0.00000314 -0.01184007
+v 0.01154266 0.00000314 -0.02520990
+v 0.01157230 0.00000314 -0.02447710
+v 0.01158957 0.00000314 -0.02371034
+v 0.01161452 -0.00072950 -0.02297755
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+v 0.01157939 -0.00074630 -0.02445931
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+v 0.01162117 0.00000314 -0.01321831
+v 0.01160606 0.00000314 -0.02297755
+v 0.01161295 0.00000314 -0.01998167
+v 0.01161608 0.00000314 -0.01848212
+v 0.01161863 0.00000314 -0.01698256
+v 0.01161692 -0.00072950 -0.02147799
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+f 35 37 36
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_142.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_142.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04ba8d69f7a6afaa0280948a04f83b87cce6b75d
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_142.obj
@@ -0,0 +1,345 @@
+# https://github.com/mikedh/trimesh
+v -0.01185084 0.00076675 0.01449701
+v -0.01183936 0.00076675 0.01465438
+v -0.01181911 0.00092504 0.01465438
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+v -0.01184746 0.00076675 0.01408469
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+v -0.01183734 -0.00057136 0.01465438
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+v -0.01164425 0.00226526 0.01465438
+v -0.01160374 0.00242566 0.01465438
+v -0.01126009 0.00376588 0.01449701
+v -0.01136609 0.00335432 0.01408469
+v -0.01184409 -0.00072754 0.01408469
+v -0.01182788 -0.00079930 0.01465438
+v -0.01183666 -0.00072754 0.01465438
+v -0.01179345 -0.00113911 0.01408469
+v -0.01165572 -0.00222606 0.01408469
+v -0.01165843 -0.00222606 0.01449701
+v -0.01126820 0.00369412 0.01465438
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+v -0.00503533 -0.01072747 0.01465438
+v -0.00495431 -0.01076757 0.01450805
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+f 109 114 110
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+f 111 115 114
+f 111 114 116
+f 112 116 114
+f 112 114 113
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_144.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_144.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d952c792c64b72561f8058409bda38fa076a36af
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_144.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.00747955 0.00600293 0.00414609
+v -0.00353475 0.00600293 0.00414609
+v 0.00747955 0.00561617 0.00414609
+v 0.00747955 0.00600293 -0.03011902
+v -0.00353475 0.00561617 0.00414609
+v -0.00353583 0.00600293 -0.02326940
+v -0.00353690 0.00600289 -0.00100557
+v 0.00747955 0.00561617 -0.03019713
+v 0.00679587 0.00600293 -0.03029561
+v -0.00353690 0.00561617 -0.00100557
+v -0.00353583 0.00600293 -0.03053672
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_145.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_145.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33ff6848a08257717005d7961ed392658645755a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_145.obj
@@ -0,0 +1,219 @@
+# https://github.com/mikedh/trimesh
+v 0.00990278 0.00527922 0.01702784
+v 0.00977832 0.00527922 0.01723095
+v 0.01023901 0.00495757 0.01702784
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+v 0.00921938 0.00527922 0.01763877
+v 0.01043988 0.00458214 0.01702784
+v -0.01017759 0.00500721 0.01702784
+v -0.00979114 0.00527922 0.01717293
+v -0.00908373 0.00527922 0.01763877
+v 0.00988313 0.00401332 0.01763877
+v 0.01075647 0.00376613 0.01702784
+v -0.01075618 0.00376613 0.01702784
+v -0.00989812 0.00376613 0.01763877
+v -0.00981734 0.00392851 0.01763877
+v -0.00973437 0.00408985 0.01763877
+v -0.00909683 0.00525957 0.01763877
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+v 0.01030888 0.00272259 0.01763877
+v 0.01031325 0.00270605 0.01763877
+v 0.01077175 0.00370408 0.01702784
+v -0.01041121 0.00226650 0.01763877
+v -0.01077802 0.00368443 0.01702784
+v 0.01041368 0.00226650 0.01763877
+v 0.01095297 0.00226650 0.01715834
+v 0.01101847 0.00226650 0.01702784
+v -0.01095924 0.00226650 0.01715667
+v -0.01105530 0.00076789 0.01719548
+v -0.01046361 0.00170284 0.01763877
+v -0.01102474 0.00226650 0.01702784
+v 0.01053377 0.00076789 0.01763877
+v 0.01105122 0.00076789 0.01719919
+v 0.01114948 0.00076789 0.01702784
+v -0.01104657 0.00210102 0.01702784
+v -0.01114919 0.00076789 0.01702784
+v -0.01114919 -0.00072864 0.01702784
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+v -0.01054221 -0.00072864 0.01763877
+v -0.01053130 0.00076789 0.01763877
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+v -0.01095924 -0.00222828 0.01715679
+v -0.01041776 -0.00222828 0.01763877
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+v 0.01095952 -0.00222828 0.01716390
+v 0.01115166 -0.00072864 0.01702784
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+v -0.01076273 -0.00372688 0.01702784
+v -0.01005969 -0.00372688 0.01763877
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_146.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_146.obj
new file mode 100644
index 0000000000000000000000000000000000000000..191bfde44eaf3fd94ea70b9c461ab2e21c9bdb63
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_146.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.00497571 0.00096995 -0.00837313
+v -0.01086916 0.00096995 -0.00837313
+v 0.00497571 -0.00074630 -0.00837313
+v 0.00497571 0.00096995 -0.03054258
+v -0.01086916 -0.00074630 -0.00837313
+v -0.01086916 0.00096995 -0.02897564
+v 0.00497571 -0.00074630 -0.02937931
+v 0.00497571 -0.00074328 -0.03054258
+v -0.00225344 0.00096995 -0.03054258
+v -0.01086916 -0.00074630 -0.02830719
+v -0.01084745 0.00096995 -0.02903858
+v -0.01086916 0.00064505 -0.02905594
+v 0.00376749 -0.00074630 -0.03054258
+v -0.00399829 0.00096995 -0.03054041
+v -0.00225344 0.00076920 -0.03054258
+v -0.01086916 -0.00074580 -0.02903424
+v -0.01085055 -0.00074630 -0.02907547
+v -0.01078696 0.00096995 -0.02914926
+v -0.01082108 0.00067310 -0.02914926
+v -0.01085055 0.00064135 -0.02910151
+v -0.01086916 -0.00056772 -0.02906245
+v -0.00223793 -0.00074630 -0.03054258
+v -0.00674509 0.00076920 -0.03053607
+v -0.00674509 0.00096995 -0.03053607
+v -0.01086916 -0.00060401 -0.02906245
+v -0.01085055 -0.00060082 -0.02910151
+v -0.01082263 -0.00063324 -0.02914926
+v -0.01071251 -0.00074630 -0.02930769
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+f 38 42 41
+f 38 41 39
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_148.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_148.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5589ffeae92d699b181bc6a3e9d5ff2dd76bd351
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_148.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.00730787 -0.00424568 -0.00868369
+v -0.00338583 -0.00424568 -0.00868155
+v 0.00730787 -0.00466712 -0.00868369
+v 0.00730787 -0.00424568 -0.03032780
+v -0.00338583 -0.00466712 -0.00868155
+v -0.00528374 -0.00424568 -0.00868155
+v 0.00730787 -0.00466712 -0.03033850
+v 0.00730787 -0.00424704 -0.03036204
+v 0.00730493 -0.00424568 -0.03036417
+v -0.00528374 -0.00466712 -0.00868155
+v -0.00767592 -0.00424568 -0.00868369
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+v 0.00673879 -0.00424568 -0.03049900
+v -0.00767592 -0.00466712 -0.00868369
+v -0.00767592 -0.00424568 -0.03039628
+v 0.00524129 -0.00466712 -0.03052682
+v 0.00524129 -0.00424568 -0.03053324
+v -0.00767592 -0.00466712 -0.03032780
+v -0.00767592 -0.00429576 -0.03039628
+v -0.00674750 -0.00424568 -0.03050542
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+v -0.00674750 -0.00466712 -0.03048830
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+v -0.00528374 -0.00424568 -0.03053538
+v -0.00528374 -0.00466712 -0.03053538
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+f 28 31 29
+f 29 31 30
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_15.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eda9281600a9fbfed48306e1f9d844a8dadfaa0
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_15.obj
@@ -0,0 +1,297 @@
+# https://github.com/mikedh/trimesh
+v -0.00181746 0.00812128 0.00700055
+v -0.00181746 0.00690556 0.00700055
+v -0.00181746 0.00812175 0.00694543
+v -0.00696984 0.00812175 0.00700055
+v -0.00697578 0.00690544 0.00700055
+v -0.00869720 0.00690532 0.00631341
+v -0.00181746 0.00690556 -0.03053865
+v -0.00181746 0.00812175 -0.03047251
+v -0.00729261 0.00812175 0.00700055
+v -0.00844418 0.00690544 0.00700055
+v -0.00869720 0.00708857 0.00589451
+v -0.00887008 0.00690532 0.00584307
+v -0.00869720 0.00690532 -0.02844416
+v -0.00697578 0.00690544 -0.03001687
+v -0.00375257 0.00690556 -0.03051660
+v -0.00225301 0.00812175 -0.03046883
+v -0.00773187 0.00774811 0.00700055
+v -0.00753227 0.00812175 0.00644937
+v -0.00874617 0.00720205 0.00550133
+v -0.00896728 0.00690532 0.00550133
+v -0.00916539 0.00690532 -0.02747408
+v -0.00837146 0.00690544 -0.02912395
+v -0.00835885 0.00690544 -0.02913865
+v -0.00697578 0.00690580 -0.03002421
+v -0.00688674 0.00690556 -0.03007566
+v -0.00685261 0.00690556 -0.03009403
+v -0.00659811 0.00690556 -0.03014915
+v -0.00602826 0.00690556 -0.03026306
+v -0.00525065 0.00690556 -0.03041739
+v -0.00375257 0.00812175 -0.03036962
+v -0.00788323 0.00812175 0.00549766
+v -0.00799602 0.00801625 0.00549766
+v -0.00869720 0.00725515 0.00550133
+v -0.00869720 0.00751651 0.00432180
+v -0.00888640 0.00738208 0.00399844
+v -0.00910084 0.00690532 0.00477010
+v -0.00926185 0.00690532 -0.02597119
+v -0.00896431 0.00747353 -0.02447564
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+v -0.00884782 0.00733910 -0.02747408
+v -0.00787359 0.00789016 -0.02868300
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+v -0.00832398 0.00812175 0.00249923
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_150.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_150.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aeda8b619df1dc2f41c4b4103bb73b276164e5a1
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_150.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
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+v 0.01162079 0.00000321 -0.01398534
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_151.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_151.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c96dcf5326ef054b8dc370300fbaec5cc8b6ab58
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_151.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_152.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_152.obj
new file mode 100644
index 0000000000000000000000000000000000000000..186e50f9943f2d228618e63a5184df6f932cb47a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_152.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.01078498 -0.00471245 0.01552163
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+f 45 54 55
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+f 45 56 53
+f 48 57 49
+f 49 57 58
+f 49 58 54
+f 49 54 50
+f 50 54 59
+f 51 59 54
+f 54 58 55
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_153.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_153.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ac9e813a61f9d2b683d0158ec40425c49efb1cd
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_153.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.00208165 -0.00758429 0.00700055
+v -0.00208165 -0.00833123 0.00700055
+v -0.00208165 -0.00758429 0.00466588
+v -0.00698540 -0.00758429 0.00700055
+v -0.00663451 -0.00833123 0.00700055
+v -0.00208165 -0.00833123 0.00466588
+v -0.00208261 -0.00758429 -0.03050101
+v -0.00698540 -0.00833094 0.00700055
+v -0.00698540 -0.00758429 -0.02980354
+v -0.00698540 -0.00833123 0.00668853
+v -0.00208261 -0.00833123 -0.03043126
+v -0.00208261 -0.00823662 -0.03046063
+v -0.00208261 -0.00822456 -0.03046430
+v -0.00296870 -0.00758429 -0.03048633
+v -0.00698540 -0.00761771 -0.02978886
+v -0.00657787 -0.00758429 -0.02995038
+v -0.00657787 -0.00776935 -0.02988430
+v -0.00698540 -0.00833123 -0.02903266
+v -0.00225205 -0.00833123 -0.03042759
+v -0.00225205 -0.00822456 -0.03046063
+v -0.00439144 -0.00758429 -0.03039455
+v -0.00657787 -0.00777695 -0.02988063
+v -0.00611275 -0.00833123 -0.02974481
+v -0.00698540 -0.00820386 -0.02922354
+v -0.00605130 -0.00758429 -0.03007886
+v -0.00526697 -0.00828407 -0.03004949
+v -0.00645643 -0.00782447 -0.02989899
+v -0.00698540 -0.00829796 -0.02910241
+v -0.00691820 -0.00833123 -0.02912810
+v -0.00363255 -0.00833123 -0.03032848
+v -0.00372711 -0.00822631 -0.03035417
+v -0.00446920 -0.00758429 -0.03038354
+v -0.00690716 -0.00833123 -0.02914279
+v -0.00524009 -0.00833123 -0.03003848
+v -0.00503081 -0.00758429 -0.03027708
+v -0.00503081 -0.00768146 -0.03025506
+v -0.00503081 -0.00827457 -0.03010456
+v -0.00519929 -0.00833123 -0.03004949
+v -0.00372711 -0.00833123 -0.03032113
+v -0.00503081 -0.00833123 -0.03008253
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 14
+f 1 14 21
+f 1 21 32
+f 1 32 35
+f 1 35 25
+f 1 25 16
+f 1 16 9
+f 1 9 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 10
+f 2 10 18
+f 2 18 29
+f 2 29 33
+f 2 33 23
+f 2 23 34
+f 2 34 38
+f 2 38 40
+f 2 40 39
+f 2 39 30
+f 2 30 19
+f 2 19 11
+f 2 11 6
+f 3 6 7
+f 4 9 15
+f 4 15 24
+f 4 24 28
+f 4 28 18
+f 4 18 10
+f 4 10 8
+f 5 8 10
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 7 13 14
+f 9 16 17
+f 9 17 15
+f 11 19 12
+f 12 20 13
+f 12 19 20
+f 13 20 14
+f 14 20 21
+f 15 22 23
+f 15 23 24
+f 15 17 22
+f 16 25 26
+f 16 26 27
+f 16 27 17
+f 17 27 22
+f 18 28 29
+f 19 30 20
+f 20 30 31
+f 20 31 21
+f 21 31 32
+f 22 27 23
+f 23 33 24
+f 23 27 34
+f 24 33 28
+f 25 35 36
+f 25 36 37
+f 25 37 26
+f 26 37 38
+f 26 38 34
+f 26 34 27
+f 28 33 29
+f 30 39 31
+f 31 39 37
+f 31 37 32
+f 32 37 36
+f 32 36 35
+f 37 39 40
+f 37 40 38
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_155.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_155.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51adce45f0a2e6bdc294428fab5b0c8909e9db8b
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_155.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.00560255 -0.00536493 0.03089185
+v -0.00560255 -0.00575202 0.03079040
+v -0.00560255 -0.00536410 0.03069988
+v -0.00675974 -0.00536410 0.03061135
+v -0.00659026 -0.00575202 0.03054571
+v -0.00560255 -0.00575202 0.02073019
+v -0.00560255 -0.00536410 0.02073019
+v -0.00691092 -0.00536410 0.03047608
+v -0.00730929 -0.00575202 0.02990215
+v -0.00804927 -0.00575202 0.02073019
+v -0.00831185 -0.00536410 0.02073019
+v -0.00692418 -0.00536410 0.03046116
+v -0.00737188 -0.00575202 0.02982953
+v -0.00804980 -0.00575202 0.02648840
+v -0.00831211 -0.00536410 0.02648840
+v -0.00775036 -0.00536410 0.02949731
+v -0.00764560 -0.00575202 0.02905070
+v -0.00789677 -0.00575202 0.02798738
+v -0.00815775 -0.00536410 0.02798738
+v -0.00780792 -0.00536410 0.02933319
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 9
+f 2 9 13
+f 2 13 17
+f 2 17 18
+f 2 18 14
+f 2 14 10
+f 2 10 6
+f 3 7 11
+f 3 11 15
+f 3 15 19
+f 3 19 20
+f 3 20 16
+f 3 16 12
+f 3 12 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 6 10 11
+f 6 11 7
+f 8 12 9
+f 9 12 13
+f 10 14 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 19 18
+f 17 20 19
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_157.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_157.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c85a773ec44fbbdd712ebd52c737e5579b8146c
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_157.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v 0.01138399 0.00253594 0.01616903
+v 0.01095788 0.00253594 0.01702784
+v 0.01145235 0.00226751 0.01616903
+v -0.01140933 0.00253594 0.01616903
+v 0.01101941 0.00226751 0.01702784
+v -0.01097183 0.00253594 0.01702784
+v 0.01163692 0.00076873 0.01616903
+v -0.01145718 0.00226751 0.01616903
+v -0.01097866 0.00253594 0.01702641
+v 0.01114701 0.00076873 0.01702784
+v -0.01102423 0.00226751 0.01702784
+v 0.01163920 0.00055384 0.01616903
+v -0.01162124 0.00099229 0.01616903
+v -0.01104702 0.00210142 0.01702784
+v 0.01114929 -0.00051436 0.01702784
+v 0.01114929 -0.00072925 0.01702784
+v 0.01163692 -0.00072925 0.01616903
+v -0.01163947 0.00076873 0.01616903
+v -0.01114728 0.00076873 0.01702784
+v 0.01105131 -0.00205328 0.01702784
+v 0.01162097 -0.00095202 0.01616903
+v -0.01163491 -0.00072925 0.01616903
+v -0.01114728 -0.00072925 0.01702784
+v 0.01145691 -0.00222803 0.01616903
+v 0.01102624 -0.00222803 0.01702784
+v -0.01145718 -0.00222803 0.01616903
+v -0.01102423 -0.00222803 0.01702784
+v 0.01141589 -0.00247914 0.01616903
+v 0.01076876 -0.00372838 0.01702784
+v -0.01109715 -0.00372759 0.01616903
+v -0.01065509 -0.00439118 0.01691343
+v -0.01076903 -0.00372759 0.01701918
+v -0.01078270 -0.00363392 0.01702784
+v 0.01059330 -0.00470920 0.01686643
+v 0.01077787 -0.00439118 0.01658490
+v 0.01104903 -0.00392202 0.01616903
+v 0.01049532 -0.00439118 0.01702784
+v -0.01068472 -0.00487686 0.01616903
+v -0.01059813 -0.00470369 0.01686349
+v -0.01047280 -0.00452657 0.01702784
+v -0.01076219 -0.00372759 0.01702784
+v 0.01027885 -0.00490914 0.01702784
+v 0.00980261 -0.00550582 0.01702784
+v 0.01035632 -0.00550582 0.01616903
+v 0.01037455 -0.00548456 0.01616903
+v 0.01067989 -0.00488395 0.01616903
+v -0.01029507 -0.00550582 0.01616903
+v -0.01013784 -0.00550582 0.01641492
+v -0.00970945 -0.00550582 0.01702784
+v -0.01033608 -0.00481783 0.01702784
+f 1 2 3
+f 1 3 7
+f 1 7 12
+f 1 12 17
+f 1 17 21
+f 1 21 24
+f 1 24 28
+f 1 28 36
+f 1 36 46
+f 1 46 45
+f 1 45 44
+f 1 44 47
+f 1 47 38
+f 1 38 30
+f 1 30 26
+f 1 26 22
+f 1 22 18
+f 1 18 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 19
+f 2 19 23
+f 2 23 27
+f 2 27 33
+f 2 33 41
+f 2 41 40
+f 2 40 50
+f 2 50 49
+f 2 49 43
+f 2 43 42
+f 2 42 37
+f 2 37 29
+f 2 29 25
+f 2 25 20
+f 2 20 16
+f 2 16 15
+f 2 15 10
+f 2 10 5
+f 3 5 7
+f 4 8 9
+f 5 10 7
+f 6 9 11
+f 7 10 12
+f 8 13 14
+f 8 14 11
+f 8 11 9
+f 10 15 12
+f 12 15 16
+f 12 16 17
+f 13 18 14
+f 14 18 19
+f 16 20 21
+f 16 21 17
+f 18 22 23
+f 18 23 19
+f 20 24 21
+f 20 25 24
+f 22 26 27
+f 22 27 23
+f 24 25 28
+f 25 29 28
+f 26 30 31
+f 26 31 32
+f 26 32 33
+f 26 33 27
+f 28 29 34
+f 28 34 35
+f 28 35 36
+f 29 37 34
+f 30 38 39
+f 30 39 31
+f 31 39 40
+f 31 40 41
+f 31 41 32
+f 32 41 33
+f 34 37 42
+f 34 42 43
+f 34 43 44
+f 34 44 45
+f 34 45 46
+f 34 46 35
+f 35 46 36
+f 38 47 39
+f 39 47 48
+f 39 48 49
+f 39 49 50
+f 39 50 40
+f 43 49 48
+f 43 48 47
+f 43 47 44
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_158.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_158.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b5920b1877675ec9bf1f72e6d2cde1cae35bdc8
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_158.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00921522 0.00236981 0.00700055
+v 0.00724305 0.00236981 0.00700055
+v 0.00921522 0.00197372 0.00700055
+v 0.00921522 0.00236981 -0.01325177
+v 0.00724305 0.00197372 0.00700055
+v 0.00724305 0.00236981 -0.01325177
+v 0.00921522 0.00197372 -0.01325177
+v 0.00724305 0.00197372 -0.01325177
+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_159.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_159.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2afa06ae0041563f1cb8733eb4ff09f02baa5dd2
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_159.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.00377643 -0.00950308 -0.00139321
+v 0.00295071 -0.00950308 -0.00139040
+v 0.00377643 -0.00983238 -0.00139321
+v 0.00377643 -0.00950308 -0.02978742
+v 0.00295071 -0.00983238 -0.00139040
+v 0.00053072 -0.00950308 -0.00139040
+v 0.00377643 -0.00983238 -0.02946959
+v 0.00374402 -0.00950308 -0.02980430
+v 0.00053072 -0.00983238 -0.00139040
+v 0.00053072 -0.00950308 -0.03012495
+v 0.00374402 -0.00983238 -0.02948647
+v 0.00224508 -0.00983238 -0.02988306
+v 0.00295102 -0.00950308 -0.02997025
+v 0.00053072 -0.00983238 -0.03002650
+v 0.00068990 -0.00950308 -0.03012495
+v 0.00053072 -0.00980092 -0.03003775
+v 0.00076074 -0.00983238 -0.03002369
+v 0.00224508 -0.00956884 -0.03005463
+v 0.00268065 -0.00950308 -0.03002650
+v 0.00067528 -0.00983238 -0.03002650
+v 0.00224508 -0.00950308 -0.03007432
+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 21
+f 1 21 15
+f 1 15 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 20
+f 3 20 17
+f 3 17 12
+f 3 12 11
+f 3 11 7
+f 4 7 11
+f 4 11 8
+f 6 10 16
+f 6 16 14
+f 6 14 9
+f 8 12 13
+f 8 11 12
+f 10 15 16
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 14 16 20
+f 15 21 18
+f 15 18 20
+f 15 20 16
+f 17 20 18
+f 18 21 19
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_160.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_160.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2c266702e41437786378d006ee430679fde411f
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_160.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00753935 0.00445281 -0.01243376
+v 0.00418394 0.00445281 -0.01243376
+v 0.00753935 0.00393773 -0.01243376
+v 0.00753935 0.00445281 -0.02861770
+v 0.00418394 0.00393773 -0.01243376
+v 0.00418394 0.00445281 -0.02861770
+v 0.00753935 0.00393773 -0.02861770
+v 0.00418394 0.00393773 -0.02861770
+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_161.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_161.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43c0240221ac84a85e789530f5d8c1b181171a4b
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_161.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.00069572 -0.01086565 -0.02904269
+v 0.00067682 -0.01086565 -0.02903369
+v -0.00075317 -0.01142460 -0.02747572
+v -0.00215418 -0.01086565 -0.02873004
+v 0.00074617 -0.01141952 -0.02747572
+v 0.00150646 -0.01086565 -0.02884990
+v 0.00023069 -0.01148310 -0.02649159
+v -0.00075317 -0.01147652 -0.02649159
+v -0.00225148 -0.01123488 -0.02747572
+v -0.00225148 -0.01086565 -0.02868934
+v 0.00150646 -0.01132415 -0.02747572
+v 0.00074617 -0.01148135 -0.02649159
+v 0.00150646 -0.01086565 -0.02649159
+v -0.00126762 -0.01141130 -0.02649159
+v -0.00225148 -0.01128329 -0.02649159
+v -0.00375031 -0.01087646 -0.02649159
+v -0.00375031 -0.01086565 -0.02669611
+v -0.00359970 -0.01086565 -0.02747572
+v -0.00314736 -0.01086565 -0.02807529
+v 0.00150646 -0.01138314 -0.02649159
+v -0.00378085 -0.01086565 -0.02649159
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 19
+f 1 19 18
+f 1 18 17
+f 1 17 21
+f 1 21 13
+f 1 13 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 3 9 4
+f 4 9 10
+f 5 6 11
+f 5 11 12
+f 5 12 7
+f 6 13 20
+f 6 20 11
+f 7 12 20
+f 7 20 13
+f 7 13 21
+f 7 21 16
+f 7 16 15
+f 7 15 14
+f 7 14 8
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 10
+f 11 20 12
+f 16 21 17
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_163.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_163.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6534e5198c61ccfba54e88ecaa69c78f69cf7dee
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_163.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00906627 -0.00337719 0.02073019
+v -0.00892871 -0.00411674 0.02073019
+v -0.00892871 -0.00411404 0.02199245
+v -0.00892871 -0.00410935 0.02392811
+v -0.00906270 -0.00337719 0.02352363
+v 0.00918427 -0.00337719 0.02073019
+v -0.00892514 -0.00412494 0.02073019
+v -0.00902340 -0.00358992 0.02392811
+v -0.00892157 -0.00412494 0.02392811
+v -0.00906091 -0.00337719 0.02392811
+v 0.00918248 -0.00337719 0.02392811
+v 0.00899311 -0.00393330 0.02392811
+v 0.00893595 -0.00409903 0.02073019
+v 0.00892701 -0.00412494 0.02073019
+v 0.00892701 -0.00412494 0.02392811
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 11
+f 1 11 6
+f 1 6 13
+f 1 13 14
+f 1 14 7
+f 1 7 2
+f 2 7 3
+f 3 7 4
+f 4 8 5
+f 4 7 9
+f 4 9 15
+f 4 15 12
+f 4 12 11
+f 4 11 10
+f 4 10 8
+f 5 8 10
+f 6 11 12
+f 6 12 13
+f 7 14 15
+f 7 15 9
+f 12 15 14
+f 12 14 13
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_167.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_167.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4deeed0688ab4cafecaf0468a5e217b8022c1653
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_167.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00830966 -0.00601566 -0.02965266
+v 0.00830966 -0.00526114 -0.03005185
+v 0.00867999 -0.00561268 -0.02973976
+v 0.00867999 -0.00601566 -0.02951839
+v 0.00830966 -0.00601566 0.00700055
+v 0.00830966 -0.00515995 -0.03007363
+v 0.00847090 -0.00515995 -0.03001194
+v 0.00867999 -0.00515995 -0.02982323
+v 0.00867999 -0.00601566 0.00700055
+v 0.00830966 -0.00515995 0.00700055
+v 0.00867999 -0.00515995 0.00700055
+f 1 2 3
+f 1 3 4
+f 1 4 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 8
+f 3 8 11
+f 3 11 9
+f 3 9 4
+f 5 9 11
+f 5 11 10
+f 6 10 11
+f 6 11 8
+f 6 8 7
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_168.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_168.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c23c78b373cfb62d22cf8d1163d5c2860bf17e11
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_168.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
+v 0.01045372 0.00516127 -0.00878664
+v 0.01026048 0.00555815 -0.00798917
+v 0.01026167 0.00555637 -0.00649423
+v 0.01026285 0.00555352 -0.00499690
+v 0.01026285 0.00554951 -0.00349719
+v 0.01026285 0.00554680 -0.00269021
+v 0.01034703 0.00536681 -0.00269021
+v 0.01042527 0.00519934 -0.00269021
+v 0.01044187 0.00516127 -0.00269021
+v 0.01045135 0.00516127 -0.01478546
+v 0.01022373 0.00561617 -0.00657040
+v 0.01045017 0.00516127 -0.01628279
+v 0.01024033 0.00556376 -0.01697551
+v 0.01020714 0.00561617 -0.01703978
+v 0.01022136 0.00561617 -0.00921036
+v 0.01022255 0.00561617 -0.00806535
+v 0.01022373 0.00561617 -0.00499690
+v 0.01022136 0.00561617 -0.00349719
+v 0.01021069 0.00561617 -0.00049302
+v 0.01026048 0.00554065 -0.00102625
+v 0.01038378 0.00527615 -0.00102625
+v 0.01043713 0.00516127 -0.00102625
+v 0.01044661 0.00516127 -0.01777535
+v 0.01023796 0.00556033 -0.01847522
+v 0.01019884 0.00561430 -0.01992970
+v 0.01020121 0.00561617 -0.01854187
+v 0.01020476 0.00561617 0.00089957
+v 0.01025930 0.00553874 -0.00049302
+v 0.01043238 0.00516127 0.00025684
+v 0.01043950 0.00516127 -0.01992970
+v 0.01023440 0.00555530 -0.01992970
+v 0.00818227 0.00561617 -0.01992970
+v 0.00119125 0.00561617 -0.01993208
+v 0.01020358 0.00561617 0.00100431
+v 0.01025574 0.00553290 0.00100431
+v 0.01042883 0.00516127 0.00100431
+v 0.00119125 0.00516127 -0.01993208
+v -0.00165756 0.00561617 -0.01993208
+v 0.01018580 0.00561617 0.00250402
+v 0.01024507 0.00552097 0.00250402
+v 0.01041579 0.00516127 0.00250402
+v -0.00165756 0.00516127 -0.01993208
+v -0.00165756 0.00561617 -0.00102625
+v 0.01006013 0.00561617 0.00400134
+v 0.01018342 0.00541784 0.00400134
+v 0.01031028 0.00516127 0.00400134
+v -0.00165756 0.00516127 -0.00102625
+v -0.00165637 0.00561617 0.00438698
+v 0.00998900 0.00561617 0.00438698
+v 0.01015853 0.00534232 0.00438698
+v 0.01024863 0.00516127 0.00438698
+v -0.00165637 0.00516127 0.00438698
+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 22
+f 1 22 29
+f 1 29 36
+f 1 36 41
+f 1 41 46
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+f 1 51 52
+f 1 52 47
+f 1 47 42
+f 1 42 37
+f 1 37 30
+f 1 30 23
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+f 2 11 3
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+f 2 13 14
+f 2 14 15
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+f 4 18 5
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+f 5 18 6
+f 6 18 19
+f 6 19 20
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+f 7 20 8
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+f 8 21 22
+f 8 22 9
+f 11 16 15
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+f 11 14 26
+f 11 26 32
+f 11 32 33
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+f 11 38 43
+f 11 43 48
+f 11 48 49
+f 11 49 44
+f 11 44 39
+f 11 39 34
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+f 11 18 17
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+f 14 24 25
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+f 23 30 24
+f 24 30 31
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+f 25 32 26
+f 25 31 33
+f 25 33 32
+f 27 34 35
+f 27 35 28
+f 28 35 29
+f 29 35 36
+f 30 37 33
+f 30 33 31
+f 33 37 42
+f 33 42 38
+f 34 39 35
+f 35 39 40
+f 35 40 41
+f 35 41 36
+f 38 42 47
+f 38 47 43
+f 39 44 40
+f 40 44 45
+f 40 45 46
+f 40 46 41
+f 43 47 52
+f 43 52 48
+f 44 49 45
+f 45 49 50
+f 45 50 51
+f 45 51 46
+f 48 52 51
+f 48 51 50
+f 48 50 49
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_169.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_169.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e34e35078e9a6db77f280c6a3ba3434a9c5dcb6
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_169.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.00686484 0.00345738 0.00700055
+v 0.00686484 0.00292070 0.00700055
+v 0.00686484 0.00345743 -0.02737897
+v 0.00431486 0.00345738 0.00700055
+v 0.00431486 0.00292070 0.00700055
+v 0.00686484 0.00292065 -0.02737897
+v 0.00431486 0.00345743 -0.02737897
+v 0.00686484 0.00345743 -0.03052844
+v 0.00431486 0.00292065 -0.02737897
+v 0.00686484 0.00292065 -0.03053211
+v 0.00431486 0.00345743 -0.03053946
+v 0.00674203 0.00292065 -0.03053946
+v 0.00674203 0.00345743 -0.03053211
+v 0.00431486 0.00292065 -0.03053946
+v 0.00555365 0.00345743 -0.03053946
+v 0.00591983 0.00292065 -0.03054314
+v 0.00609006 0.00292065 -0.03054314
+f 1 2 6
+f 1 6 10
+f 1 10 8
+f 1 8 3
+f 1 3 7
+f 1 7 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 6
+f 3 8 13
+f 3 13 15
+f 3 15 11
+f 3 11 7
+f 4 7 11
+f 4 11 14
+f 4 14 9
+f 4 9 5
+f 6 9 14
+f 6 14 16
+f 6 16 17
+f 6 17 12
+f 6 12 10
+f 8 10 12
+f 8 12 13
+f 11 15 17
+f 11 17 16
+f 11 16 14
+f 12 15 13
+f 12 17 15
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_171.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_171.obj
new file mode 100644
index 0000000000000000000000000000000000000000..241fed055a8a0b7ef02b6f4b4ea1b1c9453eb194
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_171.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.00767615 -0.00424568 0.00700055
+v -0.01002354 -0.00424568 0.00700055
+v -0.00767615 -0.00515995 0.00700055
+v -0.00767615 -0.00424568 -0.02861833
+v -0.01010460 -0.00424568 0.00673557
+v -0.01010460 -0.00509543 0.00543508
+v -0.00959400 -0.00515995 0.00700055
+v -0.00767615 -0.00515995 -0.02861833
+v -0.01010460 -0.00424568 -0.02861833
+v -0.01010460 -0.00510133 0.00542113
+v -0.01009985 -0.00510778 0.00542810
+v -0.00995698 -0.00515995 0.00581511
+v -0.00979463 -0.00515995 -0.02861833
+v -0.01010460 -0.00471355 -0.02861833
+v -0.01010460 -0.00512290 0.00535489
+v -0.01006847 -0.00515995 0.00543159
+v -0.01004827 -0.00484601 -0.02861833
+v -0.01010460 -0.00515995 -0.02790010
+v -0.01010460 -0.00480179 -0.02856952
+v -0.01010460 -0.00515995 0.00523285
+v -0.01010460 -0.00485818 -0.02846492
+f 1 2 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 2 6 7
+f 3 7 12
+f 3 12 16
+f 3 16 20
+f 3 20 18
+f 3 18 13
+f 3 13 8
+f 4 8 13
+f 4 13 17
+f 4 17 14
+f 4 14 9
+f 5 9 14
+f 5 14 19
+f 5 19 21
+f 5 21 18
+f 5 18 20
+f 5 20 15
+f 5 15 10
+f 5 10 6
+f 6 10 11
+f 6 11 12
+f 6 12 7
+f 10 15 11
+f 11 16 12
+f 11 15 16
+f 13 18 17
+f 14 17 19
+f 15 20 16
+f 17 18 21
+f 17 21 19
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_172.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_172.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e673fab9ed66ec883e385b894973c59bfaabd4d9
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_172.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00730787 -0.00466712 0.00699749
+v -0.00767615 -0.00466712 0.00699749
+v 0.00730787 -0.00515995 0.00699749
+v 0.00730787 -0.00466712 -0.01847888
+v -0.00767615 -0.00515995 0.00699749
+v -0.00767615 -0.00466712 -0.01847888
+v 0.00730787 -0.00515995 -0.01847888
+v -0.00767615 -0.00515995 -0.01847888
+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_173.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_173.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4ee2c6fc70d153ec7959742f78ae2a61d42a4ad
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_173.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.00716004 -0.00857727 0.00897201
+v 0.00716004 -0.00834660 0.00843135
+v 0.00777746 -0.00784822 0.00843135
+v 0.00782749 -0.00780781 0.00843135
+v 0.00793191 -0.00791220 0.00897201
+v 0.00716004 0.00862373 0.00897201
+v 0.00716004 0.00837622 0.00843135
+v 0.00868919 -0.00676895 0.00843135
+v 0.00925499 -0.00636317 0.00882277
+v 0.00927745 -0.00639516 0.00897201
+v 0.00768408 0.00818091 0.00897201
+v 0.00782198 0.00784248 0.00843135
+v 0.00913403 -0.00618301 0.00843135
+v 0.00973017 -0.00523170 0.00843135
+v 0.01027390 -0.00476362 0.00897201
+v 0.00792679 0.00794687 0.00897201
+v 0.00816240 0.00770610 0.00897201
+v 0.00921126 0.00652243 0.00897201
+v 0.00925578 0.00639952 0.00882721
+v 0.00867934 0.00681035 0.00843135
+v 0.00976957 -0.00514920 0.00843135
+v 0.01046263 -0.00436963 0.00897201
+v 0.00927706 0.00642983 0.00897201
+v 0.00936965 0.00628166 0.00897201
+v 0.01027114 0.00480334 0.00897201
+v 0.00972702 0.00526805 0.00843135
+v 0.01031212 -0.00393017 0.00843135
+v 0.01064073 -0.00386114 0.00897201
+v 0.01064112 0.00389245 0.00897201
+v 0.01037910 0.00376617 0.00843135
+v 0.01038344 -0.00372644 0.00843135
+v 0.01066358 -0.00372644 0.00892925
+v 0.01067382 -0.00372644 0.00897201
+v 0.01068682 0.00371060 0.00897201
+v 0.01066240 0.00376617 0.00893200
+v 0.01080621 0.00221713 0.00843135
+v 0.01054656 -0.00321795 0.00843135
+v 0.01080818 -0.00219088 0.00843135
+v 0.01098233 -0.00220098 0.00897201
+v 0.01097997 0.00223397 0.00897201
+v 0.01102213 0.00083816 0.00843135
+v 0.01081370 -0.00215552 0.00843135
+v 0.01103474 -0.00072940 0.00843135
+v 0.01102764 -0.00188612 0.00897201
+v 0.01118367 0.00076912 0.00897201
+v 0.01103237 0.00076912 0.00843135
+v 0.01103474 -0.00065868 0.00843135
+v 0.01118485 -0.00072940 0.00897201
+v 0.01112615 -0.00119916 0.00897201
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 15
+f 1 15 22
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+f 1 33 39
+f 1 39 44
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+f 1 25 24
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+f 1 7 2
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+f 9 14 15
+f 9 15 10
+f 11 16 12
+f 12 16 17
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+f 12 19 20
+f 14 21 22
+f 14 22 15
+f 18 23 19
+f 19 23 24
+f 19 24 25
+f 19 25 26
+f 19 26 20
+f 21 27 22
+f 22 27 28
+f 25 29 30
+f 25 30 26
+f 27 31 28
+f 28 31 32
+f 28 32 33
+f 29 34 35
+f 29 35 30
+f 30 35 36
+f 31 37 32
+f 32 37 38
+f 32 38 39
+f 32 39 33
+f 34 40 36
+f 34 36 35
+f 36 40 41
+f 38 42 39
+f 39 42 43
+f 39 43 44
+f 40 45 46
+f 40 46 41
+f 43 47 48
+f 43 48 49
+f 43 49 44
+f 45 48 47
+f 45 47 46
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_174.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_174.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69b5b2ae8fbffb13ec18d929e54a88e3e30d71fc
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_174.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.00724304 0.00236981 0.00700055
+v 0.00633746 0.00236981 0.00700055
+v 0.00724304 0.00197372 0.00700055
+v 0.00724304 0.00236981 -0.03051637
+v 0.00633746 0.00197372 0.00700055
+v 0.00633746 0.00236981 -0.03054210
+v 0.00724304 0.00197372 -0.03052372
+v 0.00703711 0.00197372 -0.03053474
+v 0.00674242 0.00236981 -0.03054210
+v 0.00633746 0.00197372 -0.03054210
+v 0.00674242 0.00197372 -0.03054577
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 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 11
+f 3 11 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 9 11
+f 6 11 10
+f 8 11 9
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_175.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_175.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68633e05e7cbb0de3e8bdf27614aeccfa8ff16d5
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_175.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.00531703 -0.01012411 0.00972526
+v 0.00531703 -0.01001092 0.00941181
+v 0.00539106 -0.01008439 0.00972526
+v 0.00531703 0.01016187 0.00972526
+v 0.00535285 -0.00999106 0.00941181
+v 0.00531703 0.01004074 0.00941181
+v 0.00650216 -0.00932784 0.00941181
+v 0.00656962 -0.00937351 0.00972526
+v 0.00563406 0.00998117 0.00972526
+v 0.00589317 0.00973296 0.00941181
+v 0.00717442 -0.00878375 0.00941181
+v 0.00728308 -0.00883538 0.00972526
+v 0.00656425 0.00940730 0.00972526
+v 0.00649738 0.00936163 0.00941181
+v 0.00802580 -0.00800536 0.00941181
+v 0.00809207 -0.00807287 0.00972526
+v 0.00673799 0.00928419 0.00972526
+v 0.00686934 0.00909554 0.00941181
+v 0.00880255 -0.00715945 0.00941181
+v 0.00885450 -0.00726866 0.00972526
+v 0.00713741 0.00899824 0.00972526
+v 0.00745563 0.00871826 0.00972526
+v 0.00755056 0.00849388 0.00941181
+v 0.00934347 -0.00648828 0.00941181
+v 0.00939004 -0.00655579 0.00972526
+v 0.00767534 0.00850579 0.00972526
+v 0.00802043 0.00803915 0.00941181
+v 0.01053875 -0.00457604 0.00941181
+v 0.01056084 -0.00461973 0.00972526
+v 0.00808730 0.00810666 0.00972526
+v 0.00847537 0.00757449 0.00941181
+v 0.01077995 -0.00372616 0.00941181
+v 0.01085577 -0.00372616 0.00972526
+v 0.00869867 0.00748117 0.00972526
+v 0.00897928 0.00716544 0.00972526
+v 0.00907600 0.00689737 0.00941181
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+f 56 59 57
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_176.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_176.obj
new file mode 100644
index 0000000000000000000000000000000000000000..811311f2622f82b3d20b633995862731473f95e0
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_176.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00339348 0.00422233 0.01832390
+v 0.00339348 -0.00357800 0.01832390
+v 0.00339348 0.00422233 0.01794145
+v -0.00881049 0.00422233 0.01832390
+v 0.00339348 -0.00357800 0.01794145
+v -0.00959656 -0.00357800 0.01832390
+v -0.00914153 0.00422233 0.01794145
+v -0.00949686 0.00358478 0.01832390
+v -0.00966430 -0.00357800 0.01794145
+v -0.00966430 -0.00337795 0.01832390
+v -0.00966430 -0.00357800 0.01822146
+v -0.00964897 0.00371076 0.01794145
+v -0.00966430 0.00304114 0.01832390
+v -0.00966430 0.00366037 0.01794145
+v -0.00966430 0.00358401 0.01798892
+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 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 12
+f 3 12 7
+f 4 7 8
+f 6 10 11
+f 7 12 8
+f 8 12 13
+f 9 11 10
+f 9 10 13
+f 9 13 15
+f 9 15 14
+f 12 14 15
+f 12 15 13
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_178.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_178.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22397632d2b2189873cc43f5469c637988052e7f
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_178.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00765578 -0.00601566 -0.03007005
+v -0.00801317 -0.00601566 -0.02996068
+v -0.00765578 -0.00597671 -0.03008099
+v -0.00765578 -0.00601566 0.00700055
+v -0.00844062 -0.00601566 -0.02973099
+v -0.00844062 -0.00516959 -0.03002266
+v -0.00830994 -0.00524606 -0.03005547
+v -0.00765578 -0.00558161 -0.03016120
+v -0.00765578 -0.00515995 0.00700055
+v -0.00844062 -0.00601566 0.00700055
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+v -0.00844062 -0.00515995 -0.03002266
+v -0.00830648 -0.00515995 -0.03007370
+v -0.00765578 -0.00523793 -0.03023047
+v -0.00844062 -0.00515995 0.00700055
+v -0.00765578 -0.00515995 -0.03024505
+f 1 2 3
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+f 6 12 11
+f 7 11 13
+f 7 13 14
+f 7 14 8
+f 9 16 13
+f 9 13 11
+f 9 11 12
+f 9 12 15
+f 13 16 14
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_179.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_179.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6e9809b9a1494ce059f4b5ebffc40fde8294ede
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_179.obj
@@ -0,0 +1,264 @@
+# https://github.com/mikedh/trimesh
+v -0.00075030 0.01185966 0.01449696
+v -0.00075030 0.01185621 0.01408469
+v -0.00225027 0.01165419 0.01408469
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+v -0.00225027 0.01164500 0.01465438
+v -0.00090819 0.01182637 0.01465438
+v -0.00075030 0.01184703 0.01465438
+v 0.00074803 0.01184474 0.01465438
+v 0.00074803 0.01185621 0.01449696
+v 0.00074803 0.01185392 0.01408469
+v -0.00033748 0.01185621 0.01408469
+v -0.00328972 0.01138214 0.01408469
+v -0.00374859 0.01126276 0.01449696
+v -0.00374859 0.01125243 0.01465438
+v -0.00247888 0.01158531 0.01465438
+v 0.00224306 0.01165189 0.01465438
+v 0.00224306 0.01166337 0.01449696
+v 0.00142400 0.01176783 0.01408469
+v -0.00374859 0.01126046 0.01408469
+v -0.00444595 0.01098841 0.01408469
+v -0.00495416 0.01079213 0.01444961
+v -0.00495416 0.01079213 0.01449696
+v -0.00495416 0.01078409 0.01465438
+v -0.00387359 0.01120537 0.01465438
+v 0.00374304 0.01125587 0.01465438
+v 0.00330719 0.01138214 0.01449696
+v 0.00224306 0.01166107 0.01408469
+v -0.00466798 0.01090118 0.01408469
+v -0.00495416 0.01078868 0.01408469
+v -0.00495416 0.00013404 0.01465438
+v 0.00499959 0.01075540 0.01465438
+v 0.00374304 0.01126620 0.01449696
+v 0.00374304 0.01126276 0.01408469
+v -0.00495416 0.00013404 0.01408469
+v 0.00917385 0.00013289 0.01465438
+v 0.00500946 0.01075999 0.01449696
+v 0.00574957 0.01038463 0.01465438
+v 0.00576109 0.01039037 0.01449696
+v 0.00500946 0.01075884 0.01408469
+v 0.00408842 0.01112616 0.01408469
+v 0.00917385 0.00013289 0.01408469
+v 0.01183498 0.00013289 0.01465438
+v 0.00575944 0.01039037 0.01408469
+v 0.00673969 0.00974296 0.01465438
+v 0.00673969 0.00975329 0.01449696
+v 0.01184320 0.00013289 0.01408469
+v 0.01184649 0.00013289 0.01449701
+v 0.01184814 0.00076997 0.01449701
+v 0.01183498 0.00076997 0.01465438
+v 0.00673969 0.00975100 0.01408469
+v 0.00761302 0.00911966 0.01465438
+v 0.00762125 0.00912540 0.01449696
+v 0.01184320 0.00076997 0.01408469
+v 0.01179057 0.00118206 0.01408469
+v 0.01165571 0.00226910 0.01449701
+v 0.01166393 0.00211184 0.01465438
+v 0.00761796 0.00912311 0.01408469
+v 0.00830873 0.00845045 0.01465438
+v 0.00832189 0.00845045 0.01450917
+v 0.00831696 0.00845045 0.01408469
+v 0.00832189 0.00845045 0.01449696
+v 0.01165077 0.00226910 0.01408469
+v 0.01154387 0.00268234 0.01408469
+v 0.01125769 0.00376824 0.01449701
+v 0.01124618 0.00376824 0.01465438
+v 0.01164255 0.00226910 0.01465438
+v 0.00836465 0.00839650 0.01465438
+v 0.00836959 0.00840338 0.01449696
+v 0.00836794 0.00839994 0.01408469
+v 0.01132512 0.00350537 0.01408469
+v 0.01125440 0.00376824 0.01408469
+v 0.01074619 0.00504698 0.01408469
+v 0.01074783 0.00505042 0.01449701
+v 0.01074290 0.00504009 0.01465438
+v 0.00910148 0.00764693 0.01465438
+v 0.00910806 0.00765382 0.01449696
+v 0.00857189 0.00819447 0.01408469
+v 0.01047645 0.00558992 0.01408469
+v 0.01037448 0.00579999 0.01449701
+v 0.01036790 0.00578966 0.01465438
+v 0.00917385 0.00754706 0.01465438
+v 0.00917385 0.00756428 0.01449701
+v 0.00910642 0.00765037 0.01408469
+v 0.01037119 0.00579654 0.01408469
+v 0.01019685 0.00606515 0.01408469
+v 0.00974456 0.00676421 0.01449701
+v 0.00973140 0.00676421 0.01465438
+v 0.00917385 0.00755854 0.01408469
+v 0.00973963 0.00676421 0.01408469
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+f 81 86 82
+f 82 88 83
+f 82 86 88
+f 85 89 86
+f 86 89 88
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_18.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1269f5cb62495352f0d648863e8080d2a6628dad
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_18.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.01035289 -0.00563012 0.01206504
+v 0.01032857 -0.00567664 0.01206504
+v 0.01030425 -0.00563012 0.01158162
+v -0.01035168 -0.00563012 0.01206504
+v 0.01029614 -0.00563012 0.01150714
+v 0.01009347 -0.00603867 0.01206504
+v -0.01031318 -0.00563012 0.01168718
+v -0.01033142 -0.00566627 0.01206504
+v 0.01027587 -0.00563012 0.01139522
+v 0.00959491 -0.00680192 0.01206504
+v 0.00948547 -0.00685020 0.01139522
+v -0.01029291 -0.00563012 0.01151193
+v -0.00948629 -0.00684919 0.01139522
+v -0.01024427 -0.00580305 0.01206504
+v -0.01027467 -0.00563012 0.01139522
+v 0.00907811 -0.00757755 0.01206504
+v 0.00907000 -0.00756870 0.01186965
+v 0.00901933 -0.00750752 0.01139522
+v -0.01029088 -0.00563012 0.01149757
+v -0.01024427 -0.00568144 0.01139522
+v -0.00945792 -0.00688838 0.01139522
+v -0.00907082 -0.00756213 0.01187851
+v -0.00918431 -0.00742283 0.01206504
+v -0.00959370 -0.00680217 0.01206504
+v 0.00840930 -0.00821262 0.01206504
+v 0.00832418 -0.00821262 0.01140283
+v 0.00832215 -0.00821262 0.01139522
+v -0.00831892 -0.00821262 0.01139522
+v -0.00832500 -0.00821262 0.01140879
+v -0.00895733 -0.00769561 0.01206504
+v -0.00907893 -0.00757072 0.01206504
+v -0.00841418 -0.00821262 0.01206504
+f 1 2 3
+f 1 3 5
+f 1 5 9
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+f 1 19 12
+f 1 12 7
+f 1 7 4
+f 1 4 8
+f 1 8 14
+f 1 14 24
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+f 1 6 2
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+f 2 6 5
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+f 5 6 10
+f 5 10 11
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+f 9 21 13
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+f 9 20 15
+f 10 16 17
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+f 21 29 22
+f 22 30 31
+f 22 31 23
+f 22 29 30
+f 25 32 29
+f 25 29 28
+f 25 28 27
+f 25 27 26
+f 29 32 30
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_180.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_180.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5bbae42077397726cbf2a936e2c1ac2d7ef5816
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_180.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.00128127 -0.00170004 -0.03054473
+v -0.00225101 -0.00170004 -0.03054337
+v -0.00170817 -0.00127233 -0.03054424
+v 0.00224459 -0.00127233 -0.03054473
+v 0.00224459 -0.00170004 -0.03054399
+v -0.00225101 -0.00127233 -0.03054337
+v -0.00427833 -0.00170004 -0.03053828
+v -0.00621255 -0.00127233 -0.03053481
+v 0.00674194 -0.00127233 -0.03054126
+v 0.00674194 -0.00170004 -0.03054014
+v -0.00674837 -0.00170004 -0.03053195
+v -0.00674837 -0.00127233 -0.03053344
+v 0.00728479 -0.00127233 -0.03051272
+v 0.00729181 -0.00127534 -0.03051248
+v 0.00729181 -0.00170004 -0.03051124
+v -0.00727716 -0.00170004 -0.03051731
+v -0.00770405 -0.00127233 -0.03050689
+v 0.00729181 -0.00127233 -0.03050640
+v 0.00729181 -0.00170004 -0.02927740
+v -0.00824690 -0.00170004 -0.03047005
+v -0.00824690 -0.00127233 -0.03048047
+v 0.00729181 -0.00127233 -0.02927740
+v -0.01060098 -0.00170004 -0.02927740
+v -0.00877569 -0.00170004 -0.03031409
+v -0.00920259 -0.00127233 -0.03019834
+v -0.01065544 -0.00127233 -0.02927740
+v -0.01061855 -0.00156258 -0.02927740
+v -0.01043233 -0.00127233 -0.02966386
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+f 29 32 33
+f 30 33 32
+f 30 32 34
+f 30 34 31
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_181.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_181.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2edb2231e73033195fe2f5e46825617bb3ce2cd
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_181.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v 0.00503859 -0.00833130 -0.00748637
+v 0.00503755 -0.00833130 0.00626337
+v 0.00503755 -0.00833360 0.00700055
+v 0.00503859 -0.00950297 -0.00748637
+v 0.00503859 -0.00833130 -0.03007862
+v 0.00174029 -0.00833130 0.00650176
+v 0.00069231 -0.00833199 0.00680983
+v 0.00383940 -0.00833256 0.00677316
+v 0.00383940 -0.00833325 0.00700055
+v 0.00503755 -0.00950297 0.00700055
+v 0.00503859 -0.00950297 -0.02913238
+v 0.00503859 -0.00869601 -0.02994658
+v 0.00374346 -0.00934263 -0.02995759
+v 0.00374346 -0.00833130 -0.03031701
+v -0.00087081 -0.00833130 0.00668880
+v -0.00522544 -0.00833130 0.00700055
+v 0.00069231 -0.00833256 0.00700055
+v -0.00534118 -0.00950297 0.00700055
+v 0.00503755 -0.00950297 -0.02920940
+v 0.00478832 -0.00912908 -0.02982922
+v 0.00374346 -0.00950297 -0.02979988
+v 0.00334304 -0.00950297 -0.02988424
+v 0.00268088 -0.00950297 -0.03002360
+v 0.00219077 -0.00833130 -0.03043070
+v 0.00224500 -0.00950297 -0.03007128
+v -0.00561439 -0.00833130 0.00700055
+v -0.00552680 -0.00940204 0.00700055
+v -0.00534327 -0.00950297 0.00699688
+v 0.00069231 -0.00833130 -0.03046738
+v 0.00219077 -0.00950297 -0.03007495
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+v -0.00561439 -0.00950297 0.00636606
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+v -0.00104913 -0.00950297 -0.03011529
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+v -0.00527653 -0.00950297 -0.02904803
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_182.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_182.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a255f83ac9d68d0ee948bd07651fba38bdc335af
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_182.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.01184792 -0.00030612 0.01449707
+v 0.01184628 -0.00072996 0.01449707
+v 0.01184464 -0.00072996 0.01408469
+v 0.01184299 -0.00030612 0.01408469
+v 0.01183477 -0.00030612 0.01465438
+v 0.01183477 -0.00072996 0.01465438
+v 0.01180681 -0.00095972 0.01465438
+v 0.01165550 -0.00222873 0.01449707
+v 0.01181174 -0.00099290 0.01408469
+v -0.00495416 -0.00030612 0.01408469
+v -0.00495416 -0.00030612 0.01465438
+v 0.01164398 -0.00222873 0.01465438
+v 0.01165385 -0.00222873 0.01408469
+v 0.01160451 -0.00238587 0.01465438
+v 0.01126735 -0.00372750 0.01449707
+v -0.00495416 -0.00670126 0.01408469
+v -0.00495416 -0.00670126 0.01465438
+v 0.01137097 -0.00331556 0.01408469
+v 0.01125584 -0.00372750 0.01465438
+v 0.01120814 -0.00385334 0.01465438
+v 0.01118347 -0.00391657 0.01465438
+v 0.01075750 -0.00502531 0.01449707
+v 0.01089401 -0.00466846 0.01408469
+v 0.01117360 -0.00395539 0.01408469
+v 0.01126242 -0.00372750 0.01408469
+v 0.00977562 -0.00670126 0.01408469
+v 0.00976576 -0.00670126 0.01465438
+v 0.01075092 -0.00501530 0.01465438
+v 0.01041541 -0.00568643 0.01465438
+v 0.01038087 -0.00577533 0.01449707
+v 0.01058645 -0.00536088 0.01408469
+v 0.01065224 -0.00522941 0.01408469
+v 0.01075421 -0.00502281 0.01408469
+v 0.00993187 -0.00646148 0.01408469
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+v 0.00977727 -0.00670126 0.01450186
+v 0.01027396 -0.00592120 0.01465438
+v 0.01037429 -0.00576468 0.01465438
+v 0.01037922 -0.00577282 0.01408469
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+f 30 37 36
+f 30 36 35
+f 30 34 39
+f 30 39 31
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_183.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_183.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41ba93580693091befb996feddf57eafcb0de6af
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_183.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00075868 -0.00074635 0.00700055
+v 0.00075868 -0.00127222 0.00700055
+v 0.00075868 -0.00074635 -0.01959177
+v -0.00807475 -0.00074635 0.00700055
+v -0.00807475 -0.00127222 0.00700055
+v 0.00075868 -0.00127222 -0.01959177
+v -0.00807475 -0.00074635 -0.01959177
+v -0.00807475 -0.00127222 -0.01959177
+f 1 2 6
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+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_186.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_186.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6194b96b8383d265444611b457af7916ba4c08e
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_186.obj
@@ -0,0 +1,252 @@
+# https://github.com/mikedh/trimesh
+v 0.01125645 0.00292060 -0.00948972
+v 0.01111301 0.00345743 -0.00948972
+v 0.01111301 0.00345743 -0.00917825
+v 0.01125634 0.00292060 -0.00864122
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+v 0.01111254 0.00345743 -0.01098982
+v 0.01111277 0.00345743 -0.00798963
+v 0.01125622 0.00292060 -0.00798963
+v 0.01125493 0.00292060 -0.01398284
+v 0.01111183 0.00345743 -0.01248275
+v 0.01125587 0.00292060 -0.00731298
+v 0.01111171 0.00345743 -0.00648954
+v 0.01125575 0.00292060 -0.00714471
+v 0.01111101 0.00345743 -0.01398284
+v 0.01125434 0.00292060 -0.01480628
+v 0.01111031 0.00345743 -0.01517146
+v 0.01111148 0.00345743 -0.00618164
+v 0.01125528 0.00292060 -0.00648954
+v 0.01125364 0.00292060 -0.01548293
+v 0.01110995 0.00345743 -0.01548293
+v 0.01125458 0.00292060 -0.00564462
+v 0.01110972 0.00345743 -0.00468155
+v 0.01125293 0.00292060 -0.00414453
+v 0.01125387 0.00292060 -0.00499303
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+v 0.01110854 0.00345743 -0.01667155
+v 0.01110761 0.00345743 -0.00318146
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+v 0.01108894 0.00345743 -0.02297623
+v 0.01110009 0.00345743 0.00100376
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_188.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_188.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f293cd79ebb738a44ac2f78d8be203281e188b7c
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_188.obj
@@ -0,0 +1,282 @@
+# https://github.com/mikedh/trimesh
+v 0.01111306 0.00345748 -0.00949068
+v 0.01111258 0.00345748 -0.01098666
+v 0.01103018 0.00376746 -0.00949068
+v 0.01111274 0.00345748 -0.00799115
+v 0.01102970 0.00376746 -0.01098666
+v 0.01111101 0.00345748 -0.01398216
+v 0.01096419 0.00393773 -0.00973528
+v 0.01102986 0.00376746 -0.00799115
+v 0.01096340 0.00393773 -0.01422677
+v 0.01096419 0.00393773 -0.01122772
+v 0.01111258 0.00345748 -0.00767920
+v 0.01102797 0.00376746 -0.01398216
+v 0.01096261 0.00393773 -0.01572629
+v 0.01111022 0.00345748 -0.01517328
+v 0.01102702 0.00376746 -0.01548169
+v 0.01096355 0.00393773 -0.00823576
+v 0.01102876 0.00376746 -0.00649163
+v 0.01111148 0.00345748 -0.00617967
+v 0.01096119 0.00393773 -0.01698121
+v 0.01110990 0.00345748 -0.01548169
+v 0.01110848 0.00345748 -0.01666925
+v 0.01102512 0.00376746 -0.01698121
+v 0.01096229 0.00393773 -0.00673623
+v 0.01102718 0.00376746 -0.00499210
+v 0.01110974 0.00345748 -0.00468369
+v 0.01096071 0.00393773 -0.01722582
+v 0.01110469 0.00345748 -0.01816878
+v 0.01102134 0.00376746 -0.01848074
+v 0.01095756 0.00393773 -0.01848074
+v 0.01096024 0.00393773 -0.00523671
+v 0.01102497 0.00376746 -0.00349258
+v 0.01110801 0.00345748 -0.00349258
+v 0.01110374 0.00345748 -0.01848074
+v 0.01101644 0.00376746 -0.01998026
+v 0.01095677 0.00393773 -0.01872534
+v 0.01095787 0.00393773 -0.00374073
+v 0.01102228 0.00376746 -0.00199305
+v 0.01110501 0.00345748 -0.00168464
+v 0.01110753 0.00345748 -0.00318417
+v 0.01109885 0.00345748 -0.01998026
+v 0.01100650 0.00376746 -0.02297577
+v 0.01094287 0.00393773 -0.02297577
+v 0.01094698 0.00393773 -0.02172439
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+v 0.01093119 0.00393773 0.00250198
+v 0.01099844 0.00376746 0.00250198
+v 0.01108196 0.00345748 0.00250198
+v 0.01100523 0.00345748 -0.02566640
+v 0.01099466 0.00345748 -0.02597482
+v 0.01090956 0.00376746 -0.02597482
+v 0.01084484 0.00393773 -0.02597482
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+v 0.01089315 0.00376746 0.00400150
+v 0.01106159 0.00345748 0.00281393
+v 0.01093861 0.00345748 -0.02716238
+v 0.01083900 0.00376746 -0.02747434
+v 0.01077790 0.00393773 -0.02747434
+v 0.01083426 0.00393773 -0.02627614
+v 0.01064545 0.00393773 0.00530960
+v 0.01067686 0.00379661 0.00541240
+v 0.01093372 0.00345748 0.00431346
+v 0.01097808 0.00345748 0.00400150
+v 0.01092235 0.00345748 -0.02747434
+v 0.01076527 0.00393773 -0.02764450
+v 0.01060582 0.00393773 0.00553293
+v 0.01061671 0.00345748 0.00621711
+v 0.01076843 0.00345748 0.00543367
+v 0.01075927 0.00345748 -0.02826842
+v 0.01060472 0.00393773 -0.02842440
+v 0.01029071 0.00393773 0.00670986
+v 0.01048947 0.00345748 0.00669214
+v 0.01067544 0.00345748 -0.02854492
+v 0.01063345 0.00376746 -0.02847757
+v 0.01010537 0.00376746 -0.02921492
+v 0.01007980 0.00382416 -0.02921492
+v 0.01002691 0.00393773 -0.02921492
+v 0.01018652 0.00393773 0.00700055
+v 0.01024856 0.00381048 0.00700055
+v 0.01026671 0.00376521 0.00700055
+v 0.01037044 0.00345748 0.00700055
+v 0.01019820 0.00345748 -0.02921492
+v 0.00950025 0.00393773 -0.02921492
+v 0.00950025 0.00393773 0.00700055
+v 0.00950025 0.00345748 0.00700055
+v 0.00950025 0.00345748 -0.02921492
+f 1 2 5
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_189.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_189.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73e0c7262b952a7e82923425007d8690941bfcb7
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_189.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.00987309 -0.00555469 0.00941181
+v 0.00987309 -0.00529318 0.00897201
+v 0.01027419 -0.00476360 0.00897201
+v 0.01052347 -0.00454695 0.00919062
+v 0.01053919 -0.00457759 0.00941181
+v 0.00987309 0.00562351 0.00941181
+v 0.00987309 0.00532479 0.00897201
+v 0.01046271 -0.00436969 0.00897201
+v 0.01064074 -0.00386089 0.00897201
+v 0.01067402 -0.00372740 0.00897201
+v 0.01078025 -0.00372740 0.00941181
+v 0.01042971 0.00481819 0.00941181
+v 0.01052333 0.00458622 0.00919195
+v 0.01027122 0.00480396 0.00897201
+v 0.01098250 -0.00220211 0.00897201
+v 0.01112356 -0.00221305 0.00941181
+v 0.01053777 0.00461467 0.00941181
+v 0.01062983 0.00436300 0.00941181
+v 0.01095375 0.00309375 0.00941181
+v 0.01068691 0.00371087 0.00897201
+v 0.01064116 0.00389250 0.00897201
+v 0.01112626 -0.00119984 0.00897201
+v 0.01120585 -0.00163970 0.00941181
+v 0.01112158 0.00224904 0.00941181
+v 0.01098023 0.00223481 0.00897201
+v 0.01118517 -0.00072934 0.00897201
+v 0.01132001 -0.00072934 0.00941181
+v 0.01131958 0.00076860 0.00941181
+v 0.01118390 0.00076860 0.00897201
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 16
+f 1 16 23
+f 1 23 27
+f 1 27 28
+f 1 28 24
+f 1 24 19
+f 1 19 18
+f 1 18 17
+f 1 17 12
+f 1 12 6
+f 1 6 7
+f 1 7 2
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+f 19 24 25
+f 19 25 20
+f 22 26 27
+f 22 27 23
+f 24 28 29
+f 24 29 25
+f 26 29 28
+f 26 28 27
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_190.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_190.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fc86ca1d5e859b97c64549f6cae633eb726fa19
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_190.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v 0.00551926 0.00844260 0.00700021
+v 0.00052779 0.00844260 0.00700021
+v 0.00551926 0.00812193 0.00700021
+v 0.00551926 0.00844260 -0.02989236
+v 0.00052779 0.00812193 0.00700021
+v 0.00052730 0.00844260 -0.00391705
+v 0.00551926 0.00812190 -0.00041501
+v 0.00551926 0.00822201 -0.03001350
+v 0.00518601 0.00844260 -0.03001350
+v 0.00052730 0.00812190 -0.00391705
+v 0.00052779 0.00812190 -0.00041501
+v 0.00052730 0.00844260 -0.03043565
+v 0.00551926 0.00812190 -0.00391338
+v 0.00551926 0.00812193 -0.03004286
+v 0.00548163 0.00812193 -0.03005388
+v 0.00525637 0.00832388 -0.03004286
+v 0.00508388 0.00844260 -0.03003552
+v 0.00052730 0.00812190 -0.03050173
+v 0.00073155 0.00844260 -0.03043565
+v 0.00052730 0.00829079 -0.03048337
+v 0.00194778 0.00812190 -0.03047236
+v 0.00525441 0.00812193 -0.03009793
+v 0.00374354 0.00826464 -0.03034755
+v 0.00374354 0.00844260 -0.03028514
+v 0.00052730 0.00826461 -0.03049071
+v 0.00074719 0.00826461 -0.03049071
+v 0.00088987 0.00812190 -0.03049438
+v 0.00224585 0.00844260 -0.03040261
+v 0.00194778 0.00826464 -0.03046502
+v 0.00194778 0.00812193 -0.03047236
+v 0.00238902 0.00812193 -0.03046134
+v 0.00388622 0.00812193 -0.03035856
+v 0.00224585 0.00826464 -0.03045400
+v 0.00365900 0.00834039 -0.03032919
+v 0.00354417 0.00844260 -0.03030350
+f 1 2 5
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+f 23 33 28
+f 23 28 34
+f 23 34 24
+f 24 34 35
+f 26 29 30
+f 26 30 27
+f 28 35 34
+f 28 33 29
+f 29 33 31
+f 29 31 30
+f 31 33 32
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_192.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_192.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac4e73bb7064cea2691cd8a49460c1217331347e
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_192.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v -0.00560255 -0.00575202 0.02073019
+v -0.00560255 -0.00575202 0.03079029
+v -0.00560255 -0.00536410 0.02073019
+v 0.00805337 -0.00575202 0.02073019
+v -0.00526078 -0.00575202 0.03088434
+v -0.00560255 -0.00536497 0.03089142
+v -0.00560255 -0.00536410 0.03070029
+v 0.00830527 -0.00536410 0.02073019
+v 0.00805745 -0.00575202 0.02576833
+v -0.00374935 -0.00575202 0.03102592
+v -0.00525125 -0.00536410 0.03098041
+v -0.00559846 -0.00536410 0.03089142
+v 0.00830800 -0.00536410 0.02519494
+v 0.00805745 -0.00575202 0.02648835
+v -0.00225018 -0.00575202 0.03105322
+v -0.00374935 -0.00536410 0.03105221
+v 0.00830800 -0.00536410 0.02648835
+v 0.00797167 -0.00575202 0.02734288
+v -0.00075238 -0.00575202 0.03106131
+v -0.00225018 -0.00536410 0.03105828
+v 0.00826851 -0.00536410 0.02687971
+v 0.00790631 -0.00575202 0.02798604
+v -0.00075238 -0.00536410 0.03106131
+v 0.00171901 -0.00575202 0.03106131
+v 0.00815549 -0.00536410 0.02798604
+v 0.00778240 -0.00575202 0.02857561
+v 0.00210707 -0.00536410 0.03106131
+v 0.00321818 -0.00575202 0.03105524
+v 0.00360624 -0.00536410 0.03105828
+v 0.00812281 -0.00536410 0.02814077
+v 0.00808877 -0.00536410 0.02827324
+v 0.00780964 -0.00536410 0.02935530
+v 0.00765169 -0.00575202 0.02907922
+v 0.00471734 -0.00575202 0.03099760
+v 0.00510541 -0.00536410 0.03100872
+v 0.00775381 -0.00536410 0.02951002
+v 0.00737800 -0.00575202 0.02984880
+v 0.00525519 -0.00575202 0.03088333
+v 0.00524566 -0.00536410 0.03098041
+v 0.00748829 -0.00536410 0.03010768
+v 0.00735349 -0.00575202 0.02990442
+v 0.00565824 -0.00575202 0.03078726
+v 0.00670262 -0.00536410 0.03063152
+v 0.00675709 -0.00536410 0.03061433
+v 0.00658824 -0.00575202 0.03054658
+v 0.00631183 -0.00575202 0.03063051
+f 1 2 6
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+f 40 44 45
+f 40 45 41
+f 42 46 43
+f 43 46 45
+f 43 45 44
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_193.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_193.obj
new file mode 100644
index 0000000000000000000000000000000000000000..286a0d3cf85b6073c26eac4ea7c6917265c661c9
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_193.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v 0.00152063 0.00393773 0.00160240
+v -0.00744015 0.00393773 0.00160554
+v 0.00152063 0.00345748 0.00160240
+v 0.00152063 0.00393773 -0.03054115
+v -0.00744015 0.00345748 0.00160554
+v -0.00787325 0.00393773 0.00160554
+v 0.00152063 0.00345748 -0.03054115
+v -0.00075336 0.00376742 -0.03054744
+v -0.00075336 0.00393773 -0.03054429
+v -0.00787325 0.00345748 0.00160554
+v -0.00787325 0.00393773 -0.03035545
+v -0.00044348 0.00345748 -0.03054429
+v -0.00093635 0.00393773 -0.03054429
+v -0.00075336 0.00345748 -0.03054429
+v -0.00524800 0.00345748 -0.03053485
+v -0.00524800 0.00393773 -0.03053485
+v -0.00787325 0.00345748 -0.03039008
+v -0.00787325 0.00376742 -0.03038693
+v -0.00674775 0.00393773 -0.03051912
+v -0.00674775 0.00345748 -0.03052856
+v -0.00674775 0.00376742 -0.03052856
+v -0.00744015 0.00376742 -0.03044358
+v -0.00744015 0.00345748 -0.03044358
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 13
+f 1 13 16
+f 1 16 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 17
+f 3 17 23
+f 3 23 20
+f 3 20 15
+f 3 15 14
+f 3 14 12
+f 3 12 7
+f 4 7 8
+f 4 8 9
+f 6 11 18
+f 6 18 17
+f 6 17 10
+f 7 12 8
+f 8 13 9
+f 8 12 14
+f 8 14 15
+f 8 15 16
+f 8 16 13
+f 11 19 18
+f 15 20 21
+f 15 21 16
+f 16 21 19
+f 17 18 22
+f 17 22 23
+f 18 19 22
+f 19 21 22
+f 20 23 22
+f 20 22 21
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_194.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_194.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2248c55230cbfd872adf10cf0a227639fc76fa30
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_194.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.00986453 0.00405033 0.01763889
+v 0.00988311 0.00401436 0.01763889
+v -0.00975425 0.00405033 0.01763889
+v 0.00943732 0.00405033 0.01794136
+v 0.00962719 0.00387840 0.01794136
+v 0.00966228 0.00380431 0.01794136
+v 0.00995741 0.00382373 0.01763889
+v -0.00989665 0.00376762 0.01763889
+v -0.00964693 0.00371079 0.01794136
+v -0.00973155 0.00405033 0.01765520
+v -0.00922178 0.00405033 0.01794136
+v 0.00970356 0.00368490 0.01794136
+v 0.01031032 0.00272312 0.01763889
+v -0.01041055 0.00226848 0.01763889
+v -0.00951072 0.00405033 0.01780160
+v -0.01008859 0.00226848 0.01794136
+v 0.01009568 0.00226848 0.01794136
+v 0.01041351 0.00226848 0.01763889
+v -0.01046214 0.00170451 0.01763889
+v -0.01049723 0.00125275 0.01763889
+v -0.01053025 0.00076862 0.01763889
+v -0.01017321 0.00076862 0.01794136
+v 0.01009981 0.00222172 0.01794136
+v 0.01053322 0.00076862 0.01763889
+v -0.01054263 -0.00072980 0.01763889
+v -0.01018765 -0.00072980 0.01794136
+v 0.01018030 0.00076862 0.01794136
+v 0.01053941 -0.00010756 0.01763889
+v -0.01041467 -0.00222750 0.01763889
+v -0.01009891 -0.00222750 0.01794136
+v -0.01010304 -0.00217859 0.01794136
+v 0.01018443 -0.00071110 0.01794136
+v 0.01054147 -0.00072908 0.01763889
+v -0.01031148 -0.00267854 0.01763889
+v -0.00990491 -0.00329863 0.01794136
+v 0.01018443 -0.00072908 0.01794136
+v 0.01011426 -0.00222750 0.01794136
+v 0.01048368 -0.00165058 0.01763889
+v -0.01016289 -0.00329863 0.01763889
+v 0.00983358 -0.00329863 0.01794136
+v 0.01043209 -0.00222750 0.01763889
+v 0.01013077 -0.00329863 0.01763889
+f 1 2 7
+f 1 7 13
+f 1 13 18
+f 1 18 24
+f 1 24 28
+f 1 28 33
+f 1 33 38
+f 1 38 41
+f 1 41 42
+f 1 42 39
+f 1 39 34
+f 1 34 29
+f 1 29 25
+f 1 25 21
+f 1 21 20
+f 1 20 19
+f 1 19 14
+f 1 14 8
+f 1 8 3
+f 1 3 10
+f 1 10 15
+f 1 15 11
+f 1 11 4
+f 1 4 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 8 9
+f 3 9 10
+f 4 11 9
+f 4 9 16
+f 4 16 22
+f 4 22 26
+f 4 26 31
+f 4 31 30
+f 4 30 35
+f 4 35 40
+f 4 40 37
+f 4 37 36
+f 4 36 32
+f 4 32 27
+f 4 27 23
+f 4 23 17
+f 4 17 12
+f 4 12 6
+f 4 6 5
+f 6 12 7
+f 7 12 13
+f 8 14 9
+f 9 11 15
+f 9 15 10
+f 9 14 16
+f 12 17 13
+f 13 17 18
+f 14 19 16
+f 16 19 20
+f 16 20 21
+f 16 21 22
+f 17 23 18
+f 18 23 24
+f 21 25 26
+f 21 26 22
+f 23 27 24
+f 24 27 28
+f 25 29 30
+f 25 30 31
+f 25 31 26
+f 27 32 33
+f 27 33 28
+f 29 34 35
+f 29 35 30
+f 32 36 33
+f 33 36 37
+f 33 37 38
+f 34 39 35
+f 35 39 42
+f 35 42 40
+f 37 40 41
+f 37 41 38
+f 40 42 41
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_196.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_196.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb2265f5103a0d32774d2adf8844991bbac7a2d2
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_196.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v 0.00359357 0.00345743 0.00700055
+v 0.00248761 0.00345743 0.00700055
+v 0.00359357 0.00292060 0.00700055
+v 0.00359357 0.00345743 -0.03053935
+v 0.00248761 0.00292060 0.00700055
+v 0.00248761 0.00345743 -0.03053935
+v 0.00359357 0.00292060 -0.03053935
+v 0.00309218 0.00292060 -0.03054302
+v 0.00248761 0.00292060 -0.03053935
+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 9
+f 2 9 5
+f 3 5 9
+f 3 9 8
+f 3 8 7
+f 4 7 8
+f 4 8 6
+f 6 8 9
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_197.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_197.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6b60e2dde559c4b7e5e0f632ea63f0216db14d2
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_197.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.01065285 -0.00127233 -0.02927740
+v 0.00729181 -0.00127233 -0.02927740
+v -0.01064925 -0.00130904 -0.02927740
+v -0.01085072 -0.00127233 -0.02898375
+v 0.00729181 -0.00170004 -0.02927740
+v 0.00729181 -0.00127233 -0.01449990
+v -0.01060069 -0.00170004 -0.02927740
+v -0.01108456 -0.00162037 -0.02827063
+v -0.01108456 -0.00142937 -0.02830824
+v -0.01108456 -0.00127233 -0.02833861
+v -0.01084712 -0.00170004 -0.02890854
+v 0.00729181 -0.00170004 -0.01449990
+v -0.01108456 -0.00127233 -0.01449990
+v -0.01105218 -0.00170004 -0.02834295
+v -0.01108456 -0.00170004 -0.02824025
+v -0.01108456 -0.00170004 -0.01449990
+f 1 2 5
+f 1 5 7
+f 1 7 3
+f 1 3 4
+f 1 4 10
+f 1 10 13
+f 1 13 6
+f 1 6 2
+f 2 6 12
+f 2 12 5
+f 3 7 4
+f 4 8 9
+f 4 9 10
+f 4 7 11
+f 4 11 8
+f 5 12 16
+f 5 16 15
+f 5 15 14
+f 5 14 11
+f 5 11 7
+f 6 13 16
+f 6 16 12
+f 8 11 14
+f 8 14 15
+f 8 15 16
+f 8 16 13
+f 8 13 10
+f 8 10 9
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_198.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_198.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a9e17a6b443e9743a4a185d6059b1070de3cad2
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_198.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00242554 0.00516120 0.00507029
+v -0.00575255 0.00516120 0.00507029
+v -0.00242554 0.00445288 0.00507029
+v -0.00242554 0.00516120 -0.03054356
+v -0.00575255 0.00445288 0.00507029
+v -0.00575255 0.00516120 -0.03050870
+v -0.00242554 0.00445288 -0.03054356
+v -0.00298932 0.00445288 -0.03054356
+v -0.00514415 0.00516120 -0.03053659
+v -0.00575255 0.00445288 -0.03050870
+v -0.00524935 0.00516120 -0.03053310
+v -0.00524935 0.00445288 -0.03053659
+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 10
+f 2 10 5
+f 3 5 10
+f 3 10 12
+f 3 12 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 12
+f 6 12 10
+f 8 12 9
+f 9 12 11
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_199.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_199.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc43b9788d81a2587fac40cfe97cd65975e73d36
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_199.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00676302 0.00812190 0.00328334
+v -0.00676302 0.00844260 0.00328334
+v -0.00075951 0.00812190 0.00328334
+v -0.00676302 0.00812190 0.00628539
+v -0.00676302 0.00844260 0.00628539
+v -0.00075951 0.00844260 0.00328334
+v -0.00075951 0.00812190 0.00628539
+v -0.00075951 0.00844260 0.00628539
+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_2.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c29e97373912551489955c9825e940218ef7490f
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_2.obj
@@ -0,0 +1,162 @@
+# https://github.com/mikedh/trimesh
+v -0.00075020 0.01055062 0.01763902
+v 0.00074414 0.01054935 0.01763902
+v -0.00168176 0.01047045 0.01763902
+v -0.00075212 0.00973621 0.01899658
+v 0.00074029 0.00973239 0.01899658
+v 0.00224231 0.01042591 0.01763902
+v -0.00225029 0.01041701 0.01763902
+v -0.00225029 0.00954152 0.01899658
+v 0.00224039 0.00959242 0.01899658
+v 0.00269368 0.01032030 0.01763902
+v -0.00378112 0.00995127 0.01763902
+v -0.00329518 0.00916167 0.01899658
+v 0.00333713 0.00921448 0.01899658
+v 0.00375585 0.00992900 0.01763902
+v -0.00404811 0.00885627 0.01899658
+v -0.00420945 0.00974766 0.01763902
+v -0.00524857 0.00830399 0.01899658
+v 0.00523866 0.00825627 0.01899658
+v 0.00390567 0.00986792 0.01763902
+v -0.00523896 0.00922339 0.01763902
+v -0.00620894 0.00771100 0.01899658
+v 0.00620479 0.00770973 0.01899658
+v 0.00523290 0.00915976 0.01763902
+v -0.00671025 0.00828872 0.01763902
+v -0.00679476 0.00821428 0.01763902
+v -0.00681013 0.00820028 0.01763902
+v -0.00695802 0.00696594 0.01899658
+v 0.00695004 0.00699585 0.01899658
+v 0.00751474 0.00753348 0.01763902
+v 0.00736492 0.00767664 0.01763902
+v 0.00674260 0.00825945 0.01763902
+v 0.00670611 0.00828681 0.01763902
+v -0.00779931 0.00721217 0.01763902
+v -0.00819114 0.00681578 0.01763902
+v -0.00768598 0.00621770 0.01899658
+v 0.00770489 0.00624379 0.01899658
+v 0.00765879 0.00738587 0.01763902
+v -0.00826989 0.00672862 0.01763902
+v -0.00909772 0.00526077 0.01763902
+v -0.00975654 0.00405061 0.01763902
+v -0.00818345 0.00526777 0.01899658
+v 0.00832529 0.00526522 0.01899658
+v 0.00889767 0.00580286 0.01763902
+v 0.00827343 0.00673498 0.01763902
+v 0.00824462 0.00677570 0.01763902
+v -0.00973349 0.00405061 0.01765523
+v -0.00868669 0.00423321 0.01899405
+v 0.00986572 0.00405061 0.01763902
+v -0.00862522 0.00423321 0.01899658
+v 0.00884581 0.00423321 0.01899658
+v 0.00885157 0.00423321 0.01899405
+v 0.00923380 0.00525822 0.01763902
+v -0.00951068 0.00405061 0.01780170
+v -0.00922257 0.00405061 0.01794139
+v 0.00943739 0.00405061 0.01794139
+f 1 2 6
+f 1 6 10
+f 1 10 14
+f 1 14 19
+f 1 19 23
+f 1 23 32
+f 1 32 31
+f 1 31 30
+f 1 30 29
+f 1 29 37
+f 1 37 45
+f 1 45 44
+f 1 44 43
+f 1 43 52
+f 1 52 48
+f 1 48 40
+f 1 40 39
+f 1 39 38
+f 1 38 34
+f 1 34 33
+f 1 33 26
+f 1 26 25
+f 1 25 24
+f 1 24 20
+f 1 20 16
+f 1 16 11
+f 1 11 7
+f 1 7 3
+f 1 3 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 3 7 4
+f 4 7 8
+f 4 8 12
+f 4 12 15
+f 4 15 17
+f 4 17 21
+f 4 21 27
+f 4 27 35
+f 4 35 41
+f 4 41 49
+f 4 49 50
+f 4 50 42
+f 4 42 36
+f 4 36 28
+f 4 28 22
+f 4 22 18
+f 4 18 13
+f 4 13 9
+f 4 9 5
+f 5 9 6
+f 6 9 10
+f 7 11 8
+f 8 11 12
+f 9 13 10
+f 10 13 14
+f 11 15 12
+f 11 16 17
+f 11 17 15
+f 13 18 19
+f 13 19 14
+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 21 25 26
+f 21 26 27
+f 22 28 29
+f 22 29 30
+f 22 30 31
+f 22 31 32
+f 22 32 23
+f 26 33 27
+f 27 33 34
+f 27 34 35
+f 28 36 29
+f 29 36 37
+f 34 38 35
+f 35 38 39
+f 35 39 40
+f 35 40 41
+f 36 42 43
+f 36 43 44
+f 36 44 45
+f 36 45 37
+f 40 46 47
+f 40 47 41
+f 40 48 55
+f 40 55 54
+f 40 54 53
+f 40 53 46
+f 41 47 49
+f 42 50 51
+f 42 51 48
+f 42 48 52
+f 42 52 43
+f 46 53 47
+f 47 53 54
+f 47 54 49
+f 48 51 55
+f 49 54 55
+f 49 55 50
+f 50 55 51
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_200.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_200.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9338442a95f883376cfd8ba06fbe1ecd46fa0d4
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_200.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.00039191 -0.01096300 0.00774229
+v 0.00039191 -0.01090285 0.00700171
+v 0.00074633 -0.01096515 0.00774229
+v 0.00039191 0.01098094 0.00774229
+v 0.00074633 -0.01090285 0.00700055
+v 0.00039191 -0.01082337 0.00700055
+v 0.00217679 -0.01070307 0.00700055
+v 0.00221069 -0.01074173 0.00774229
+v 0.00074633 0.01097879 0.00774229
+v 0.00074633 0.01091650 0.00700055
+v 0.00039191 0.01091650 0.00700091
+v 0.00039191 0.01089287 0.00700055
+v 0.00221135 -0.01069662 0.00700055
+v 0.00229170 -0.01067944 0.00700055
+v 0.00264084 -0.01057847 0.00700055
+v 0.00258624 -0.01048395 0.00774229
+v 0.00145055 0.01087783 0.00774229
+v 0.00218603 0.01071456 0.00700055
+v 0.00264084 -0.01043884 0.00774229
+v 0.00264084 0.01060715 0.00700055
+v 0.00218735 0.01076397 0.00774229
+v 0.00223578 0.01070382 0.00700055
+v 0.00264084 0.01043745 0.00774229
+v 0.00264084 0.01060501 0.00701028
+f 1 2 3
+f 1 3 8
+f 1 8 16
+f 1 16 19
+f 1 19 23
+f 1 23 21
+f 1 21 17
+f 1 17 9
+f 1 9 4
+f 1 4 11
+f 1 11 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 3 7 8
+f 4 9 10
+f 4 10 11
+f 5 6 12
+f 5 12 10
+f 5 10 18
+f 5 18 22
+f 5 22 20
+f 5 20 15
+f 5 15 14
+f 5 14 13
+f 5 13 7
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 8 15 16
+f 9 17 18
+f 9 18 10
+f 10 12 11
+f 15 19 16
+f 15 20 24
+f 15 24 23
+f 15 23 19
+f 17 21 18
+f 18 21 22
+f 20 22 21
+f 20 21 24
+f 21 23 24
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_201.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_201.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f9dbd1ff2fd9c7a179ba9b8632a5b58fd96bfb6
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_201.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00787325 0.00345748 0.00160607
+v -0.00787325 0.00345748 0.00700055
+v -0.00787325 0.00393773 0.00160607
+v 0.00152063 0.00345748 0.00160607
+v -0.00787325 0.00393773 0.00700055
+v 0.00152063 0.00345748 0.00700055
+v 0.00152063 0.00393773 0.00160607
+v 0.00152063 0.00393773 0.00700055
+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_204.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_204.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dbf4e5bff726985caf553b85695f0a6ef774696
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_204.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.00997921 0.00599511 0.01092140
+v 0.00999287 0.00597540 0.01092140
+v 0.00990863 0.00599511 0.01047087
+v -0.00996898 0.00599511 0.01092140
+v 0.01024561 0.00556409 0.01092140
+v 0.01021146 0.00550288 0.01047087
+v -0.00989384 0.00599511 0.01047087
+v -0.01011698 0.00576845 0.01092140
+v 0.01040044 0.00527571 0.01092140
+v 0.01047558 0.00500651 0.01047087
+v -0.01021716 0.00549718 0.01047087
+v -0.01025132 0.00556098 0.01092140
+v 0.01063497 0.00481512 0.01092140
+v 0.01060309 0.00475392 0.01047087
+v -0.01060652 0.00474770 0.01047087
+v -0.01063840 0.00481097 0.01092140
+v 0.01070783 0.00463359 0.01092140
+v 0.01062814 0.00469998 0.01047087
+v -0.01097311 0.00376740 0.01047087
+v -0.01103914 0.00376740 0.01092140
+v 0.01091275 0.00411180 0.01092140
+v 0.01074426 0.00439967 0.01047087
+v -0.01124861 0.00275184 0.01047087
+v -0.01125089 0.00275184 0.01048309
+v -0.01137612 0.00251014 0.01092140
+v 0.01104026 0.00376740 0.01092140
+v 0.01097651 0.00376740 0.01047087
+v -0.01137612 0.00226844 0.01047087
+v -0.01143760 0.00226844 0.01092140
+v 0.01143417 0.00226844 0.01092140
+v 0.01137269 0.00226844 0.01047087
+v 0.01124518 0.00275184 0.01047087
+v -0.01151274 0.00124043 0.01047087
+v -0.01151501 0.00169115 0.01092140
+v -0.01144443 0.00221813 0.01092140
+v 0.01146605 0.00202725 0.01092140
+v 0.01156395 0.00076999 0.01047087
+v -0.01156966 0.00076999 0.01047087
+v -0.01163569 0.00076999 0.01092140
+v 0.01162315 0.00076999 0.01092140
+v 0.01162543 0.00069634 0.01092140
+v 0.01156395 0.00069634 0.01047087
+v -0.01156966 0.00069634 0.01047087
+v -0.01157649 0.00069634 0.01050267
+v -0.01163114 0.00069634 0.01092140
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+f 22 26 27
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+f 26 30 31
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+f 28 34 35
+f 28 35 29
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+f 33 39 34
+f 36 40 37
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+f 37 41 42
+f 38 43 44
+f 38 44 39
+f 39 44 45
+f 41 45 44
+f 41 44 43
+f 41 43 42
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_205.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_205.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91df4d9b1c440a8d8601a5bcc56d8e20c151064e
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_205.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.01162217 -0.00073153 -0.00181190
+v 0.01162152 -0.00073460 -0.00902954
+v 0.01162217 -0.00072941 -0.00902954
+v 0.01162217 -0.00072941 -0.00199365
+v 0.01162087 0.00076926 -0.00181190
+v 0.01161957 -0.00074630 -0.00181190
+v 0.01161957 -0.00074630 -0.01069568
+v 0.01162152 -0.00073268 -0.01069568
+v 0.01162087 0.00076926 -0.00349196
+v 0.01162152 -0.00072941 -0.01069568
+v 0.01162087 0.00047874 -0.01069568
+v 0.01156427 0.00121407 -0.00902954
+v 0.01156362 0.00121407 -0.00243801
+v 0.01156231 0.00121407 -0.00181190
+v 0.00497636 -0.00074630 -0.00181190
+v 0.00497571 -0.00074630 -0.01069568
+v 0.01162022 0.00076926 -0.01069568
+v 0.01156427 0.00121407 -0.01004001
+v 0.00497636 0.00121407 -0.00181190
+v 0.00497571 -0.00074630 -0.00902954
+v 0.00497571 0.00121407 -0.01069568
+v 0.01157468 0.00112772 -0.01069568
+v 0.01156362 0.00121407 -0.01069568
+v 0.00497571 0.00121407 -0.00902954
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 14
+f 1 14 19
+f 1 19 15
+f 1 15 6
+f 1 6 7
+f 1 7 2
+f 2 7 8
+f 2 8 3
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+f 3 8 10
+f 3 10 11
+f 3 11 9
+f 5 9 18
+f 5 18 12
+f 5 12 13
+f 5 13 14
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+f 6 16 7
+f 7 16 21
+f 7 21 23
+f 7 23 22
+f 7 22 17
+f 7 17 11
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+f 9 11 17
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+f 12 23 21
+f 12 21 24
+f 12 24 19
+f 12 19 14
+f 12 14 13
+f 15 19 24
+f 15 24 20
+f 16 20 24
+f 16 24 21
+f 17 22 18
+f 18 22 23
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_206.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_206.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad47014aed1404ba81b612abfde0897b785db04f
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_206.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.00158128 -0.01171289 0.01319536
+v -0.00158128 -0.01171097 0.01299806
+v -0.00075177 -0.01181851 0.01319536
+v -0.00158128 0.00779527 0.01319536
+v -0.00075177 -0.01181659 0.01299806
+v -0.00158128 -0.01168408 0.01264884
+v 0.00074713 -0.01182235 0.01319536
+v 0.00380166 0.00779719 0.01319536
+v -0.00158128 0.00779527 0.01264884
+v -0.00075177 -0.01178778 0.01264884
+v 0.00074713 -0.01182043 0.01299806
+v 0.00224427 -0.01163607 0.01319536
+v 0.00445451 0.00779719 0.01319536
+v 0.00380166 0.00779719 0.01264884
+v 0.00039737 -0.01178970 0.01264884
+v 0.00074713 -0.01178970 0.01264884
+v 0.00224427 -0.01160534 0.01264884
+v 0.00224427 -0.01163415 0.01299806
+v 0.00244160 -0.01158613 0.01319536
+v 0.00445451 0.00779719 0.01264884
+v 0.00445451 -0.01096390 0.01319536
+v 0.00374317 -0.01121356 0.01264884
+v 0.00374317 -0.01124237 0.01299806
+v 0.00374317 -0.01124429 0.01319536
+v 0.00445451 -0.01093317 0.01264884
+v 0.00445451 -0.01096390 0.01299806
+v 0.00380166 -0.01122317 0.01319536
+v 0.00380166 -0.01119052 0.01264884
+v 0.00380048 -0.01119244 0.01266440
+v 0.00380166 -0.01122124 0.01299806
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+f 22 30 23
+f 23 30 27
+f 23 27 24
+f 25 26 29
+f 25 29 28
+f 26 27 30
+f 26 30 29
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_208.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_208.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0378313245359ddc0eaa19faa6f8067e215fb888
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_208.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.00574800 0.00561617 -0.01794023
+v -0.01020550 0.00561617 -0.01794023
+v -0.00574800 0.00516127 -0.01794023
+v -0.00574800 0.00561617 -0.02843634
+v -0.01022853 0.00557930 -0.01794023
+v -0.01020412 0.00561617 -0.01848174
+v -0.01045378 0.00516127 -0.01794023
+v -0.00574800 0.00516127 -0.02843634
+v -0.00882177 0.00561617 -0.02843634
+v -0.01024097 0.00555913 -0.01794023
+v -0.01020043 0.00561617 -0.01990690
+v -0.01019260 0.00561617 -0.02290007
+v -0.01023452 0.00555459 -0.02148004
+v -0.01024005 0.00555842 -0.01848174
+v -0.01045332 0.00516127 -0.01848174
+v -0.00987339 0.00516127 -0.02843634
+v -0.00960208 0.00561551 -0.02843634
+v -0.00960208 0.00561617 -0.02843531
+v -0.01044595 0.00516127 -0.02297919
+v -0.01045102 0.00516127 -0.01998089
+v -0.01019214 0.00561617 -0.02297713
+v -0.01023130 0.00555268 -0.02297919
+v -0.01024972 0.00516127 -0.02747458
+v -0.00984068 0.00522365 -0.02843634
+v -0.00998901 0.00561617 -0.02747458
+v -0.01042061 0.00516127 -0.02374880
+v -0.01013963 0.00561617 -0.02447731
+v -0.01021103 0.00549937 -0.02447731
+v -0.01027367 0.00516127 -0.02703686
+v -0.01014608 0.00535742 -0.02747458
+v -0.01018385 0.00543654 -0.02597646
+v -0.01007376 0.00561617 -0.02597646
+v -0.01039298 0.00516127 -0.02447731
+v -0.01008297 0.00561617 -0.02576685
+v -0.01035659 0.00516127 -0.02537536
+v -0.01032987 0.00516127 -0.02597646
+f 1 2 5
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+f 1 3 8
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+f 1 11 6
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+f 25 30 31
+f 25 31 32
+f 26 28 33
+f 27 34 31
+f 27 31 28
+f 28 31 35
+f 28 35 33
+f 29 36 31
+f 29 31 30
+f 31 36 35
+f 31 34 32
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_209.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_209.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff558ca1c2687e870bb43275f34dfd0029642630
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_209.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01052209 -0.00074630 -0.02946339
+v 0.01052209 -0.00012995 -0.02968604
+v 0.01076894 -0.00074630 -0.02923568
+v 0.01052209 -0.00074630 -0.01245605
+v 0.01052209 0.00000314 -0.02968604
+v 0.01054911 0.00000314 -0.02964050
+v 0.01086047 -0.00064667 -0.02910412
+v 0.01085959 -0.00074630 -0.02908556
+v 0.01112224 -0.00074630 -0.01245605
+v 0.01052209 0.00000314 -0.01245605
+v 0.01085788 0.00000314 -0.02910074
+v 0.01112224 0.00000314 -0.02835352
+v 0.01112224 -0.00033178 -0.02835858
+v 0.01112224 -0.00068431 -0.02836364
+v 0.01112224 -0.00074630 -0.02834171
+v 0.01112224 0.00000314 -0.01245605
+f 1 2 3
+f 1 3 8
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+f 1 15 9
+f 1 9 4
+f 1 4 10
+f 1 10 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 10 16
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+f 5 12 11
+f 5 11 6
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 14
+f 7 14 8
+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_21.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76f72f10cfd7a3d39fe44556ed675a2e488a36c7
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_21.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.01136163 -0.00258256 -0.01931149
+v 0.01136119 -0.00258256 -0.01812727
+v 0.01124518 -0.00302299 -0.01768454
+v 0.01124547 -0.00302299 -0.01918552
+v 0.01136163 -0.00258256 -0.02297574
+v 0.01124443 -0.00302299 -0.01618717
+v 0.01136000 -0.00258256 -0.01662630
+v 0.01123313 -0.00302299 0.00029836
+v 0.01123417 -0.00302299 -0.00119902
+v 0.01123938 -0.00302299 -0.00869309
+v 0.01124042 -0.00302299 -0.01019407
+v 0.01124547 -0.00302299 -0.02147837
+v 0.01124532 -0.00302299 -0.02297574
+v 0.01122748 -0.00302299 -0.02368124
+v 0.01133263 -0.00258256 -0.02412037
+v 0.01135672 -0.00258256 -0.01362795
+v 0.01135182 -0.00258256 -0.00913583
+v 0.01134676 -0.00258256 -0.00463650
+v 0.01134170 -0.00258256 -0.00014078
+v 0.01134126 -0.00258256 0.00017238
+v 0.01123209 -0.00302299 0.00100385
+v 0.01120234 -0.00302299 -0.02447672
+v 0.01132133 -0.00258256 -0.02447672
+v 0.01133992 -0.00258256 0.00100385
+v 0.01133739 -0.00258256 0.00135660
+v 0.01122614 -0.00302299 0.00179933
+v 0.01111950 -0.00302299 -0.02597410
+v 0.01123640 -0.00258256 -0.02597410
+v 0.01132742 -0.00258256 0.00250483
+v 0.01122004 -0.00302299 0.00250483
+v 0.01107800 -0.00302299 -0.02667959
+v 0.01118762 -0.00258256 -0.02680557
+v 0.01122242 -0.00258256 0.00400220
+v 0.01110924 -0.00302299 0.00400220
+v 0.01103115 -0.00302299 -0.02747507
+v 0.01114820 -0.00258256 -0.02747507
+v 0.01099680 -0.00258256 0.00548158
+v 0.01088004 -0.00302299 0.00545998
+v 0.01073622 -0.00302299 -0.02863769
+v 0.01079735 -0.00258256 -0.02873488
+v 0.01092407 -0.00258256 0.00585592
+v 0.01071673 -0.00302299 0.00629506
+v 0.01049572 -0.00302299 -0.02899044
+v 0.01051357 -0.00258256 -0.02915242
+v 0.01070261 -0.00258256 0.00670539
+v 0.01061991 -0.00302299 0.00666940
+v 0.01021179 -0.00302299 -0.02938638
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+v 0.01040619 -0.00258256 -0.02930719
+v 0.01066200 -0.00258256 0.00686017
+v 0.01060147 -0.00258256 0.00700055
+v 0.01047505 -0.00302299 0.00700055
+v 0.00984235 -0.00302299 -0.02963474
+v 0.00984235 -0.00258256 -0.02977152
+v 0.00984235 -0.00258256 0.00700055
+v 0.00984235 -0.00302299 0.00700055
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+f 1 5 15
+f 1 15 23
+f 1 23 28
+f 1 28 32
+f 1 32 36
+f 1 36 40
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+f 31 36 32
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+f 51 56 52
+f 53 56 55
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_211.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_211.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87d99baacfedd7a31e744f6a362cb546876a0469
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_211.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00531703 0.00508341 0.00972526
+v 0.00531703 0.00310758 0.00972526
+v 0.00531703 0.00508341 0.00941181
+v -0.01026735 0.00508341 0.00972526
+v 0.00531703 0.00310758 0.00941181
+v -0.01099881 0.00310758 0.00972526
+v -0.01015396 0.00508341 0.00941181
+v -0.01054045 0.00460701 0.00941181
+v -0.01055962 0.00464685 0.00972526
+v -0.01089341 0.00310758 0.00941181
+v -0.01084869 0.00376754 0.00972526
+v -0.01077363 0.00376754 0.00941181
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+f 3 12 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 12
+f 6 12 10
+f 8 12 11
+f 8 11 9
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_213.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_213.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc095cc5b740fe1d07f39678fe28a235a1a3441b
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_213.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.01156465 0.00121407 -0.00693355
+v 0.01156401 0.00121407 -0.00878294
+v 0.01153241 0.00146682 -0.00878294
+v 0.01150080 0.00171577 -0.00878294
+v 0.01146791 0.00197372 -0.00769310
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+v 0.00497635 0.00121407 -0.00878294
+v 0.01146791 0.00197372 -0.00878294
+v 0.01146726 0.00197372 -0.00619379
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+v 0.00497635 0.00197372 -0.00878294
+v 0.00497635 0.00121407 -0.00181190
+v 0.01146275 0.00197372 -0.00181190
+v 0.01148210 0.00182887 -0.00181190
+v 0.00497635 0.00197372 -0.00181190
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+f 10 15 11
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_214.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_214.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df9bcc2f4833f07629216138fb49cca6bcfef66a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_214.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v -0.00448633 -0.00950308 0.00700055
+v -0.00534192 -0.00950308 0.00700055
+v -0.00448633 -0.00983238 0.00700055
+v -0.00448633 -0.00950308 -0.02952712
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+v -0.00524658 -0.00954872 0.00700055
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+v -0.00448633 -0.00983238 -0.02910878
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+v -0.00524658 -0.00954482 -0.02901939
+v -0.00503383 -0.00950308 -0.02919817
+v -0.00564966 -0.00950308 0.00637483
+v -0.00554499 -0.00983238 0.00545592
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+v -0.00522324 -0.00983238 0.00610667
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+v -0.00502756 -0.00983238 -0.02877983
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_215.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_215.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6f556252c05c6cd3a6d790cea729a2fb91361e6
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_215.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.00775312 0.00874640 -0.00798459
+v -0.00774583 0.00874640 0.00100513
+v -0.00749518 0.00901225 0.00100513
+v -0.00749518 0.00901225 -0.00648915
+v -0.00749372 0.00901350 -0.00798459
+v 0.00713439 0.00874640 -0.00798459
+v -0.00773709 0.00874640 0.00233489
+v -0.00748935 0.00900776 0.00250485
+v -0.00698951 0.00935727 0.00200886
+v -0.00699679 0.00935727 0.00100513
+v -0.00699679 0.00935727 0.00050274
+v -0.00699388 0.00935727 -0.00248814
+v -0.00698805 0.00935727 -0.00697231
+v -0.00698659 0.00935727 -0.00798459
+v 0.00713439 0.00922536 -0.00798459
+v 0.00713439 0.00874640 0.00293563
+v -0.00773563 0.00874640 0.00250485
+v -0.00769774 0.00874640 0.00293563
+v -0.00767588 0.00876930 0.00293563
+v -0.00746166 0.00898462 0.00293563
+v -0.00724599 0.00913788 0.00293563
+v -0.00692976 0.00935727 0.00293563
+v -0.00698513 0.00935727 0.00250485
+v -0.00687875 0.00935727 -0.00798459
+v 0.00695223 0.00935637 -0.00798459
+v 0.00713439 0.00922811 -0.00714761
+v 0.00713439 0.00917890 0.00293563
+v 0.00687645 0.00935727 0.00293563
+v 0.00695223 0.00935727 -0.00750891
+v 0.00695660 0.00935727 -0.00600813
+v 0.00713439 0.00922913 -0.00648915
+v 0.00713439 0.00921567 0.00250485
+v 0.00692891 0.00935727 0.00250485
+v 0.00695660 0.00935727 -0.00450949
+v 0.00713439 0.00923056 -0.00498837
+v 0.00713439 0.00923026 -0.00565431
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+v 0.00713439 0.00922321 0.00184531
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+v 0.00695514 0.00935727 -0.00301191
+v 0.00713439 0.00922829 0.00033919
+v 0.00713439 0.00922997 -0.00265596
+v 0.00713439 0.00923050 -0.00415567
+v 0.00713439 0.00922476 0.00154281
+v 0.00695077 0.00935727 0.00100513
+v 0.00695223 0.00935727 -0.00002318
+v 0.00713439 0.00922745 0.00100513
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_217.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_217.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92a972dde5b62c4a61581ca1a25949fec5b47e95
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_217.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.00507000 0.00844260 0.00328326
+v -0.00676344 0.00844260 0.00328326
+v -0.00507000 0.00812190 0.00328326
+v -0.00507000 0.00844260 -0.03003843
+v -0.00676344 0.00844260 -0.02916559
+v -0.00676344 0.00812190 0.00328326
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+f 16 20 17
+f 17 20 18
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_219.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_219.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45caf999e19496d19e41d08f177c3c179630d6e5
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_219.obj
@@ -0,0 +1,303 @@
+# https://github.com/mikedh/trimesh
+v 0.01146795 0.00197390 -0.00769749
+v 0.01146726 0.00197390 -0.00619784
+v 0.01146795 0.00197390 -0.00948834
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+v 0.01143030 0.00226859 -0.00799233
+v 0.01142962 0.00226859 -0.00649268
+v 0.01146635 0.00197390 -0.00470183
+v 0.01146749 0.00197390 -0.01248400
+v 0.01143030 0.00226859 -0.01099163
+v 0.01125629 0.00292041 -0.00948834
+v 0.01125606 0.00292041 -0.00799233
+v 0.01125560 0.00292041 -0.00714422
+v 0.01142847 0.00226859 -0.00499302
+v 0.01146497 0.00197390 -0.00319854
+v 0.01146703 0.00197390 -0.01398001
+v 0.01142962 0.00226859 -0.01398001
+v 0.01125583 0.00292041 -0.01099163
+v 0.01125446 0.00292041 -0.00564821
+v 0.01125308 0.00292041 -0.00431600
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+v 0.01146313 0.00197390 -0.00169889
+v 0.01146566 0.00197390 -0.01547966
+v 0.01142801 0.00226859 -0.01547966
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+v 0.01125354 0.00292041 -0.01547966
+v 0.01125423 0.00292041 -0.01480264
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+v 0.01125193 0.00292041 -0.00349701
+v 0.01142434 0.00226859 -0.00199372
+v 0.01145923 0.00197390 0.00100194
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+v 0.01125078 0.00292041 -0.01697568
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+v 0.01141974 0.00226859 0.00100194
+v 0.01145762 0.00197390 0.00129678
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+v 0.01119293 0.00292041 -0.02447394
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+v 0.00947646 0.00292041 -0.03000299
+v 0.00912270 0.00236987 -0.03018499
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+v 0.00962866 0.00197390 -0.03004303
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+f 19 28 20
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+f 97 100 101
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_22.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1058c7bd7884e7cb6145a611953383c03782aded
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_22.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.00643657 -0.00893420 0.00843135
+v 0.00619564 -0.00911760 0.00843135
+v 0.00529840 -0.00958989 0.00774243
+v 0.00583800 -0.00902232 0.00774243
+v 0.00584427 -0.00901537 0.00774243
+v 0.00591329 -0.00893420 0.00774243
+v -0.00638324 -0.00893420 0.00843135
+v 0.00524570 -0.00971215 0.00843135
+v 0.00516287 -0.00975284 0.00843135
+v 0.00452289 -0.00996936 0.00774243
+v -0.00592019 -0.00893420 0.00774243
+v -0.00530656 -0.00958805 0.00774243
+v -0.00525511 -0.00971277 0.00843135
+v 0.00394564 -0.01029301 0.00843135
+v 0.00448022 -0.00998980 0.00774243
+v -0.00376557 -0.01022656 0.00774243
+v -0.00375051 -0.01036763 0.00843135
+v 0.00374361 -0.01036579 0.00843135
+v 0.00221015 -0.01074383 0.00774243
+v -0.00221203 -0.01074383 0.00774243
+v -0.00221705 -0.01079535 0.00843135
+v 0.00324166 -0.01053140 0.00843135
+v 0.00221894 -0.01079535 0.00843135
+v 0.00221015 -0.01079740 0.00843135
+v 0.00074571 -0.01102270 0.00843135
+v 0.00074571 -0.01096505 0.00774243
+v -0.00150930 -0.01085239 0.00774243
+v -0.00221203 -0.01079637 0.00843135
+v -0.00075261 -0.01102107 0.00843135
+v -0.00075261 -0.01096321 0.00774243
+v -0.00082163 -0.01101085 0.00843135
+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 13
+f 1 13 17
+f 1 17 21
+f 1 21 28
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+f 1 31 29
+f 1 29 25
+f 1 25 24
+f 1 24 23
+f 1 23 22
+f 1 22 18
+f 1 18 14
+f 1 14 9
+f 1 9 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
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+f 3 15 19
+f 3 19 26
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+f 3 30 27
+f 3 27 20
+f 3 20 16
+f 3 16 12
+f 3 12 11
+f 3 11 6
+f 3 6 5
+f 3 5 4
+f 7 11 12
+f 7 12 13
+f 9 14 15
+f 9 15 10
+f 12 16 17
+f 12 17 13
+f 14 18 15
+f 15 18 19
+f 16 20 17
+f 17 20 21
+f 18 22 19
+f 19 22 23
+f 19 23 24
+f 19 24 25
+f 19 25 26
+f 20 27 28
+f 20 28 21
+f 25 29 26
+f 26 29 30
+f 27 30 29
+f 27 29 31
+f 27 31 28
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_222.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_222.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a747fa6b1bffc53b7c2d75f5157822081e33b070
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_222.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.00528602 -0.01002750 0.00941181
+v 0.00528602 -0.00986819 0.00897201
+v 0.00529814 -0.00986229 0.00897201
+v 0.00535247 -0.00999210 0.00941181
+v 0.00528602 0.01006490 0.00941181
+v 0.00528602 0.00945717 0.00897201
+v 0.00640674 -0.00926046 0.00897201
+v 0.00650193 -0.00932733 0.00941181
+v 0.00589308 0.00973251 0.00941181
+v 0.00625677 0.00938637 0.00897201
+v 0.00612252 0.00945717 0.00897201
+v 0.00528602 0.01004916 0.00937117
+v 0.00528602 0.00989575 0.00897502
+v 0.00716826 -0.00878844 0.00941181
+v 0.00793158 -0.00791127 0.00897201
+v 0.00649699 0.00936080 0.00941181
+v 0.00640315 0.00929589 0.00897201
+v 0.00802497 -0.00800567 0.00941181
+v 0.00927726 -0.00639490 0.00897201
+v 0.00880265 -0.00715997 0.00941181
+v 0.00686922 0.00909528 0.00941181
+v 0.00649295 0.00923099 0.00897201
+v 0.00987309 -0.00555312 0.00941181
+v 0.00934326 -0.00648733 0.00941181
+v 0.00987309 -0.00529351 0.00897201
+v 0.00987309 -0.00545675 0.00924693
+v 0.00755082 0.00849542 0.00941181
+v 0.00768372 0.00818074 0.00897201
+v 0.00987309 0.00562199 0.00941181
+v 0.00987309 0.00532501 0.00897201
+v 0.00802003 0.00803914 0.00941181
+v 0.00792664 0.00794670 0.00897201
+v 0.00971594 0.00592094 0.00941181
+v 0.00944159 0.00614515 0.00897201
+v 0.00847533 0.00757498 0.00941181
+v 0.00816192 0.00770479 0.00897201
+v 0.00936975 0.00628085 0.00897201
+v 0.00934236 0.00652473 0.00941181
+v 0.00907565 0.00689842 0.00941181
+v 0.00921125 0.00652277 0.00897201
+v 0.00927726 0.00643033 0.00897201
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 14
+f 1 14 18
+f 1 18 20
+f 1 20 24
+f 1 24 23
+f 1 23 29
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+f 6 13 11
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+f 7 15 14
+f 9 16 10
+f 10 16 17
+f 11 13 12
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+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 19 25 26
+f 19 26 23
+f 21 27 22
+f 22 27 28
+f 23 26 25
+f 23 25 30
+f 23 30 29
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+f 27 32 28
+f 29 30 33
+f 30 34 33
+f 31 35 32
+f 32 35 36
+f 33 34 37
+f 33 37 38
+f 35 39 40
+f 35 40 36
+f 37 41 38
+f 38 41 39
+f 39 41 40
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_223.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_223.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d67f23489c54467304f28994a734b804955da5c
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_223.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.00388822 -0.00170008 -0.01559488
+v -0.01150149 -0.00170008 -0.01559488
+v -0.00388822 -0.00258256 -0.01559488
+v -0.00388822 -0.00170008 -0.02579163
+v -0.01150149 -0.00170008 -0.01645569
+v -0.01149701 -0.00173947 -0.01559488
+v -0.01134424 -0.00258256 -0.01559488
+v -0.00388822 -0.00258256 -0.02579163
+v -0.00388897 -0.00170008 -0.02817457
+v -0.01149478 -0.00170008 -0.01945438
+v -0.01142547 -0.00222856 -0.02297644
+v -0.01143590 -0.00222856 -0.01559488
+v -0.01134499 -0.00258256 -0.01583872
+v -0.00388897 -0.00258256 -0.02817457
+v -0.01110353 -0.00170008 -0.02817457
+v -0.01148807 -0.00170008 -0.02244813
+v -0.01148658 -0.00170008 -0.02297644
+v -0.01139045 -0.00222856 -0.02447640
+v -0.01133679 -0.00258256 -0.02297644
+v -0.01134201 -0.00258256 -0.01883617
+v -0.01134350 -0.00258256 -0.01733867
+v -0.01133828 -0.00258256 -0.02183362
+v -0.01096641 -0.00258256 -0.02817457
+v -0.01104019 -0.00222856 -0.02817457
+v -0.01131667 -0.00170008 -0.02747508
+v -0.01145156 -0.00170008 -0.02447640
+v -0.01129953 -0.00258256 -0.02447640
+v -0.01136287 -0.00204422 -0.02579163
+v -0.01134126 -0.00222856 -0.02579163
+v -0.01102230 -0.00258256 -0.02799107
+v -0.01099920 -0.00242534 -0.02817457
+v -0.01125258 -0.00222856 -0.02747508
+v -0.01133381 -0.00222856 -0.02597635
+v -0.01139417 -0.00170008 -0.02597635
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+v -0.01124214 -0.00258256 -0.02597635
+v -0.01110726 -0.00258256 -0.02771029
+v -0.01115719 -0.00258256 -0.02747508
+f 1 2 6
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+f 18 27 19
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+f 18 29 27
+f 23 30 31
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+f 24 32 25
+f 25 32 33
+f 25 33 34
+f 26 35 28
+f 27 29 36
+f 28 35 33
+f 28 33 29
+f 29 33 36
+f 30 37 32
+f 32 37 38
+f 32 38 36
+f 32 36 33
+f 33 35 34
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_224.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_224.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29563b1d14930bbc016d9412aa60a7d31be51faa
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_224.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00054795 -0.00302299 0.00700049
+v -0.00054795 -0.00424556 0.00700049
+v -0.00054795 -0.00302299 0.00636253
+v -0.01050202 -0.00302299 0.00700049
+v -0.00054795 -0.00424556 0.00636253
+v -0.01002264 -0.00424556 0.00700049
+v -0.01066643 -0.00302299 0.00636253
+v -0.01052975 -0.00302299 0.00693173
+v -0.01026629 -0.00372637 0.00700049
+v -0.01022865 -0.00424556 0.00636253
+v -0.01024945 -0.00376611 0.00700049
+v -0.01034553 -0.00405358 0.00636253
+v -0.01063870 -0.00319713 0.00636253
+v -0.01060007 -0.00327170 0.00654558
+v -0.01062285 -0.00302299 0.00665431
+v -0.01061394 -0.00335081 0.00636253
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 15
+f 1 15 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 12
+f 3 12 16
+f 3 16 13
+f 3 13 7
+f 4 8 9
+f 6 11 12
+f 6 12 10
+f 7 13 14
+f 7 14 15
+f 8 15 14
+f 8 14 9
+f 9 14 12
+f 9 12 11
+f 12 14 16
+f 13 16 14
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_225.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_225.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c3dc4dc3b9d4d8805c4d26b1df577f1be21234b
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_225.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00575129 0.00445288 0.00507047
+v -0.00575129 0.00445288 0.00700055
+v -0.00575129 0.00516120 0.00507047
+v 0.01050536 0.00445288 0.00507047
+v -0.00575129 0.00516120 0.00700055
+v 0.00994193 0.00445288 0.00700055
+v 0.01013929 0.00516120 0.00507047
+v 0.01048785 0.00450434 0.00507047
+v 0.01046875 0.00445288 0.00528531
+v 0.00960451 0.00516120 0.00700055
+v 0.01036052 0.00445288 0.00578393
+v 0.01010109 0.00516120 0.00530552
+v 0.01035097 0.00477757 0.00507047
+v 0.01009313 0.00513949 0.00541587
+v 0.01003583 0.00516120 0.00557364
+v 0.01008040 0.00516120 0.00541738
+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 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 16
+f 3 16 12
+f 3 12 7
+f 4 8 9
+f 6 11 10
+f 7 12 13
+f 8 13 9
+f 9 13 14
+f 9 14 11
+f 10 11 15
+f 11 14 15
+f 12 16 14
+f 12 14 13
+f 14 16 15
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_227.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_227.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b426ed61aadbee3eb9f98ecfe0dfee8e7935825
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_227.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.00165782 0.00561617 0.00438751
+v -0.00574800 0.00561617 0.00438751
+v -0.00165782 0.00516127 0.00438751
+v -0.00165782 0.00561617 -0.03054661
+v -0.00574800 0.00561617 -0.03043377
+v -0.00574800 0.00516127 0.00438751
+v -0.00165782 0.00516127 -0.03054319
+v -0.00225236 0.00516127 -0.03054319
+v -0.00427784 0.00526653 -0.03053977
+v -0.00375015 0.00561617 -0.03053635
+v -0.00524954 0.00561617 -0.03051584
+v -0.00574800 0.00538088 -0.03048506
+v -0.00574800 0.00516127 -0.03050900
+v -0.00514424 0.00516127 -0.03053635
+v -0.00524954 0.00526653 -0.03053293
+v -0.00574800 0.00526653 -0.03050900
+v -0.00524954 0.00516127 -0.03053293
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 10
+f 1 10 11
+f 1 11 5
+f 1 5 2
+f 2 5 12
+f 2 12 16
+f 2 16 13
+f 2 13 6
+f 3 6 13
+f 3 13 17
+f 3 17 14
+f 3 14 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 4 9 10
+f 5 11 12
+f 8 14 9
+f 9 14 10
+f 10 14 15
+f 10 15 11
+f 11 16 12
+f 11 15 16
+f 13 16 15
+f 13 15 17
+f 14 17 15
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_229.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_229.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec4a4e3dc8fc86760c6028a4837db70247d68aa6
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_229.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.00388802 -0.00258256 -0.02817480
+v -0.00388802 -0.00170008 -0.02817480
+v 0.01093986 -0.00258256 -0.02817480
+v -0.00388802 -0.00258256 -0.01559624
+v -0.00388802 -0.00170008 -0.01559624
+v 0.01106800 -0.00170008 -0.02817480
+v 0.01098961 -0.00239727 -0.02817480
+v 0.01114639 -0.00258256 -0.02747530
+v 0.01135744 -0.00258256 -0.01559624
+v 0.01150970 -0.00170008 -0.01559624
+v 0.01130920 -0.00170008 -0.02747530
+v 0.01105142 -0.00197106 -0.02817480
+v 0.01103484 -0.00222856 -0.02817480
+v 0.01124136 -0.00222856 -0.02747530
+v 0.01123534 -0.00258256 -0.02597533
+v 0.01135895 -0.00258256 -0.01662947
+v 0.01145242 -0.00222856 -0.01686961
+v 0.01144940 -0.00222856 -0.01559624
+v 0.01145392 -0.00218917 -0.01559624
+v 0.01151121 -0.00170008 -0.01686961
+v 0.01136649 -0.00170008 -0.02650365
+v 0.01141624 -0.00222856 -0.02447660
+v 0.01132126 -0.00258256 -0.02447660
+v 0.01136046 -0.00258256 -0.01812944
+v 0.01151272 -0.00170008 -0.01848288
+v 0.01145242 -0.00222856 -0.02297663
+v 0.01144789 -0.00170008 -0.02500368
+v 0.01136046 -0.00258256 -0.02297663
+v 0.01133182 -0.00258256 -0.02412069
+v 0.01147352 -0.00170008 -0.02447660
+v 0.01149764 -0.00170008 -0.02350617
+v 0.01151272 -0.00170008 -0.01998161
+v 0.01150970 -0.00170008 -0.02297663
+f 1 2 6
+f 1 6 12
+f 1 12 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 23
+f 1 23 29
+f 1 29 28
+f 1 28 24
+f 1 24 16
+f 1 16 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 5 10
+f 2 10 20
+f 2 20 25
+f 2 25 32
+f 2 32 33
+f 2 33 31
+f 2 31 30
+f 2 30 27
+f 2 27 21
+f 2 21 11
+f 2 11 6
+f 3 7 8
+f 4 9 18
+f 4 18 19
+f 4 19 10
+f 4 10 5
+f 6 11 12
+f 7 13 14
+f 7 14 8
+f 8 14 15
+f 9 16 17
+f 9 17 18
+f 10 19 17
+f 10 17 20
+f 11 14 13
+f 11 13 12
+f 11 21 14
+f 14 21 22
+f 14 22 15
+f 15 22 23
+f 16 24 17
+f 17 25 20
+f 17 19 18
+f 17 24 28
+f 17 28 26
+f 17 26 32
+f 17 32 25
+f 21 27 22
+f 22 28 29
+f 22 29 23
+f 22 27 30
+f 22 30 31
+f 22 31 26
+f 22 26 28
+f 26 31 33
+f 26 33 32
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_23.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..478f7b3fd3c241690fdc0384b80c85d2f7ba19f6
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_23.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00190538 0.00445281 0.00700006
+v -0.00580930 0.00445281 0.00700006
+v 0.00190538 0.00393773 0.00700006
+v 0.00190538 0.00445281 -0.03053924
+v -0.00580930 0.00393773 0.00700006
+v -0.00580930 0.00445281 -0.03050616
+v 0.00190538 0.00393773 -0.03053924
+v 0.00074546 0.00393773 -0.03054291
+v -0.00075353 0.00445281 -0.03054659
+v -0.00580930 0.00393773 -0.03052454
+v -0.00524972 0.00445281 -0.03053556
+v -0.00075353 0.00393773 -0.03054659
+v -0.00149056 0.00445281 -0.03054659
+v -0.00524972 0.00393773 -0.03053556
+v -0.00298803 0.00445281 -0.03054291
+v -0.00093627 0.00393773 -0.03054659
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 13
+f 1 13 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 16
+f 3 16 12
+f 3 12 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 10
+f 8 12 9
+f 9 12 16
+f 9 16 13
+f 10 11 14
+f 11 15 14
+f 13 16 15
+f 14 15 16
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_230.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_230.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3efda6c3ba003582febf699314799dc9277d94e3
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_230.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.00265681 -0.01059511 0.00700055
+v -0.00230169 -0.01068105 0.00700055
+v -0.00221216 -0.01074336 0.00774229
+v -0.00265681 -0.01041678 0.00774229
+v -0.00265681 0.01058358 0.00700055
+v -0.00221335 -0.01070039 0.00700055
+v -0.00147475 -0.01085724 0.00774229
+v -0.00265681 0.01043103 0.00774229
+v -0.00254490 0.01052342 0.00774229
+v -0.00219306 0.01076836 0.00774229
+v -0.00222738 0.01070820 0.00700055
+v -0.00075286 -0.01090021 0.00700055
+v -0.00075286 -0.01096252 0.00774229
+v -0.00075286 0.01098537 0.00774229
+v -0.00219366 0.01071465 0.00700055
+v 0.00039161 -0.01090236 0.00700171
+v 0.00039161 -0.01096467 0.00774229
+v 0.00039161 -0.01082286 0.00700055
+v 0.00039161 0.01097892 0.00774229
+v 0.00039161 0.01094670 0.00735635
+v 0.00039161 0.01093166 0.00717707
+v -0.00075286 0.01092306 0.00700055
+v 0.00039161 0.01089083 0.00700055
+v 0.00039161 0.01091662 0.00700091
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 11
+f 1 11 15
+f 1 15 22
+f 1 22 23
+f 1 23 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 13
+f 3 13 17
+f 3 17 19
+f 3 19 14
+f 3 14 10
+f 3 10 9
+f 3 9 8
+f 3 8 4
+f 5 8 9
+f 5 9 10
+f 5 10 11
+f 6 12 13
+f 6 13 7
+f 10 14 15
+f 10 15 11
+f 12 16 17
+f 12 17 13
+f 12 18 16
+f 14 19 20
+f 14 20 21
+f 14 21 22
+f 14 22 15
+f 16 18 23
+f 16 23 24
+f 16 24 21
+f 16 21 20
+f 16 20 19
+f 16 19 17
+f 21 24 22
+f 22 24 23
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_231.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_231.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa2f211e36992ef92fcf963b44130f8cd4ca9c26
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_231.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.00054795 -0.00302299 0.00636253
+v -0.00054795 -0.00424556 0.00636253
+v -0.00054795 -0.00302299 -0.00498712
+v -0.01066633 -0.00302299 0.00636253
+v -0.01022840 -0.00424556 0.00636253
+v -0.00054795 -0.00424556 -0.00459162
+v -0.00054795 -0.00424508 -0.00498712
+v -0.01122550 -0.00302299 -0.00498712
+v -0.01088268 -0.00302299 0.00546376
+v -0.01061407 -0.00335081 0.00636253
+v -0.01034546 -0.00405358 0.00636253
+v -0.01040921 -0.00424556 0.00593592
+v -0.01084505 -0.00424556 -0.00423166
+v -0.01084610 -0.00424460 -0.00498712
+v -0.01122445 -0.00302299 -0.00428499
+v -0.01103736 -0.00372446 -0.00498712
+v -0.01068723 -0.00375378 0.00542932
+v -0.01099660 -0.00302299 0.00470830
+v -0.01043116 -0.00424556 0.00585815
+v -0.01103632 -0.00372757 -0.00498712
+v -0.01084087 -0.00424556 -0.00123649
+v -0.01122132 -0.00302299 -0.00278629
+v -0.01103423 -0.00372757 -0.00349065
+v -0.01090881 -0.00372757 0.00400284
+v -0.01058167 -0.00424556 0.00508048
+v -0.01109798 -0.00302299 0.00400284
+v -0.01083669 -0.00424556 0.00025887
+v -0.01102273 -0.00372757 0.00100544
+v -0.01102691 -0.00372757 -0.00049214
+v -0.01103109 -0.00372757 -0.00199195
+v -0.01121923 -0.00302299 -0.00199195
+v -0.01115129 -0.00302299 0.00320849
+v -0.01100914 -0.00372757 0.00250414
+v -0.01072695 -0.00424556 0.00400284
+v -0.01083460 -0.00424556 0.00100544
+v -0.01120459 -0.00302299 0.00170980
+v -0.01121086 -0.00302299 0.00100544
+v -0.01082310 -0.00424556 0.00250414
+v -0.01121504 -0.00302299 -0.00049214
+v -0.01119728 -0.00302299 0.00250414
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 22
+f 1 22 31
+f 1 31 39
+f 1 39 37
+f 1 37 36
+f 1 36 40
+f 1 40 32
+f 1 32 26
+f 1 26 18
+f 1 18 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 19
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+f 2 25 34
+f 2 34 38
+f 2 38 35
+f 2 35 27
+f 2 27 21
+f 2 21 13
+f 2 13 6
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+f 3 14 20
+f 3 20 16
+f 3 16 8
+f 4 9 10
+f 5 11 12
+f 6 13 7
+f 7 13 14
+f 8 16 15
+f 9 17 10
+f 9 18 17
+f 10 17 19
+f 10 19 12
+f 10 12 11
+f 13 20 14
+f 13 21 20
+f 15 16 23
+f 15 23 30
+f 15 30 22
+f 16 20 23
+f 17 18 24
+f 17 24 25
+f 17 25 19
+f 18 26 24
+f 20 21 23
+f 21 27 28
+f 21 28 29
+f 21 29 30
+f 21 30 23
+f 22 30 31
+f 24 26 32
+f 24 32 33
+f 24 33 34
+f 24 34 25
+f 27 35 28
+f 28 36 37
+f 28 37 39
+f 28 39 29
+f 28 35 38
+f 28 38 33
+f 28 33 36
+f 29 39 31
+f 29 31 30
+f 32 40 33
+f 33 38 34
+f 33 40 36
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_232.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_232.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a12cd1948352b14c82f84413ce9d9e27812a6aa2
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_232.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.00150590 -0.01086565 -0.01502576
+v -0.00416038 -0.01086565 -0.01502576
+v 0.00150590 -0.01153788 -0.01502576
+v 0.00150590 -0.01086565 -0.02649047
+v -0.00403445 -0.01091528 -0.01502576
+v -0.00415927 -0.01086565 -0.01548367
+v 0.00074588 -0.01163972 -0.01502576
+v 0.00150590 -0.01153825 -0.01548367
+v 0.00150590 -0.01138314 -0.02649047
+v -0.00378037 -0.01086565 -0.02649047
+v -0.00375042 -0.01102690 -0.01502576
+v -0.00375042 -0.01102637 -0.01548367
+v -0.00415095 -0.01086565 -0.01698312
+v -0.00375042 -0.01102349 -0.01698312
+v -0.00075307 -0.01161987 -0.01502576
+v 0.00074588 -0.01163980 -0.01698312
+v 0.00150590 -0.01153916 -0.01848144
+v 0.00150590 -0.01153886 -0.01698312
+v 0.00150590 -0.01141549 -0.02597644
+v 0.00074588 -0.01148134 -0.02649047
+v -0.00383418 -0.01086565 -0.02612458
+v -0.00375042 -0.01087648 -0.02649047
+v -0.00329274 -0.01114951 -0.01502576
+v -0.00225146 -0.01142716 -0.01548367
+v -0.00413986 -0.01086565 -0.01848144
+v -0.00375042 -0.01101917 -0.01848144
+v -0.00225146 -0.01142390 -0.01698312
+v -0.00225146 -0.01142792 -0.01502576
+v -0.00075307 -0.01161699 -0.01698312
+v 0.00074588 -0.01163957 -0.02297754
+v 0.00074588 -0.01163972 -0.01998089
+v 0.00150590 -0.01153916 -0.02147922
+v 0.00074588 -0.01151370 -0.02597644
+v 0.00150590 -0.01150158 -0.02447699
+v 0.00074588 -0.01160312 -0.02447699
+v 0.00023107 -0.01148309 -0.02649047
+v -0.00375042 -0.01090376 -0.02597644
+v -0.00385305 -0.01086565 -0.02597644
+v -0.00225146 -0.01128326 -0.02649047
+v -0.00075307 -0.01160759 -0.02297754
+v -0.00413542 -0.01086565 -0.01904037
+v -0.00225146 -0.01141951 -0.01848144
+v -0.00412321 -0.01086565 -0.02052410
+v -0.00411101 -0.01086565 -0.02200672
+v -0.00375042 -0.01101425 -0.01998089
+v -0.00225146 -0.01140541 -0.02297754
+v -0.00225146 -0.01141481 -0.01998089
+v -0.00075307 -0.01161229 -0.01998089
+v -0.00075307 -0.01157342 -0.02447699
+v 0.00150590 -0.01152113 -0.02371716
+v 0.00150590 -0.01153909 -0.02297754
+v -0.00075307 -0.01150370 -0.02597644
+v -0.00075307 -0.01147649 -0.02649047
+v -0.00225146 -0.01130865 -0.02597644
+v -0.00375042 -0.01096060 -0.02447699
+v -0.00396955 -0.01086565 -0.02483053
+v -0.00126788 -0.01141133 -0.02649047
+v -0.00410269 -0.01086565 -0.02297754
+v -0.00375042 -0.01100432 -0.02297754
+v -0.00225146 -0.01136540 -0.02447699
+v -0.00399673 -0.01086565 -0.02447699
+v -0.00407328 -0.01086565 -0.02347025
+f 1 2 5
+f 1 5 11
+f 1 11 23
+f 1 23 28
+f 1 28 15
+f 1 15 7
+f 1 7 3
+f 1 3 8
+f 1 8 18
+f 1 18 17
+f 1 17 32
+f 1 32 51
+f 1 51 50
+f 1 50 34
+f 1 34 19
+f 1 19 9
+f 1 9 4
+f 1 4 10
+f 1 10 21
+f 1 21 38
+f 1 38 56
+f 1 56 61
+f 1 61 62
+f 1 62 58
+f 1 58 44
+f 1 44 43
+f 1 43 41
+f 1 41 25
+f 1 25 13
+f 1 13 6
+f 1 6 2
+f 2 6 5
+f 3 7 8
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+f 4 20 36
+f 4 36 53
+f 4 53 57
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+f 4 22 10
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+f 5 12 11
+f 6 13 14
+f 6 14 12
+f 7 15 16
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 9 19 33
+f 9 33 20
+f 10 22 21
+f 11 12 23
+f 12 24 23
+f 12 14 24
+f 13 25 26
+f 13 26 14
+f 14 27 24
+f 14 26 27
+f 15 28 29
+f 15 29 30
+f 15 30 31
+f 15 31 16
+f 16 31 32
+f 16 32 17
+f 19 34 35
+f 19 35 33
+f 20 33 36
+f 21 37 38
+f 21 22 37
+f 22 39 37
+f 23 24 28
+f 24 27 40
+f 24 40 28
+f 25 41 26
+f 26 42 27
+f 26 41 43
+f 26 43 44
+f 26 44 45
+f 26 45 46
+f 26 46 47
+f 26 47 42
+f 27 42 40
+f 28 40 48
+f 28 48 29
+f 29 48 30
+f 30 40 49
+f 30 49 35
+f 30 35 50
+f 30 50 51
+f 30 51 32
+f 30 32 31
+f 30 48 40
+f 33 35 36
+f 34 50 35
+f 35 49 52
+f 35 52 53
+f 35 53 36
+f 37 39 54
+f 37 54 55
+f 37 55 38
+f 38 55 56
+f 39 57 54
+f 40 46 49
+f 40 42 47
+f 40 47 46
+f 44 58 59
+f 44 59 45
+f 45 59 46
+f 46 59 60
+f 46 60 49
+f 49 60 54
+f 49 54 52
+f 52 54 57
+f 52 57 53
+f 54 60 55
+f 55 61 56
+f 55 60 59
+f 55 59 62
+f 55 62 61
+f 58 62 59
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_233.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_233.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d79de285c1b4d61acbb6e59ce62e225450cc45af
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_233.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00445746 -0.00412494 0.03104911
+v -0.00524983 -0.00412494 0.03104911
+v -0.00445746 -0.00475942 0.03103901
+v -0.00445746 -0.00412494 0.02073019
+v -0.00524983 -0.00475942 0.03102790
+v -0.00631578 -0.00412494 0.03090770
+v -0.00445746 -0.00475942 0.02073019
+v -0.00631578 -0.00412494 0.02073019
+v -0.00631578 -0.00475942 0.03076831
+v -0.00631578 -0.00475942 0.02073019
+f 1 2 3
+f 1 3 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 3 5 9
+f 3 9 10
+f 3 10 7
+f 4 7 10
+f 4 10 8
+f 5 6 9
+f 6 8 10
+f 6 10 9
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_235.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_235.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e59c2234643df3ce40e8eba98f28ed216e81e61d
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_235.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.01118682 0.00076804 0.00897201
+v -0.01112531 0.00124036 0.00897201
+v -0.01103304 0.00076804 0.00843135
+v -0.01103304 0.00069875 0.00843135
+v -0.01118579 -0.00025718 0.00897201
+v -0.01098109 0.00223448 0.00897201
+v -0.01080741 0.00221751 0.00843135
+v -0.01103149 -0.00072950 0.00843135
+v -0.01118476 -0.00072950 0.00897201
+v -0.01067043 0.00376737 0.00897201
+v -0.01066345 0.00376737 0.00894258
+v -0.01054378 0.00323849 0.00843135
+v -0.01102167 -0.00079737 0.00843135
+v -0.01098419 -0.00218886 0.00897201
+v -0.01064768 0.00386070 0.00897201
+v -0.01037165 0.00376737 0.00843135
+v -0.01046134 0.00439665 0.00897201
+v -0.01081051 -0.00216765 0.00843135
+v -0.01069550 -0.00367226 0.00897201
+v -0.01030471 0.00395969 0.00843135
+v -0.01033392 0.00466250 0.00897201
+v -0.00977126 0.00517017 0.00843135
+v -0.01038432 -0.00372741 0.00843135
+v -0.01067172 -0.00372741 0.00893290
+v -0.01065027 -0.00385185 0.00897201
+v -0.01026672 0.00480250 0.00897201
+v -0.00972732 0.00526067 0.00843135
+v -0.00973533 -0.00523061 0.00843135
+v -0.01028171 -0.00476536 0.00897201
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+v -0.00925796 0.00639478 0.00883451
+v -0.00913054 0.00620671 0.00843135
+v -0.00869116 -0.00677057 0.00843135
+v -0.00926313 -0.00636189 0.00882557
+v -0.00937840 -0.00624169 0.00897201
+v -0.00871959 0.00703679 0.00897201
+v -0.00854643 0.00694911 0.00843135
+v -0.00866816 0.00681195 0.00843135
+v -0.00854643 -0.00693602 0.00843135
+v -0.00921867 -0.00648633 0.00897201
+v -0.00928484 -0.00639300 0.00897201
+v -0.00854643 -0.00723016 0.00897201
+v -0.00854643 0.00721638 0.00897201
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 19
+f 1 19 25
+f 1 25 29
+f 1 29 35
+f 1 35 41
+f 1 41 40
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+f 3 37 39
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+f 11 15 17
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+f 17 22 20
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+f 18 24 19
+f 19 24 25
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+f 22 26 27
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+f 23 28 29
+f 23 29 25
+f 26 30 31
+f 26 31 27
+f 27 31 32
+f 28 33 34
+f 28 34 29
+f 29 34 35
+f 30 36 31
+f 31 36 37
+f 31 37 38
+f 31 38 32
+f 33 39 34
+f 34 40 41
+f 34 41 35
+f 34 39 42
+f 34 42 40
+f 36 43 37
+f 37 43 42
+f 37 42 39
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_236.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_236.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1003d4ca9890577f9ac2d86b61a68e0c6aeeb87c
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_236.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.00566875 -0.00337719 0.03103526
+v -0.00674896 -0.00337719 0.03098517
+v -0.00566875 -0.00372768 0.03103526
+v -0.00566875 -0.00337719 0.02392912
+v -0.00674896 -0.00372768 0.03096778
+v -0.00803477 -0.00337719 0.03056361
+v -0.00676357 -0.00412494 0.03088013
+v -0.00566875 -0.00412494 0.03094831
+v -0.00566875 -0.00412494 0.02392912
+v -0.00906217 -0.00337719 0.02392912
+v -0.00794276 -0.00372768 0.03055526
+v -0.00872734 -0.00337719 0.02947560
+v -0.00784710 -0.00412494 0.03049821
+v -0.00892199 -0.00412494 0.02392912
+v -0.00905851 -0.00337719 0.02648983
+v -0.00902363 -0.00358992 0.02392912
+v -0.00892930 -0.00410254 0.02648983
+v -0.00879676 -0.00337719 0.02915490
+v -0.00885988 -0.00393872 0.02798828
+v -0.00867087 -0.00359760 0.02937194
+v -0.00841079 -0.00412494 0.02938377
+v -0.00892930 -0.00410935 0.02392912
+v -0.00891900 -0.00412494 0.02648983
+v -0.00892930 -0.00410672 0.02499069
+v -0.00899175 -0.00337719 0.02798828
+v -0.00879411 -0.00412494 0.02777124
+v -0.00877185 -0.00412494 0.02798828
+v -0.00853468 -0.00412494 0.02892394
+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 25
+f 1 25 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 5
+f 3 5 7
+f 3 7 8
+f 4 9 14
+f 4 14 22
+f 4 22 16
+f 4 16 10
+f 5 6 11
+f 5 11 7
+f 6 12 11
+f 7 11 13
+f 7 13 21
+f 7 21 28
+f 7 28 27
+f 7 27 26
+f 7 26 23
+f 7 23 14
+f 7 14 9
+f 7 9 8
+f 10 16 17
+f 10 17 15
+f 11 12 13
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 12 21 13
+f 14 23 24
+f 14 24 22
+f 15 17 25
+f 16 22 24
+f 16 24 17
+f 17 24 23
+f 17 23 19
+f 17 19 25
+f 18 25 19
+f 19 26 27
+f 19 27 20
+f 19 23 26
+f 20 28 21
+f 20 27 28
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_238.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_238.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b54c1f59185c31c0cff96b2ad02ca6a3633aff45
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_238.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.01108456 -0.00127233 -0.01449990
+v -0.01155897 -0.00127233 -0.01449990
+v -0.01108456 -0.00170004 -0.01449990
+v -0.01108456 -0.00127233 -0.02833789
+v -0.01155897 -0.00127233 -0.01452835
+v -0.01153018 -0.00149956 -0.01449990
+v -0.01150477 -0.00170004 -0.01449990
+v -0.01108456 -0.00170004 -0.02824035
+v -0.01108456 -0.00130930 -0.02833112
+v -0.01110843 -0.00127233 -0.02827287
+v -0.01149887 -0.00170004 -0.01795296
+v -0.01150185 -0.00170004 -0.01645469
+v -0.01150445 -0.00170004 -0.01495507
+v -0.01155553 -0.00127233 -0.01602662
+v -0.01148963 -0.00170004 -0.02244912
+v -0.01131738 -0.00170004 -0.02747496
+v -0.01136870 -0.00127233 -0.02747496
+v -0.01122106 -0.00127233 -0.02795994
+v -0.01108456 -0.00162040 -0.02827151
+v -0.01155182 -0.00127233 -0.01752624
+v -0.01154063 -0.00127233 -0.02202105
+v -0.01153974 -0.00127233 -0.02231366
+v -0.01148801 -0.00170004 -0.02297745
+v -0.01154810 -0.00127233 -0.01902451
+v -0.01139512 -0.00170004 -0.02597534
+v -0.01144393 -0.00127233 -0.02597534
+v -0.01153770 -0.00127233 -0.02297745
+v -0.01150319 -0.00127233 -0.02447707
+v -0.01145327 -0.00170004 -0.02447707
+v -0.01141653 -0.00170004 -0.02544702
+v -0.01147068 -0.00127233 -0.02531561
+v -0.01148294 -0.00127233 -0.02501217
+f 1 2 6
+f 1 6 7
+f 1 7 3
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+f 1 8 19
+f 1 19 9
+f 1 9 4
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+f 1 10 18
+f 1 18 17
+f 1 17 26
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+f 1 31 32
+f 1 32 28
+f 1 28 27
+f 1 27 22
+f 1 22 21
+f 1 21 24
+f 1 24 20
+f 1 20 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 3 7 13
+f 3 13 12
+f 3 12 11
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+f 4 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 7
+f 5 7 6
+f 5 14 15
+f 5 15 11
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 9 19 10
+f 10 19 18
+f 14 20 15
+f 15 21 22
+f 15 22 23
+f 15 20 24
+f 15 24 21
+f 16 25 17
+f 17 25 26
+f 22 27 23
+f 23 27 28
+f 23 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_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_239.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_239.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b1aabe3c760ec1a42e6898d24551f9d6bbca74d
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_239.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01086916 -0.00074630 -0.00837235
+v -0.01086916 -0.00074630 -0.00270490
+v -0.01086916 0.00153822 -0.00837235
+v 0.00497571 -0.00074630 -0.00837235
+v -0.01086916 0.00153822 -0.00270490
+v 0.00497571 -0.00074630 -0.00270490
+v 0.00497571 0.00153822 -0.00837235
+v 0.00497571 0.00153822 -0.00270490
+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_24.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caa201b173031c6df81c283bd2099eef6707ef6d
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_24.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.00075121 -0.00222856 -0.03054550
+v 0.00109762 -0.00258256 -0.03054364
+v -0.00075121 -0.00258256 -0.03054503
+v -0.00224851 -0.00258256 -0.03054341
+v -0.00127852 -0.00170008 -0.03054480
+v 0.00224338 -0.00170008 -0.03054387
+v 0.00674177 -0.00170008 -0.03054016
+v 0.00224338 -0.00258256 -0.03054248
+v -0.00374797 -0.00258256 -0.03053900
+v -0.00674690 -0.00170008 -0.03053181
+v -0.00427745 -0.00170008 -0.03053830
+v -0.00224851 -0.00170008 -0.03054318
+v 0.00674177 -0.00222856 -0.03053854
+v 0.00524014 -0.00258256 -0.03053923
+v 0.00823906 -0.00170008 -0.03047429
+v -0.00639319 -0.00258256 -0.03053111
+v -0.00674690 -0.00258256 -0.03052926
+v -0.00727638 -0.00170008 -0.03051720
+v 0.00674177 -0.00258256 -0.03053691
+v 0.00967777 -0.00170008 -0.03004242
+v 0.00823906 -0.00222856 -0.03045968
+v -0.00789265 -0.00258256 -0.03047359
+v -0.00824419 -0.00170008 -0.03046988
+v 0.00823906 -0.00258256 -0.03043532
+v 0.00958229 -0.00222856 -0.03005263
+v 0.01038519 -0.00170008 -0.02962355
+v -0.00824419 -0.00258256 -0.03043254
+v -0.00824419 -0.00222856 -0.03045713
+v -0.00877367 -0.00170008 -0.03031402
+v 0.00952804 -0.00258256 -0.03002967
+v 0.01054143 -0.00170008 -0.02939996
+v 0.01033311 -0.00222856 -0.02956417
+v -0.00927277 -0.00258256 -0.03012500
+v -0.00959176 -0.00222856 -0.03005425
+v -0.00968073 -0.00170008 -0.03004219
+v 0.01027669 -0.00258256 -0.02948647
+v 0.01066077 -0.00170008 -0.02922253
+v 0.01084305 -0.00222856 -0.02881478
+v 0.01040472 -0.00236971 -0.02939996
+v 0.01037868 -0.00245661 -0.02939996
+v 0.01033962 -0.00258256 -0.02939996
+v -0.00953534 -0.00258256 -0.03003060
+v -0.00995198 -0.00258256 -0.02975969
+v -0.01034040 -0.00222856 -0.02956556
+v -0.00996934 -0.00170008 -0.02989584
+v 0.01084739 -0.00170008 -0.02891173
+v 0.01106656 -0.00170008 -0.02817603
+v 0.01104920 -0.00197097 -0.02817603
+v 0.01103184 -0.00222856 -0.02817603
+v 0.01079314 -0.00258256 -0.02873708
+v 0.01051105 -0.00258256 -0.02915271
+v 0.01040255 -0.00258256 -0.02930950
+v -0.01010822 -0.00258256 -0.02965718
+v -0.01028615 -0.00258256 -0.02948485
+v -0.01045324 -0.00222856 -0.02939996
+v -0.01039031 -0.00170008 -0.02961984
+v -0.01110207 -0.00170008 -0.02817603
+v 0.01093853 -0.00258256 -0.02817603
+v -0.01079393 -0.00258256 -0.02873546
+v -0.01084384 -0.00222856 -0.02881617
+v -0.01084601 -0.00170008 -0.02890964
+v -0.01104999 -0.00170008 -0.02834372
+v -0.01103697 -0.00222856 -0.02817603
+v -0.01096319 -0.00258256 -0.02817603
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 14
+f 2 14 19
+f 2 19 24
+f 2 24 30
+f 2 30 36
+f 2 36 41
+f 2 41 52
+f 2 52 51
+f 2 51 50
+f 2 50 58
+f 2 58 64
+f 2 64 59
+f 2 59 54
+f 2 54 53
+f 2 53 43
+f 2 43 42
+f 2 42 33
+f 2 33 27
+f 2 27 22
+f 2 22 17
+f 2 17 16
+f 2 16 9
+f 2 9 4
+f 2 4 3
+f 4 9 10
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 11
+f 5 11 10
+f 5 10 18
+f 5 18 23
+f 5 23 29
+f 5 29 35
+f 5 35 45
+f 5 45 56
+f 5 56 61
+f 5 61 62
+f 5 62 57
+f 5 57 47
+f 5 47 46
+f 5 46 37
+f 5 37 31
+f 5 31 26
+f 5 26 20
+f 5 20 15
+f 5 15 7
+f 5 7 6
+f 7 13 14
+f 7 14 8
+f 7 15 13
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+f 10 17 18
+f 10 16 17
+f 13 15 19
+f 13 19 14
+f 15 20 21
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+f 17 22 18
+f 18 22 23
+f 19 21 24
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+f 21 25 24
+f 22 27 28
+f 22 28 23
+f 23 28 29
+f 24 25 30
+f 25 26 30
+f 26 31 32
+f 26 32 30
+f 27 33 34
+f 27 34 28
+f 28 34 29
+f 29 34 35
+f 30 32 36
+f 31 37 38
+f 31 38 32
+f 32 38 39
+f 32 39 40
+f 32 40 41
+f 32 41 36
+f 33 42 34
+f 34 42 43
+f 34 43 44
+f 34 44 45
+f 34 45 35
+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 39
+f 39 51 40
+f 40 51 52
+f 40 52 41
+f 43 53 44
+f 44 54 55
+f 44 55 56
+f 44 56 45
+f 44 53 54
+f 47 57 63
+f 47 63 64
+f 47 64 58
+f 47 58 49
+f 47 49 48
+f 49 58 50
+f 54 59 55
+f 55 59 60
+f 55 60 56
+f 56 60 61
+f 57 62 60
+f 57 60 63
+f 59 64 60
+f 60 64 63
+f 60 62 61
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_241.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_241.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71cbb4a0630f47f9328283037b53e3e14cc5a898
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_241.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00447762 -0.00515995 0.00700035
+v -0.00765578 -0.00515995 0.00700035
+v 0.00447762 -0.00601566 0.00700035
+v 0.00447762 -0.00515995 -0.01515137
+v -0.00765578 -0.00601566 0.00700035
+v -0.00765578 -0.00515995 -0.01515137
+v 0.00447762 -0.00601566 -0.01515137
+v -0.00765578 -0.00601566 -0.01515137
+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_242.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_242.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d98ac9b93716177b42a7312eb7e7eb68bb0b5f8d
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_242.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00633709 0.00292022 0.00700055
+v 0.00344197 0.00292041 0.00696012
+v 0.00301729 0.00292041 0.00700055
+v 0.00633709 0.00197409 0.00700055
+v 0.00633709 0.00292032 -0.00857141
+v 0.00344197 0.00292041 -0.03053827
+v 0.00299208 0.00292041 0.00700055
+v 0.00344197 0.00197390 0.00700055
+v 0.00633709 0.00197400 -0.00857141
+v 0.00633709 0.00292032 -0.03053459
+v 0.00633709 0.00267327 -0.03053827
+v 0.00633709 0.00197400 -0.03054562
+v 0.00299208 0.00292041 -0.03053827
+v 0.00299208 0.00197390 0.00700055
+v 0.00344197 0.00197390 -0.03054194
+v 0.00299208 0.00197390 -0.03053827
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
+f 1 9 12
+f 1 12 11
+f 1 11 10
+f 1 10 5
+f 1 5 2
+f 2 5 10
+f 2 10 6
+f 2 6 13
+f 2 13 7
+f 2 7 3
+f 4 8 9
+f 6 10 11
+f 6 11 12
+f 6 12 13
+f 7 13 16
+f 7 16 14
+f 8 14 16
+f 8 16 15
+f 8 15 12
+f 8 12 9
+f 12 15 13
+f 13 15 16
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_243.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_243.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76fd5b277b83d767d18d543e610f62453f89b00c
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_243.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00357147 0.00983584 -0.00111242
+v 0.00072012 0.00983584 -0.00111242
+v 0.00357147 0.00935727 -0.00111242
+v 0.00357147 0.00983584 -0.01273309
+v 0.00072012 0.00935727 -0.00111242
+v 0.00072012 0.00983584 -0.01273309
+v 0.00357147 0.00935727 -0.01273309
+v 0.00072012 0.00935727 -0.01273309
+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_244.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_244.obj
new file mode 100644
index 0000000000000000000000000000000000000000..494fb9a7daa66b3c21dfedd7e1dddd4534e76f93
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_244.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00431461 0.00345743 0.00700055
+v 0.00359364 0.00345743 0.00700055
+v 0.00431461 0.00292060 0.00700055
+v 0.00431461 0.00345743 -0.03053914
+v 0.00359364 0.00292060 0.00700055
+v 0.00359364 0.00345743 -0.03053914
+v 0.00431461 0.00292060 -0.03054282
+v 0.00359364 0.00292060 -0.03053914
+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 6
+f 6 7 8
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_245.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_245.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38130fbf73b3ea007857f3559a898943bc1b4365
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_245.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00368833 -0.00127602 0.00941181
+v 0.00531703 -0.00127602 0.00941181
+v 0.00368833 -0.00127602 0.00972526
+v 0.00368833 0.00310738 0.00941181
+v 0.00531703 -0.00127602 0.00972526
+v 0.00531703 0.00310738 0.00941181
+v 0.00368833 0.00310738 0.00972526
+v 0.00531703 0.00310738 0.00972526
+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_246.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_246.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af0b876506bc38d9382d73f0e60dc3d62d69408b
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_246.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.01044317 0.00516127 -0.01993463
+v 0.01023835 0.00555512 -0.01998081
+v 0.01023835 0.00555530 -0.01993463
+v 0.00183239 0.00516127 -0.01993463
+v 0.01043221 0.00516127 -0.02297898
+v 0.01020126 0.00561439 -0.01993463
+v 0.01023245 0.00554475 -0.02297898
+v 0.01019368 0.00561617 -0.02156310
+v 0.00183239 0.00561617 -0.01993463
+v 0.00183239 0.00516127 -0.02883502
+v 0.01037742 0.00516127 -0.02447675
+v 0.01021138 0.00548673 -0.02447675
+v 0.00818680 0.00561617 -0.01993463
+v 0.01019958 0.00561617 -0.02005749
+v 0.01019958 0.00561617 -0.01998081
+v 0.01018525 0.00561617 -0.02307133
+v 0.01018778 0.00561617 -0.02297898
+v 0.00183239 0.00561617 -0.02883502
+v 0.00973010 0.00516127 -0.02883502
+v 0.01032011 0.00516127 -0.02597627
+v 0.01018778 0.00542523 -0.02597627
+v 0.01007146 0.00561617 -0.02597627
+v 0.01013215 0.00561617 -0.02447675
+v 0.00948145 0.00561617 -0.02883502
+v 0.00957248 0.00547426 -0.02883502
+v 0.00951938 0.00561617 -0.02879581
+v 0.01023498 0.00516127 -0.02766573
+v 0.01030072 0.00516127 -0.02646333
+v 0.01025184 0.00516127 -0.02747491
+v 0.01014732 0.00536285 -0.02747491
+v 0.00999223 0.00561617 -0.02747491
+v 0.00991722 0.00561617 -0.02775634
+f 1 2 3
+f 1 3 6
+f 1 6 13
+f 1 13 9
+f 1 9 4
+f 1 4 10
+f 1 10 19
+f 1 19 27
+f 1 27 29
+f 1 29 28
+f 1 28 20
+f 1 20 11
+f 1 11 5
+f 1 5 2
+f 2 6 3
+f 2 5 7
+f 2 7 8
+f 2 8 6
+f 4 9 18
+f 4 18 10
+f 5 11 12
+f 5 12 7
+f 6 8 14
+f 6 14 15
+f 6 15 13
+f 7 12 16
+f 7 16 17
+f 7 17 8
+f 8 17 16
+f 8 16 23
+f 8 23 22
+f 8 22 31
+f 8 31 32
+f 8 32 26
+f 8 26 24
+f 8 24 18
+f 8 18 9
+f 8 9 13
+f 8 13 15
+f 8 15 14
+f 10 18 24
+f 10 24 25
+f 10 25 19
+f 11 20 21
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 16
+f 19 25 26
+f 19 26 27
+f 20 28 21
+f 21 28 29
+f 21 29 30
+f 21 30 22
+f 22 30 31
+f 24 26 25
+f 26 32 27
+f 27 32 31
+f 27 31 30
+f 27 30 29
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_248.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_248.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85ee288df17c802cbcfe68918ba8ee4eed972615
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_248.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00304302 -0.01095156 0.00941181
+v -0.00304302 -0.01094101 0.00937577
+v -0.00223696 -0.01111407 0.00941181
+v -0.00304302 0.01025049 0.00941181
+v -0.00304302 -0.01080805 0.00897201
+v -0.00222579 -0.01097055 0.00897201
+v -0.00075303 -0.01117316 0.00897201
+v -0.00075303 -0.01131034 0.00941181
+v -0.00018996 0.01025049 0.00941181
+v -0.00304302 0.01025049 0.00897201
+v -0.00018996 -0.01117105 0.00897201
+v -0.00018996 -0.01125547 0.00924387
+v -0.00018996 -0.01130612 0.00941181
+v -0.00018996 0.01025049 0.00897201
+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 5
+f 1 5 2
+f 2 5 3
+f 3 6 7
+f 3 7 8
+f 3 5 6
+f 4 9 14
+f 4 14 10
+f 5 10 14
+f 5 14 11
+f 5 11 7
+f 5 7 6
+f 7 11 8
+f 8 11 12
+f 8 12 13
+f 9 13 12
+f 9 12 11
+f 9 11 14
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_249.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_249.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ea1492390904904ec7fbaf616213ed64a59405b
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_249.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.00514827 0.00812114 0.00700055
+v 0.00514827 0.00754517 0.00700055
+v 0.00514827 0.00812187 0.00688696
+v 0.00412702 0.00812085 0.00700055
+v 0.00382340 0.00754517 0.00700055
+v 0.00514827 0.00754517 -0.03027257
+v 0.00514827 0.00812187 -0.03011867
+v 0.00478200 0.00812187 0.00686864
+v 0.00382340 0.00812187 0.00681734
+v 0.00382340 0.00812063 0.00700055
+v 0.00382340 0.00754517 -0.03043380
+v 0.00478200 0.00754517 -0.03034219
+v 0.00514827 0.00758835 -0.03026158
+v 0.00514827 0.00804566 -0.03014066
+v 0.00478200 0.00812187 -0.03019196
+v 0.00382340 0.00812187 -0.03036418
+v 0.00412702 0.00779767 -0.03038983
+v 0.00412702 0.00754517 -0.03041914
+v 0.00478200 0.00778570 -0.03027990
+v 0.00453038 0.00754517 -0.03038983
+v 0.00412702 0.00788190 -0.03037883
+v 0.00388721 0.00812187 -0.03036051
+v 0.00443013 0.00754517 -0.03040449
+v 0.00446372 0.00754517 -0.03040082
+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 10
+f 1 10 5
+f 1 5 2
+f 2 5 11
+f 2 11 18
+f 2 18 23
+f 2 23 24
+f 2 24 20
+f 2 20 12
+f 2 12 6
+f 3 7 15
+f 3 15 22
+f 3 22 16
+f 3 16 9
+f 3 9 8
+f 3 8 4
+f 4 8 9
+f 4 9 10
+f 5 10 9
+f 5 9 16
+f 5 16 11
+f 6 12 13
+f 7 14 15
+f 11 16 17
+f 11 17 18
+f 12 19 13
+f 12 20 19
+f 13 19 15
+f 13 15 14
+f 15 19 21
+f 15 21 22
+f 16 22 21
+f 16 21 17
+f 17 21 23
+f 17 23 18
+f 19 20 21
+f 20 24 21
+f 21 24 23
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_25.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a69614c6d82374a20bf6b615e468348bd0e591c9
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_25.obj
@@ -0,0 +1,228 @@
+# https://github.com/mikedh/trimesh
+v -0.00075010 0.00962595 0.02034063
+v -0.00224929 0.00939899 0.02034063
+v -0.00098653 0.00957650 0.02073015
+v -0.00075010 0.00961200 0.02073015
+v 0.00074373 0.00961708 0.02034063
+v -0.00224929 0.00938251 0.02073015
+v -0.00388104 0.00883728 0.02034063
+v -0.00386313 0.00883475 0.02073015
+v 0.00074373 0.00960313 0.02073015
+v 0.00089598 0.00960313 0.02034063
+v -0.00512410 0.00827939 0.02034063
+v -0.00408165 0.00873712 0.02073015
+v 0.00224292 0.00945351 0.02073015
+v 0.00224292 0.00946746 0.02034063
+v -0.00524590 0.00822233 0.02034063
+v -0.00524590 0.00821345 0.02073015
+v 0.00326568 0.00912131 0.02073015
+v 0.00327105 0.00913145 0.02034063
+v -0.00614685 0.00764921 0.02034063
+v -0.00568115 0.00793577 0.02073015
+v 0.00394452 0.00884489 0.02034063
+v 0.00401259 0.00880305 0.02073015
+v -0.00629731 0.00749959 0.02034063
+v -0.00613969 0.00764160 0.02073015
+v 0.00523953 0.00818683 0.02073015
+v 0.00523953 0.00819443 0.02034063
+v -0.00689018 0.00689224 0.02073015
+v -0.00689734 0.00689985 0.02034063
+v 0.00565687 0.00793577 0.02073015
+v 0.00533983 0.00813864 0.02034063
+v -0.00755112 0.00622657 0.02034063
+v -0.00761739 0.00614288 0.02073015
+v 0.00599361 0.00773290 0.02073015
+v 0.00614048 0.00765428 0.02034063
+v -0.00762276 0.00615049 0.02034063
+v -0.00774814 0.00591465 0.02073015
+v 0.00613332 0.00764794 0.02073015
+v 0.00628915 0.00749959 0.02073015
+v 0.00681575 0.00700890 0.02034063
+v -0.00775531 0.00591465 0.02034063
+v -0.00811354 0.00526546 0.02073015
+v 0.00688381 0.00692901 0.02073015
+v 0.00689098 0.00693662 0.02034063
+v -0.00810279 0.00529462 0.02034063
+v -0.00917032 0.00333817 0.02034063
+v -0.00916316 0.00333563 0.02073015
+v 0.00764505 0.00617965 0.02073015
+v 0.00765043 0.00618726 0.02034063
+v -0.00920973 0.00322659 0.02034063
+v -0.00951243 0.00226928 0.02073015
+v 0.00773819 0.00603638 0.02073015
+v 0.00782775 0.00591465 0.02034063
+v -0.00952318 0.00226928 0.02034063
+v -0.00952855 0.00214756 0.02073015
+v 0.00821285 0.00529462 0.02073015
+v 0.00817882 0.00536436 0.02034063
+v -0.00968080 0.00077056 0.02034063
+v -0.00967364 0.00077056 0.02073015
+v 0.00823076 0.00526546 0.02073015
+v 0.00824151 0.00526546 0.02034063
+v -0.00974528 -0.00072816 0.02034063
+v -0.00972021 -0.00035538 0.02073015
+v 0.00855317 0.00465177 0.02073015
+v 0.00855317 0.00466952 0.02034063
+v -0.00973454 -0.00072816 0.02073015
+v -0.00972379 -0.00088158 0.02034063
+v 0.00855317 -0.00295088 0.02073015
+v 0.00855317 -0.00215841 0.02034063
+v -0.00947840 -0.00222815 0.02073015
+v -0.00949273 -0.00222815 0.02034063
+v 0.00854779 -0.00332746 0.02073015
+v 0.00855317 -0.00295088 0.02034143
+v 0.00769879 -0.00332746 0.02034063
+v -0.00944974 -0.00237396 0.02034063
+v -0.00908076 -0.00332746 0.02073015
+v 0.00854779 -0.00332746 0.02034182
+v -0.00909689 -0.00332746 0.02034063
+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 18
+f 1 18 21
+f 1 21 26
+f 1 26 30
+f 1 30 34
+f 1 34 39
+f 1 39 43
+f 1 43 48
+f 1 48 52
+f 1 52 56
+f 1 56 60
+f 1 60 64
+f 1 64 68
+f 1 68 73
+f 1 73 77
+f 1 77 74
+f 1 74 70
+f 1 70 66
+f 1 66 61
+f 1 61 57
+f 1 57 53
+f 1 53 49
+f 1 49 45
+f 1 45 44
+f 1 44 40
+f 1 40 35
+f 1 35 31
+f 1 31 28
+f 1 28 23
+f 1 23 19
+f 1 19 15
+f 1 15 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
+f 3 8 12
+f 3 12 16
+f 3 16 20
+f 3 20 24
+f 3 24 27
+f 3 27 32
+f 3 32 36
+f 3 36 41
+f 3 41 46
+f 3 46 50
+f 3 50 54
+f 3 54 58
+f 3 58 62
+f 3 62 65
+f 3 65 69
+f 3 69 75
+f 3 75 71
+f 3 71 67
+f 3 67 63
+f 3 63 59
+f 3 59 55
+f 3 55 51
+f 3 51 47
+f 3 47 42
+f 3 42 38
+f 3 38 37
+f 3 37 33
+f 3 33 29
+f 3 29 25
+f 3 25 22
+f 3 22 17
+f 3 17 13
+f 3 13 9
+f 3 9 4
+f 5 9 10
+f 7 11 12
+f 7 12 8
+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 16
+f 16 19 20
+f 17 21 18
+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 27
+f 25 29 30
+f 25 30 26
+f 27 28 31
+f 27 31 32
+f 29 33 30
+f 30 33 34
+f 31 35 32
+f 32 35 36
+f 33 37 34
+f 34 37 38
+f 34 38 39
+f 35 40 41
+f 35 41 36
+f 38 42 39
+f 39 42 43
+f 40 44 41
+f 41 44 45
+f 41 45 46
+f 42 47 43
+f 43 47 48
+f 45 49 46
+f 46 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 53 57 58
+f 53 58 54
+f 55 59 60
+f 55 60 56
+f 57 61 58
+f 58 61 62
+f 59 63 60
+f 60 63 64
+f 61 65 62
+f 61 66 65
+f 63 67 72
+f 63 72 68
+f 63 68 64
+f 65 66 69
+f 66 70 69
+f 67 71 76
+f 67 76 72
+f 68 72 73
+f 69 70 74
+f 69 74 75
+f 71 75 77
+f 71 77 73
+f 71 73 76
+f 72 76 73
+f 74 77 75
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_250.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_250.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d7de7846e8e72332c0ff8ed92bc903cb32e5aa3
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_250.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00921522 0.00236981 -0.01325445
+v 0.00724305 0.00236981 -0.01325445
+v 0.00921522 0.00197372 -0.01325445
+v 0.00921522 0.00236981 -0.03015553
+v 0.00724305 0.00197372 -0.01325445
+v 0.00724305 0.00236981 -0.03051735
+v 0.00921522 0.00197372 -0.03017244
+v 0.00921522 0.00226842 -0.03016229
+v 0.00824110 0.00226842 -0.03046325
+v 0.00824110 0.00236981 -0.03045480
+v 0.00724305 0.00197372 -0.03052581
+v 0.00811388 0.00236981 -0.03046832
+v 0.00824110 0.00197372 -0.03047001
+v 0.00854071 0.00197372 -0.03038040
+v 0.00921522 0.00206150 -0.03017075
+v 0.00814033 0.00236981 -0.03046663
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 15
+f 1 15 8
+f 1 8 4
+f 1 4 10
+f 1 10 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 5 11
+f 3 11 13
+f 3 13 14
+f 3 14 7
+f 4 8 9
+f 4 9 10
+f 6 12 13
+f 6 13 11
+f 7 14 15
+f 8 15 9
+f 9 13 12
+f 9 12 16
+f 9 16 10
+f 9 15 14
+f 9 14 13
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_252.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_252.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5767e7e6a1e333d3a955f61c067e91c2c94dc667
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_252.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00046712 0.00812187 0.00616065
+v -0.00161343 0.00812187 0.00700055
+v 0.00136971 0.00812092 0.00700055
+v 0.00136971 0.00812127 0.00616065
+v -0.00181513 0.00812187 0.00616065
+v -0.00181513 0.00812187 0.00694719
+v -0.00181513 0.00812163 0.00700055
+v 0.00136971 0.00690535 0.00700055
+v 0.00136971 0.00690535 0.00616065
+v -0.00181513 0.00690535 0.00616065
+v -0.00181513 0.00690535 0.00700055
+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 11
+f 2 11 8
+f 2 8 3
+f 3 8 9
+f 3 9 4
+f 5 10 11
+f 5 11 7
+f 5 7 6
+f 8 11 10
+f 8 10 9
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_253.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_253.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f1c213341b28a4d5764aec15539510c28dd0fb8
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_253.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00639623 -0.00995217 0.01465438
+v -0.00578396 -0.01035710 0.01465438
+v -0.00639623 -0.00989019 0.01552157
+v -0.00639623 0.00273023 0.01465438
+v -0.00573188 -0.01032542 0.01552157
+v -0.00503479 -0.01073036 0.01465438
+v -0.00498240 -0.01070143 0.01552157
+v -0.00639623 0.00273023 0.01552157
+v -0.00411565 0.00273023 0.01465438
+v -0.00375074 -0.01123721 0.01465438
+v -0.00375074 -0.01117799 0.01552157
+v -0.00411565 0.00273023 0.01552157
+v -0.00335576 0.00272885 0.01465438
+v -0.00335576 -0.01134051 0.01465438
+v -0.00335576 -0.01127853 0.01552157
+v -0.00335576 0.00272885 0.01552157
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
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+f 1 13 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
+f 2 5 3
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+f 2 7 5
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+f 3 11 15
+f 3 15 16
+f 3 16 12
+f 3 12 8
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+f 4 12 9
+f 6 10 7
+f 7 10 11
+f 9 12 16
+f 9 16 13
+f 10 14 11
+f 11 14 15
+f 13 16 15
+f 13 15 14
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_254.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_254.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fef4be9408409a59fccb2956bbe59c087247aaa
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_254.obj
@@ -0,0 +1,243 @@
+# https://github.com/mikedh/trimesh
+v -0.01184222 0.00076866 0.01358201
+v -0.01183699 0.00076866 0.01299810
+v -0.01184091 -0.00014630 0.01358201
+v -0.01164849 0.00226767 0.01358201
+v -0.01164391 0.00226767 0.01299810
+v -0.01166027 0.00191868 0.01264887
+v -0.01180819 0.00076866 0.01264887
+v -0.01183371 -0.00073035 0.01299810
+v -0.01183960 -0.00073035 0.01358201
+v -0.01149469 0.00285172 0.01358201
+v -0.01124729 0.00376668 0.01299810
+v -0.01131143 0.00341769 0.01264887
+v -0.01161511 0.00226767 0.01264887
+v -0.01180426 -0.00073035 0.01264887
+v -0.01164718 -0.00222755 0.01299810
+v -0.01172572 -0.00164350 0.01358201
+v -0.01125253 0.00376668 0.01358201
+v -0.01121719 0.00376668 0.01264887
+v -0.01074661 0.00503604 0.01299810
+v -0.01073090 0.00500349 0.01264887
+v -0.01161773 -0.00222755 0.01264887
+v -0.01125907 -0.00372656 0.01299810
+v -0.01126431 -0.00372656 0.01358201
+v -0.01165177 -0.00222755 0.01358201
+v -0.01074923 0.00503966 0.01358201
+v -0.01037421 0.00578645 0.01299810
+v -0.01035654 0.00575210 0.01264887
+v -0.01122831 -0.00372656 0.01264887
+v -0.01112556 -0.00399056 0.01264887
+v -0.01075119 -0.00500497 0.01299810
+v -0.01095474 -0.00450771 0.01358201
+v -0.01052147 0.00549714 0.01358201
+v -0.01037552 0.00578826 0.01358201
+v -0.00973608 0.00676469 0.01358201
+v -0.00973281 0.00676469 0.01299810
+v -0.00967652 0.00679182 0.01264887
+v -0.01073548 -0.00497242 0.01264887
+v -0.01038075 -0.00575538 0.01299810
+v -0.01075446 -0.00500859 0.01358201
+v -0.00910712 0.00764349 0.01358201
+v -0.00910516 0.00764168 0.01299810
+v -0.00909337 0.00762721 0.01264887
+v -0.01045144 -0.00554562 0.01264887
+v -0.01038272 -0.00575899 0.01358201
+v -0.01036308 -0.00572102 0.01264887
+v -0.01018244 -0.00599949 0.01264887
+v -0.00974983 -0.00672458 0.01299810
+v -0.00975572 -0.00672458 0.01358201
+v -0.00895724 0.00779718 0.01358201
+v -0.00895659 0.00779718 0.01346271
+v -0.00895331 0.00779718 0.01299810
+v -0.00894415 0.00779718 0.01292365
+v -0.00890881 0.00779718 0.01264887
+v -0.00969158 -0.00675351 0.01264887
+v -0.00953843 -0.00698496 0.01264887
+v -0.00910188 -0.00759614 0.01264887
+v -0.00911563 -0.00761241 0.01299810
+v -0.00911955 -0.00761784 0.01358201
+v -0.00515663 0.00779718 0.01358201
+v -0.00515663 0.00779718 0.01264887
+v -0.00859727 -0.00811148 0.01264887
+v -0.00838260 -0.00836282 0.01299810
+v -0.00838587 -0.00836644 0.01358201
+v -0.00515663 -0.01067553 0.01358201
+v -0.00515663 -0.01064117 0.01264887
+v -0.00813455 -0.00857619 0.01264887
+v -0.00761881 -0.00907526 0.01264887
+v -0.00763321 -0.00908792 0.01299810
+v -0.00792839 -0.00881126 0.01358201
+v -0.00579083 -0.01036271 0.01358201
+v -0.00578887 -0.01036271 0.01299810
+v -0.00515663 -0.01067191 0.01299810
+v -0.00515663 -0.01064840 0.01271574
+v -0.00558205 -0.01043323 0.01264887
+v -0.00701014 -0.00951646 0.01264887
+v -0.00674900 -0.00972802 0.01299810
+v -0.00763649 -0.00908972 0.01358201
+v -0.00637725 -0.00997575 0.01358201
+v -0.00603103 -0.01016380 0.01264887
+v -0.00575680 -0.01034462 0.01264887
+v -0.00677780 -0.00967016 0.01264887
+v -0.00674900 -0.00972983 0.01358201
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+f 47 54 55
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+f 47 56 57
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+f 47 58 48
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+f 71 73 72
+f 75 81 76
+f 76 78 82
+f 76 82 77
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_256.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_256.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b6679c0a3bab6ae46b644d08105eb2021b17dd0
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_256.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.01066808 0.00507079 0.01552157
+v 0.01071376 0.00498174 0.01552157
+v 0.01066808 0.00518896 0.01465438
+v 0.01066808 0.00273023 0.01552157
+v 0.01074358 0.00503974 0.01465438
+v 0.01118464 0.00376754 0.01552157
+v 0.01124653 0.00376754 0.01465438
+v 0.01066808 0.00273023 0.01465438
+v 0.01145566 0.00273023 0.01552157
+v 0.01152131 0.00273023 0.01465438
+f 1 2 3
+f 1 3 8
+f 1 8 4
+f 1 4 9
+f 1 9 6
+f 1 6 2
+f 2 5 3
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 10
+f 3 10 8
+f 4 8 10
+f 4 10 9
+f 6 9 10
+f 6 10 7
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_257.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_257.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49fe4a4da0c5d89c99f9fd1d4a46d2b05b245fcf
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_257.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.00531379 -0.00985769 0.00897111
+v -0.00478742 -0.01025835 0.00897201
+v -0.00530748 -0.00986207 0.00897201
+v -0.00531379 -0.00941763 0.00897201
+v -0.00531379 -0.00969787 0.00852434
+v -0.00525525 -0.00971100 0.00843135
+v -0.00375075 -0.01036563 0.00843135
+v -0.00388794 -0.01062616 0.00897201
+v -0.00531379 0.00988174 0.00897201
+v -0.00531379 -0.00964751 0.00843135
+v -0.00221755 -0.01079475 0.00843135
+v -0.00375075 -0.01065025 0.00892824
+v -0.00375075 -0.01066119 0.00897201
+v -0.00478627 0.01028240 0.00897201
+v -0.00524663 0.00974381 0.00843135
+v -0.00531379 0.00972630 0.00853540
+v -0.00531379 0.00967375 0.00843135
+v -0.00222616 -0.01097209 0.00897201
+v -0.00075324 -0.01102025 0.00843135
+v -0.00368933 -0.01067652 0.00897201
+v -0.00437757 0.01047507 0.00897201
+v -0.00515824 0.00978541 0.00843135
+v -0.00075324 -0.01117351 0.00897201
+v 0.00055035 -0.01102244 0.00843135
+v -0.00432190 0.01049477 0.00897201
+v -0.00394017 0.01031962 0.00843135
+v 0.00055035 -0.01117132 0.00897201
+v 0.00055035 0.01103993 0.00843135
+v -0.00383169 0.01066335 0.00897201
+v -0.00375075 0.01067868 0.00894682
+v -0.00375075 0.01038530 0.00843135
+v 0.00055035 0.01119099 0.00897201
+v -0.00075324 0.01104212 0.00843135
+v -0.00379610 0.01067211 0.00897201
+v -0.00321117 0.01055607 0.00843135
+v -0.00375075 0.01068306 0.00897201
+v -0.00221353 0.01099176 0.00897201
+v -0.00219344 0.01082099 0.00843135
+v -0.00075324 0.01119318 0.00897201
+v -0.00122393 0.01113188 0.00897201
+f 1 2 3
+f 1 3 4
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+f 1 5 6
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+f 23 24 27
+f 24 28 32
+f 24 32 27
+f 25 29 30
+f 25 30 26
+f 26 30 31
+f 28 33 39
+f 28 39 32
+f 29 34 30
+f 30 35 31
+f 30 34 36
+f 30 36 37
+f 30 37 38
+f 30 38 35
+f 33 40 39
+f 33 38 37
+f 33 37 40
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_26.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b033c69732c5910348a4db8b45791ce010fa9f8
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_26.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v -0.00787325 0.00393773 0.00699689
+v -0.01018491 0.00393773 0.00699689
+v -0.00787325 0.00345748 0.00699689
+v -0.00787325 0.00393773 -0.03035279
+v -0.01028997 0.00393773 0.00670410
+v -0.01024590 0.00380897 0.00699689
+v -0.01035415 0.00345748 0.00699689
+v -0.00787325 0.00345748 -0.03038573
+v -0.00787325 0.00376742 -0.03038573
+v -0.00824815 0.00376742 -0.03034181
+v -0.00825485 0.00393773 -0.03030521
+v -0.01048763 0.00393773 0.00610753
+v -0.01057545 0.00345748 0.00644790
+v -0.01026346 0.00376652 0.00699689
+v -0.01049498 0.00345748 0.00668580
+v -0.00824815 0.00345748 -0.03036377
+v -0.00839664 0.00393773 -0.03025397
+v -0.00939296 0.00345748 -0.02996118
+v -0.00934218 0.00376742 -0.02994288
+v -0.00930738 0.00393773 -0.02992458
+v -0.01051031 0.00393773 0.00600871
+v -0.01049913 0.00345748 0.00667482
+v -0.01061345 0.00393773 0.00552925
+v -0.01068626 0.00379600 0.00540848
+v -0.01062622 0.00345748 0.00621000
+v -0.01014180 0.00345748 -0.02928043
+v -0.01009134 0.00376742 -0.02921089
+v -0.01004216 0.00393773 -0.02917429
+v -0.01065401 0.00393773 0.00530234
+v -0.01083443 0.00393773 0.00418606
+v -0.01092288 0.00376742 0.00399940
+v -0.01077695 0.00345748 0.00543044
+v -0.01057130 0.00345748 -0.02868752
+v -0.01063261 0.00376742 -0.02846426
+v -0.01018299 0.00393773 -0.02899495
+v -0.01085934 0.00393773 0.00399940
+v -0.01100719 0.00345748 0.00399940
+v -0.01095673 0.00393773 0.00278064
+v -0.01104232 0.00376742 0.00249883
+v -0.01067476 0.00345748 -0.02853380
+v -0.01092288 0.00345748 -0.02747242
+v -0.01060355 0.00393773 -0.02841302
+v -0.01112502 0.00345748 0.00249883
+v -0.01097653 0.00393773 0.00249883
+v -0.01105285 0.00376742 0.00100191
+v -0.01101805 0.00345748 -0.02597184
+v -0.01083986 0.00376742 -0.02747242
+v -0.01077950 0.00393773 -0.02747242
+v -0.01113556 0.00345748 0.00100191
+v -0.01098515 0.00393773 0.00124713
+v -0.01098611 0.00393773 0.00100191
+v -0.01105285 0.00376742 -0.02297801
+v -0.01108958 0.00345748 -0.02447127
+v -0.01093374 0.00376742 -0.02597184
+v -0.01086828 0.00393773 -0.02597184
+v -0.01113524 0.00345748 -0.02297801
+v -0.01098611 0.00393773 -0.01523358
+v -0.01098547 0.00393773 -0.02272914
+v -0.01098515 0.00393773 -0.02297801
+v -0.01094524 0.00393773 -0.02422605
+v -0.01100495 0.00376742 -0.02447127
+v -0.01112758 0.00345748 -0.02328545
+v -0.01093725 0.00393773 -0.02447127
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+f 1 4 11
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+f 1 17 20
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+f 41 47 42
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+f 44 50 45
+f 45 50 51
+f 45 51 57
+f 45 57 52
+f 45 52 49
+f 46 53 54
+f 46 54 47
+f 47 54 48
+f 48 54 55
+f 49 52 56
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+f 52 58 59
+f 52 59 60
+f 52 60 61
+f 52 61 53
+f 52 53 62
+f 52 62 56
+f 53 61 54
+f 54 61 55
+f 55 61 63
+f 60 63 61
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_260.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_260.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5644c98f4ebe5d4eb2c444635397beb01c8772a8
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_260.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00059227 -0.00950308 -0.02102317
+v -0.00448622 -0.00950308 -0.02102317
+v -0.00059227 -0.00983238 -0.02102317
+v -0.00059227 -0.00950308 -0.03012550
+v -0.00448622 -0.00983238 -0.02102317
+v -0.00448622 -0.00950308 -0.02953026
+v -0.00059227 -0.00983238 -0.03003016
+v -0.00059227 -0.00952062 -0.03012105
+v -0.00070624 -0.00950308 -0.03012550
+v -0.00448622 -0.00983238 -0.02911324
+v -0.00437721 -0.00950308 -0.02959531
+v -0.00069404 -0.00983238 -0.03003016
+v -0.00102756 -0.00950308 -0.03011837
+v -0.00402387 -0.00983238 -0.02938858
+v -0.00349825 -0.00950308 -0.02989026
+v -0.00299588 -0.00983238 -0.02975927
+v -0.00080267 -0.00983238 -0.03002659
+v -0.00225185 -0.00950308 -0.03007471
+v -0.00225185 -0.00957080 -0.03005422
+v -0.00324973 -0.00950308 -0.02993214
+v -0.00192024 -0.00983238 -0.02994550
+v -0.00233380 -0.00950308 -0.03006937
+v -0.00268713 -0.00950308 -0.03002570
+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 18
+f 1 18 22
+f 1 22 23
+f 1 23 20
+f 1 20 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 16
+f 3 16 21
+f 3 21 17
+f 3 17 12
+f 3 12 7
+f 4 8 9
+f 6 11 10
+f 7 12 8
+f 8 12 9
+f 9 12 13
+f 10 11 14
+f 11 15 16
+f 11 16 14
+f 12 17 13
+f 13 17 19
+f 13 19 18
+f 15 20 21
+f 15 21 16
+f 17 21 19
+f 18 19 22
+f 19 21 23
+f 19 23 22
+f 20 23 21
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_261.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_261.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4f817f7fb739422a50a988d0528bcd0a76e3675
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_261.obj
@@ -0,0 +1,150 @@
+# https://github.com/mikedh/trimesh
+v 0.00677299 -0.00964452 0.01552163
+v 0.00674116 -0.00964452 0.01580321
+v 0.00674116 -0.00966571 0.01552163
+v -0.00677333 -0.00964452 0.01552163
+v 0.00672260 -0.00964452 0.01596647
+v 0.00644149 -0.00986298 0.01552163
+v -0.00674814 -0.00966201 0.01552163
+v -0.00674814 -0.00964452 0.01577495
+v 0.00671862 -0.00964452 0.01599607
+v 0.00569098 -0.01030464 0.01599607
+v 0.00572280 -0.01032398 0.01552163
+v -0.00573110 -0.01032686 0.01552163
+v -0.00672427 -0.00964452 0.01599607
+v 0.00661121 -0.00964452 0.01616896
+v 0.00550004 -0.01035956 0.01616896
+v 0.00494179 -0.01069158 0.01599607
+v 0.00521097 -0.01058852 0.01552163
+v -0.00498192 -0.01070310 0.01552163
+v -0.00495275 -0.01068808 0.01599607
+v -0.00570326 -0.01030937 0.01599607
+v -0.00672029 -0.00964452 0.01600044
+v -0.00655587 -0.00964452 0.01616896
+v 0.00489804 -0.01067018 0.01616896
+v 0.00497362 -0.01070721 0.01552163
+v 0.00393802 -0.01104128 0.01616896
+v 0.00374310 -0.01115442 0.01599607
+v 0.00456256 -0.01087075 0.01552163
+v -0.00375007 -0.01117808 0.01552163
+v -0.00491164 -0.01066730 0.01616896
+v -0.00375007 -0.01114557 0.01599607
+v -0.00563961 -0.01023758 0.01616896
+v 0.00249534 -0.01140271 0.01616896
+v 0.00224473 -0.01153190 0.01599607
+v 0.00326972 -0.01130973 0.01552163
+v 0.00374310 -0.01118713 0.01552163
+v -0.00225170 -0.01156522 0.01552163
+v -0.00375007 -0.01108036 0.01616896
+v -0.00225170 -0.01152963 0.01599607
+v 0.00224473 -0.01144509 0.01616896
+v 0.00224473 -0.01156769 0.01552163
+v 0.00099697 -0.01158949 0.01616896
+v 0.00074503 -0.01170531 0.01599607
+v 0.00177002 -0.01162508 0.01552163
+v -0.00075201 -0.01174583 0.01552163
+v -0.00225170 -0.01144262 0.01616896
+v -0.00075201 -0.01170860 0.01599607
+v 0.00096647 -0.01159299 0.01616896
+v 0.00074503 -0.01174357 0.01552163
+v 0.00074503 -0.01160759 0.01616896
+v -0.00075201 -0.01161006 0.01616896
+v -0.00053587 -0.01161027 0.01616896
+f 1 2 3
+f 1 3 6
+f 1 6 11
+f 1 11 17
+f 1 17 24
+f 1 24 27
+f 1 27 35
+f 1 35 34
+f 1 34 40
+f 1 40 43
+f 1 43 48
+f 1 48 44
+f 1 44 36
+f 1 36 28
+f 1 28 18
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+f 1 4 8
+f 1 8 13
+f 1 13 21
+f 1 21 22
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+f 1 14 9
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+f 5 9 10
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+f 6 10 11
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+f 14 31 29
+f 14 29 37
+f 14 37 45
+f 14 45 50
+f 14 50 51
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+f 14 39 32
+f 14 32 25
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+f 14 23 15
+f 15 23 16
+f 16 24 17
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+f 16 25 26
+f 16 26 27
+f 16 27 24
+f 18 28 19
+f 19 29 20
+f 19 28 30
+f 19 30 29
+f 20 31 22
+f 20 22 21
+f 20 29 31
+f 25 32 33
+f 25 33 26
+f 26 33 34
+f 26 34 35
+f 26 35 27
+f 28 36 30
+f 29 30 37
+f 30 36 38
+f 30 38 37
+f 32 39 33
+f 33 40 34
+f 33 39 41
+f 33 41 42
+f 33 42 43
+f 33 43 40
+f 36 44 38
+f 37 38 45
+f 38 44 46
+f 38 46 45
+f 41 47 42
+f 42 48 43
+f 42 47 49
+f 42 49 46
+f 42 46 48
+f 44 48 46
+f 45 46 50
+f 46 51 50
+f 46 49 51
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_262.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_262.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1b14d9747e5afbdb5bcac0fc7d151f5ace927c1
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_262.obj
@@ -0,0 +1,252 @@
+# https://github.com/mikedh/trimesh
+v -0.00075089 0.01163797 0.01092140
+v 0.00006361 0.01163742 0.01092140
+v -0.00075089 0.01157501 0.01047087
+v -0.00224902 0.01144686 0.01092140
+v 0.00074334 0.01163687 0.01092140
+v 0.00074334 0.01157390 0.01047087
+v -0.00224902 0.01138389 0.01047087
+v -0.00374911 0.01098951 0.01047087
+v -0.00374911 0.01105137 0.01092140
+v 0.00132149 0.01156451 0.01092140
+v 0.00177269 0.01144410 0.01047087
+v -0.00472768 0.01062716 0.01047087
+v -0.00479018 0.01065699 0.01092140
+v 0.00224342 0.01144741 0.01092140
+v 0.00224342 0.01138444 0.01047087
+v -0.00547772 0.01023168 0.01047087
+v -0.00553827 0.01026647 0.01092140
+v 0.00282158 0.01129662 0.01092140
+v 0.00327278 0.01111545 0.01047087
+v -0.00670435 0.00946114 0.01047087
+v -0.00678248 0.00947605 0.01092140
+v 0.00306378 0.01123255 0.01092140
+v 0.00374350 0.01099061 0.01047087
+v -0.00671216 0.00945562 0.01047087
+v -0.00679420 0.00946832 0.01092140
+v 0.00374350 0.01105192 0.01092140
+v 0.00436854 0.01076359 0.01047087
+v -0.00722000 0.00909382 0.01047087
+v -0.00707546 0.00926837 0.01092140
+v 0.00406384 0.01093538 0.01092140
+v 0.00427674 0.01085363 0.01092140
+v 0.00472208 0.01062661 0.01047087
+v -0.00741533 0.00894855 0.01047087
+v -0.00746025 0.00898390 0.01092140
+v 0.00478458 0.01065589 0.01092140
+v 0.00490568 0.01059513 0.01092140
+v 0.00524554 0.01042334 0.01092140
+v 0.00495646 0.01050785 0.01047087
+v -0.00767120 0.00870496 0.01047087
+v -0.00796028 0.00850225 0.01092140
+v 0.00528070 0.01040512 0.01092140
+v 0.00553462 0.01027089 0.01092140
+v 0.00547016 0.01023554 0.01047087
+v -0.00818295 0.00820563 0.01047087
+v -0.00822006 0.00824375 0.01089789
+v -0.00822397 0.00824375 0.01092140
+v 0.00600340 0.00998201 0.01092140
+v 0.00627685 0.00973953 0.01047087
+v -0.00868493 0.00768366 0.01047087
+v -0.00848179 0.00797696 0.01092140
+v 0.00620653 0.00985055 0.01092140
+v 0.00630420 0.00972185 0.01047087
+v -0.00892323 0.00742736 0.01047087
+v -0.00895448 0.00746548 0.01092140
+v 0.00677883 0.00947937 0.01092140
+v 0.00670070 0.00946445 0.01047087
+v -0.00908925 0.00721526 0.01047087
+v -0.00918496 0.00717328 0.01092140
+v 0.00741168 0.00894966 0.01047087
+v 0.00672219 0.00944954 0.01047087
+v 0.00743317 0.00899661 0.01092140
+v 0.00745075 0.00898225 0.01090627
+v -0.00944865 0.00671869 0.01047087
+v -0.00946427 0.00679547 0.01092140
+v -0.00926504 0.00706944 0.01092140
+v 0.00747614 0.00896070 0.01092140
+v 0.00801718 0.00844370 0.01092140
+v 0.00822618 0.00824375 0.01092038
+v 0.00815977 0.00824375 0.01054258
+v 0.00814610 0.00824375 0.01047087
+v -0.00989789 0.00599566 0.01047087
+v -0.00997211 0.00599566 0.01092140
+v 0.00822423 0.00824485 0.01092140
+v 0.00842541 0.00803716 0.01092140
+v 0.00892934 0.00744007 0.01047087
+v 0.00818321 0.00820619 0.01047087
+v 0.00990987 0.00599566 0.01047087
+v 0.00998214 0.00599566 0.01092140
+v 0.00891567 0.00752513 0.01092140
+v 0.00895864 0.00747652 0.01089083
+v 0.00932390 0.00698935 0.01092140
+v 0.00945867 0.00680596 0.01092140
+v 0.00944305 0.00673029 0.01047087
+v 0.00969697 0.00633425 0.01047087
+v 0.00898794 0.00744062 0.01092140
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+f 1 3 7
+f 1 7 4
+f 1 4 9
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+f 1 13 17
+f 1 17 21
+f 1 21 25
+f 1 25 29
+f 1 29 34
+f 1 34 40
+f 1 40 46
+f 1 46 50
+f 1 50 54
+f 1 54 58
+f 1 58 65
+f 1 65 64
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+f 1 78 82
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+f 1 85 79
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+f 1 74 73
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+f 1 61 55
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+f 1 51 47
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+f 1 42 41
+f 1 41 37
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+f 1 36 35
+f 1 35 31
+f 1 31 30
+f 1 30 26
+f 1 26 22
+f 1 22 18
+f 1 18 14
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+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 11
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+f 3 15 19
+f 3 19 23
+f 3 23 27
+f 3 27 32
+f 3 32 38
+f 3 38 43
+f 3 43 48
+f 3 48 52
+f 3 52 56
+f 3 56 60
+f 3 60 59
+f 3 59 70
+f 3 70 76
+f 3 76 75
+f 3 75 83
+f 3 83 84
+f 3 84 77
+f 3 77 71
+f 3 71 63
+f 3 63 57
+f 3 57 53
+f 3 53 49
+f 3 49 44
+f 3 44 39
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+f 5 10 6
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+f 8 12 9
+f 9 12 13
+f 10 14 15
+f 10 15 11
+f 12 16 17
+f 12 17 13
+f 14 18 15
+f 15 18 19
+f 16 20 17
+f 17 20 21
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+f 19 22 23
+f 20 24 25
+f 20 25 21
+f 22 26 23
+f 23 26 27
+f 24 28 29
+f 24 29 25
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+f 27 30 31
+f 27 31 32
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+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 37 41 38
+f 38 41 42
+f 38 42 43
+f 39 44 40
+f 40 44 45
+f 40 45 46
+f 42 47 48
+f 42 48 43
+f 44 49 50
+f 44 50 45
+f 45 50 46
+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 53 57 58
+f 53 58 54
+f 55 59 60
+f 55 60 56
+f 55 61 62
+f 55 62 59
+f 57 63 64
+f 57 64 65
+f 57 65 58
+f 59 62 66
+f 59 66 67
+f 59 67 68
+f 59 68 69
+f 59 69 70
+f 61 66 62
+f 63 71 72
+f 63 72 64
+f 67 73 68
+f 68 73 74
+f 68 74 75
+f 68 75 69
+f 69 75 76
+f 69 76 70
+f 71 77 78
+f 71 78 72
+f 74 79 80
+f 74 80 75
+f 75 80 81
+f 75 81 82
+f 75 82 83
+f 77 84 78
+f 78 84 83
+f 78 83 82
+f 79 85 80
+f 80 85 81
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_263.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_263.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10deeea5a11b5533e514a2d27724ba51a29502da
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_263.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.00544054 -0.00950308 0.00682049
+v 0.00534363 -0.00950308 0.00700055
+v 0.00544054 -0.00981236 0.00577616
+v 0.00544054 -0.00950308 -0.02893885
+v 0.00527311 -0.00954186 0.00700055
+v 0.00481835 -0.00950308 0.00700055
+v 0.00496364 -0.00983238 0.00659002
+v 0.00541725 -0.00983238 0.00575095
+v 0.00544054 -0.00981545 0.00576536
+v 0.00544054 -0.00956961 -0.02884522
+v 0.00515437 -0.00967721 -0.02892445
+v 0.00528565 -0.00950308 -0.02906129
+v 0.00465743 -0.00983238 0.00700055
+v 0.00494800 -0.00983238 0.00661523
+v 0.00377659 -0.00950308 0.00697534
+v 0.00377659 -0.00950363 0.00700055
+v 0.00544054 -0.00983238 0.00570054
+v 0.00544054 -0.00983238 -0.02810339
+v 0.00503270 -0.00983238 -0.02879121
+v 0.00462746 -0.00983238 -0.02903968
+v 0.00503840 -0.00950308 -0.02921254
+v 0.00377659 -0.00983238 0.00700055
+v 0.00377659 -0.00950308 -0.02978872
+v 0.00377659 -0.00983238 -0.02947182
+v 0.00377659 -0.00982883 -0.02947542
+f 1 2 3
+f 1 3 9
+f 1 9 17
+f 1 17 18
+f 1 18 10
+f 1 10 4
+f 1 4 12
+f 1 12 21
+f 1 21 23
+f 1 23 15
+f 1 15 6
+f 1 6 2
+f 2 5 3
+f 2 6 16
+f 2 16 22
+f 2 22 13
+f 2 13 5
+f 3 7 8
+f 3 8 9
+f 3 5 7
+f 4 10 11
+f 4 11 12
+f 5 13 14
+f 5 14 7
+f 6 15 16
+f 7 14 13
+f 7 13 22
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+f 7 17 8
+f 8 17 9
+f 10 18 19
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+f 11 20 21
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+f 15 23 25
+f 15 25 24
+f 15 24 22
+f 15 22 16
+f 20 24 21
+f 21 24 25
+f 21 25 23
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_264.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_264.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49bfa0e3b278ed6306a50cb98846b0ed4222fcc9
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_264.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00158180 -0.00433576 0.01319545
+v 0.00445458 -0.00433576 0.01319545
+v -0.00158180 -0.00433576 0.01358201
+v -0.00158180 0.00779718 0.01319545
+v 0.00445458 -0.00433576 0.01358201
+v 0.00445458 0.00779718 0.01319545
+v -0.00158180 0.00779718 0.01358201
+v 0.00445458 0.00779718 0.01358201
+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_266.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_266.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb3be408cd6ac25f35e8faff34ede73e43275a56
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_266.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00248751 0.00345743 0.00700055
+v 0.00119949 0.00345743 0.00700055
+v 0.00248751 0.00292065 0.00700055
+v 0.00248751 0.00345743 -0.03053761
+v 0.00119949 0.00292065 0.00700055
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_268.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_268.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de16918a5600924aba59789d0918837417bdd633
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_268.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_269.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_269.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbf2484eb29198130a0b348ef44c10881ac54c58
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_269.obj
@@ -0,0 +1,279 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_27.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cceaa2aeee656cfa7911e50fbb8fe5ce4d278da0
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_27.obj
@@ -0,0 +1,228 @@
+# https://github.com/mikedh/trimesh
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+f 16 34 33
+f 16 33 32
+f 16 32 19
+f 16 19 17
+f 20 32 33
+f 20 33 21
+f 21 33 22
+f 22 33 34
+f 22 34 23
+f 23 34 35
+f 23 35 24
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 24 38 39
+f 24 39 25
+f 25 39 40
+f 25 40 26
+f 26 40 41
+f 28 42 29
+f 29 42 43
+f 29 43 44
+f 29 44 45
+f 29 45 46
+f 29 46 47
+f 29 47 30
+f 30 48 49
+f 30 49 31
+f 30 47 50
+f 30 50 48
+f 38 51 52
+f 38 52 39
+f 39 52 40
+f 40 52 53
+f 40 53 41
+f 41 53 54
+f 41 54 55
+f 44 56 57
+f 44 57 46
+f 44 46 45
+f 46 57 47
+f 47 58 50
+f 47 57 58
+f 50 58 59
+f 50 59 60
+f 51 61 54
+f 51 54 52
+f 52 54 53
+f 54 61 62
+f 54 62 63
+f 54 63 64
+f 54 64 65
+f 54 65 55
+f 55 65 66
+f 56 67 69
+f 56 69 57
+f 56 68 67
+f 57 69 60
+f 57 60 70
+f 57 70 58
+f 58 70 60
+f 58 60 59
+f 62 71 63
+f 63 71 72
+f 63 72 64
+f 64 72 73
+f 64 73 74
+f 64 74 75
+f 64 75 66
+f 64 66 65
+f 67 68 72
+f 67 72 69
+f 68 76 72
+f 72 76 73
+f 73 76 77
+f 73 77 74
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_270.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_270.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a3103d3610c10770509fe1b164f99134612e334
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_270.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.00149636 -0.00258256 0.00700055
+v -0.01061274 -0.00258256 0.00700055
+v -0.00149636 -0.00302299 0.00700055
+v -0.00149636 -0.00258256 -0.00760055
+v -0.01066384 -0.00258256 0.00684619
+v -0.01062334 -0.00302299 0.00665324
+v -0.01051728 -0.00297867 0.00700055
+v -0.01050186 -0.00302299 0.00700055
+v -0.00149636 -0.00302299 -0.00760055
+v -0.01134456 -0.00258256 -0.00760055
+v -0.01100131 -0.00258256 0.00548556
+v -0.01052982 -0.00302299 0.00693052
+v -0.01088271 -0.00302299 0.00546412
+v -0.01122789 -0.00302299 -0.00760055
+v -0.01134456 -0.00258256 -0.00684305
+v -0.01105144 -0.00258256 0.00514683
+v -0.01099648 -0.00302299 0.00470805
+v -0.01122789 -0.00302299 -0.00728325
+v -0.01134359 -0.00258256 -0.00534235
+v -0.01121728 -0.00258256 0.00400344
+v -0.01109869 -0.00302299 0.00400344
+v -0.01122307 -0.00302299 -0.00348863
+v -0.01134070 -0.00258256 -0.00348863
+v -0.01126164 -0.00258256 0.00333598
+v -0.01115172 -0.00302299 0.00320878
+v -0.01121921 -0.00302299 -0.00198936
+v -0.01133781 -0.00258256 -0.00198936
+v -0.01131563 -0.00258256 0.00250417
+v -0.01119800 -0.00302299 0.00250417
+v -0.01121535 -0.00302299 -0.00049152
+v -0.01133299 -0.00258256 -0.00049152
+v -0.01132142 -0.00258256 0.00183671
+v -0.01120475 -0.00302299 0.00170951
+v -0.01121053 -0.00302299 0.00100490
+v -0.01132816 -0.00258256 0.00100490
+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 23
+f 1 23 27
+f 1 27 31
+f 1 31 35
+f 1 35 32
+f 1 32 28
+f 1 28 24
+f 1 24 20
+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 3 8 12
+f 3 12 6
+f 3 6 13
+f 3 13 17
+f 3 17 21
+f 3 21 25
+f 3 25 29
+f 3 29 33
+f 3 33 34
+f 3 34 30
+f 3 30 26
+f 3 26 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 12 7
+f 6 11 13
+f 7 12 8
+f 10 14 18
+f 10 18 15
+f 11 16 17
+f 11 17 13
+f 15 18 19
+f 16 20 21
+f 16 21 17
+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 29
+f 24 29 25
+f 26 30 27
+f 27 30 31
+f 28 32 29
+f 29 32 33
+f 30 34 35
+f 30 35 31
+f 32 35 34
+f 32 34 33
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_271.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_271.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f99cd0e33249c84623e735f12e60c8d3566faf2
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_271.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.01131347 -0.00295990 0.01139517
+v 0.01113895 -0.00362385 0.01139517
+v 0.01104778 -0.00372752 0.01092140
+v 0.01119365 -0.00316795 0.01092140
+v 0.01126137 -0.00295990 0.01101917
+v -0.00199158 -0.00295990 0.01139517
+v 0.01111160 -0.00372752 0.01139517
+v 0.01084722 -0.00441266 0.01139517
+v 0.01078210 -0.00441266 0.01092140
+v 0.01124705 -0.00295990 0.01092140
+v -0.00199158 -0.00295990 0.01092140
+v -0.00199158 -0.00441266 0.01139517
+v -0.00199158 -0.00441266 0.01092140
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 10
+f 1 10 11
+f 1 11 6
+f 1 6 12
+f 1 12 8
+f 1 8 7
+f 1 7 2
+f 2 7 3
+f 3 7 8
+f 3 8 9
+f 3 9 13
+f 3 13 11
+f 3 11 10
+f 3 10 4
+f 4 10 5
+f 6 11 13
+f 6 13 12
+f 8 12 13
+f 8 13 9
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_272.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_272.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d2da9bdef0a2855c5b4aab309349274a2135c65
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_272.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00795109 0.00561617 -0.03006702
+v -0.00817373 0.00561617 -0.03000534
+v -0.00795109 0.00618752 -0.02993639
+v -0.00795109 0.00561617 0.00700055
+v -0.00838553 0.00561617 -0.02983480
+v -0.00795109 0.00655180 -0.02974772
+v -0.00795109 0.00690511 0.00700055
+v -0.00838553 0.00561617 0.00700055
+v -0.00838553 0.00680946 -0.02918532
+v -0.00838553 0.00685249 -0.02915992
+v -0.00835083 0.00690511 -0.02914904
+v -0.00795109 0.00689893 -0.02940665
+v -0.00838553 0.00690511 0.00700055
+v -0.00795109 0.00690511 -0.02895310
+v -0.00836290 0.00690511 -0.02913815
+v -0.00835933 0.00690511 -0.02914178
+v -0.00838553 0.00689691 -0.02912001
+v -0.00799638 0.00690511 -0.02937037
+v -0.00795109 0.00690423 -0.02939940
+v -0.00838553 0.00690511 -0.02873903
+v -0.00837218 0.00690511 -0.02912727
+v -0.00838553 0.00690486 -0.02909461
+v -0.00838442 0.00690511 -0.02909461
+f 1 2 3
+f 1 3 6
+f 1 6 12
+f 1 12 19
+f 1 19 14
+f 1 14 7
+f 1 7 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 7 13
+f 4 13 8
+f 5 9 6
+f 5 8 13
+f 5 13 20
+f 5 20 22
+f 5 22 17
+f 5 17 10
+f 5 10 9
+f 6 9 10
+f 6 10 11
+f 6 11 12
+f 7 14 18
+f 7 18 11
+f 7 11 16
+f 7 16 15
+f 7 15 21
+f 7 21 23
+f 7 23 20
+f 7 20 13
+f 10 15 16
+f 10 16 11
+f 10 17 15
+f 11 18 12
+f 12 18 19
+f 14 19 18
+f 15 17 21
+f 17 22 21
+f 20 23 22
+f 21 22 23
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_274.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_274.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bcbc6a9497af954f115025195ea356fba09fefb
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_274.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00485233 0.00975162 0.00700055
+v 0.00485233 0.00935727 0.00700055
+v 0.00485233 0.00983580 0.00672419
+v 0.00467196 0.00983580 0.00700055
+v -0.00305588 0.00935727 0.00700055
+v 0.00485233 0.00935727 -0.00111237
+v 0.00485233 0.00983580 -0.00111237
+v -0.00305588 0.00983580 0.00700055
+v -0.00305588 0.00935727 -0.00111237
+v -0.00305588 0.00983580 -0.00111237
+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_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_275.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_275.obj
new file mode 100644
index 0000000000000000000000000000000000000000..641738c812bcd5e87ee92607488968756cfe2dde
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_275.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.01177383 0.00076883 0.01552163
+v -0.01173765 0.00076883 0.01599607
+v -0.01154417 0.00226779 0.01599607
+v -0.01164159 0.00179330 0.01552163
+v -0.01177305 0.00029434 0.01552163
+v -0.01177034 -0.00072920 0.01552163
+v -0.01173368 -0.00072920 0.01599607
+v -0.01163598 -0.00072920 0.01616896
+v -0.01163946 0.00076883 0.01616896
+v -0.01162195 0.00099255 0.01616896
+v -0.01157977 0.00226779 0.01552163
+v -0.01146088 0.00223982 0.01616896
+v -0.01145721 0.00226779 0.01616896
+v -0.01141319 0.00252134 0.01616896
+v -0.01104308 0.00396064 0.01616896
+v -0.01115394 0.00376675 0.01599607
+v -0.01158064 -0.00222816 0.01552163
+v -0.01154427 -0.00222816 0.01599607
+v -0.01145740 -0.00222816 0.01616896
+v -0.01131298 0.00329226 0.01552163
+v -0.01078567 0.00463555 0.01616896
+v -0.01078567 0.00470826 0.01603809
+v -0.01078567 0.00473157 0.01599607
+v -0.01078567 0.00477351 0.01577438
+v -0.01118780 0.00376675 0.01552163
+v -0.01119892 -0.00372712 0.01552163
+v -0.01116439 -0.00372712 0.01599607
+v -0.01109832 -0.00372712 0.01616896
+v -0.01078567 -0.00441881 0.01616896
+v -0.01078567 0.00481080 0.01552163
+v -0.01087979 0.00457402 0.01552163
+v -0.01081653 -0.00471245 0.01552163
+v -0.01081121 -0.00471245 0.01561410
+v -0.01078876 -0.00471245 0.01599607
+v -0.01078567 -0.00457262 0.01614355
+v -0.01078567 -0.00454745 0.01616808
+v -0.01078567 -0.00471245 0.01552163
+v -0.01078567 -0.00471245 0.01600412
+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 30
+f 1 30 37
+f 1 37 32
+f 1 32 26
+f 1 26 17
+f 1 17 6
+f 1 6 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
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+f 2 10 3
+f 3 11 4
+f 3 10 12
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+f 3 14 15
+f 3 15 16
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+f 7 18 19
+f 7 19 8
+f 8 19 28
+f 8 28 29
+f 8 29 21
+f 8 21 15
+f 8 15 14
+f 8 14 13
+f 8 13 12
+f 8 12 10
+f 8 10 9
+f 11 16 20
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 20
+f 17 26 27
+f 17 27 18
+f 18 27 28
+f 18 28 19
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+f 21 36 35
+f 21 35 38
+f 21 38 37
+f 21 37 30
+f 21 30 24
+f 21 24 23
+f 21 23 22
+f 24 30 31
+f 24 31 25
+f 26 32 33
+f 26 33 34
+f 26 34 27
+f 27 34 28
+f 28 34 35
+f 28 35 36
+f 28 36 29
+f 32 37 38
+f 32 38 34
+f 32 34 33
+f 34 38 35
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_276.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_276.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7cdf236b11331d74b9cc39ae070c443a3c1dd9e
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_276.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00531703 -0.00127602 0.00972526
+v 0.00531703 -0.00533836 0.00972526
+v 0.00531703 -0.00127602 0.00941181
+v -0.01134703 -0.00127602 0.00972526
+v 0.00531703 -0.00533836 0.00941181
+v -0.01013180 -0.00533836 0.00972526
+v -0.01124426 -0.00127602 0.00941181
+v -0.01112519 -0.00220612 0.00941181
+v -0.01122632 -0.00221844 0.00972526
+v -0.01001273 -0.00533836 0.00941181
+v -0.01030308 -0.00511568 0.00972526
+v -0.01012528 -0.00533836 0.00970706
+v -0.01096044 -0.00305509 0.00941181
+v -0.01114965 -0.00261489 0.00972526
+v -0.01043520 -0.00478524 0.00941181
+v -0.01054449 -0.00457926 0.00941181
+v -0.01056569 -0.00462022 0.00972526
+v -0.01063910 -0.00432437 0.00941181
+v -0.01079080 -0.00400625 0.00972526
+v -0.01074839 -0.00412555 0.00972526
+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 19
+f 1 19 20
+f 1 20 17
+f 1 17 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 18
+f 3 18 13
+f 3 13 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 12
+f 8 13 14
+f 8 14 9
+f 10 12 11
+f 10 11 15
+f 11 16 15
+f 11 17 16
+f 13 18 14
+f 14 18 19
+f 16 17 18
+f 17 20 18
+f 18 20 19
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_277.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_277.obj
new file mode 100644
index 0000000000000000000000000000000000000000..844c4f3019759e60622af2a49c4e56112fcacbe0
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_277.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.00075128 0.00516127 -0.03054705
+v -0.00110131 0.00561617 -0.03054688
+v -0.00075128 0.00561617 -0.03054688
+v 0.00039801 0.00561617 -0.03054503
+v 0.00074803 0.00526653 -0.03054453
+v 0.00074803 0.00516127 -0.03054453
+v -0.00165756 0.00516127 -0.03054654
+v -0.00165756 0.00561617 -0.03054654
+v 0.00074803 0.00561617 -0.03054437
+v 0.00524264 0.00526653 -0.03053649
+v 0.00524264 0.00516127 -0.03053666
+v -0.00165756 0.00516127 -0.02883502
+v -0.00165756 0.00561617 -0.02883502
+v 0.00489261 0.00561617 -0.03053498
+v 0.00524264 0.00561617 -0.03051923
+v 0.00674195 0.00526653 -0.03046292
+v 0.00674195 0.00516127 -0.03046778
+v 0.00534742 0.00516127 -0.03053615
+v 0.00973055 0.00516127 -0.02883502
+v 0.00948085 0.00561617 -0.02883502
+v 0.00639193 0.00561617 -0.03046275
+v 0.00676648 0.00561617 -0.03038550
+v 0.00800160 0.00561617 -0.03006491
+v 0.00830035 0.00528421 -0.03005435
+v 0.00829478 0.00516127 -0.03007865
+v 0.00684674 0.00516127 -0.03045521
+v 0.00969711 0.00516127 -0.02891010
+v 0.00957226 0.00547426 -0.02883502
+v 0.00907620 0.00561617 -0.02940514
+v 0.00817104 0.00561617 -0.03001313
+v 0.00851103 0.00516127 -0.02999821
+v 0.00838507 0.00516127 -0.03004631
+v 0.00968931 0.00516127 -0.02892099
+v 0.00968596 0.00516968 -0.02891915
+v 0.00967481 0.00516127 -0.02893959
+v 0.00889339 0.00561617 -0.02963238
+v 0.00902827 0.00516127 -0.02974265
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 18
+f 1 18 17
+f 1 17 26
+f 1 26 25
+f 1 25 32
+f 1 32 31
+f 1 31 37
+f 1 37 35
+f 1 35 33
+f 1 33 27
+f 1 27 19
+f 1 19 12
+f 1 12 7
+f 1 7 2
+f 2 7 8
+f 2 8 13
+f 2 13 20
+f 2 20 29
+f 2 29 36
+f 2 36 30
+f 2 30 23
+f 2 23 22
+f 2 22 21
+f 2 21 15
+f 2 15 14
+f 2 14 9
+f 2 9 4
+f 2 4 3
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 6
+f 7 12 13
+f 7 13 8
+f 9 14 10
+f 10 14 15
+f 10 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 12 19 28
+f 12 28 20
+f 12 20 13
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 16 23 24
+f 16 24 25
+f 16 25 26
+f 16 26 17
+f 19 27 28
+f 20 28 29
+f 23 30 24
+f 24 31 32
+f 24 32 25
+f 24 30 31
+f 27 33 34
+f 27 34 28
+f 28 34 29
+f 29 34 33
+f 29 33 35
+f 29 35 36
+f 30 36 37
+f 30 37 31
+f 35 37 36
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_278.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_278.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7765618a73151d1c770cbe5afe464e378feba4af
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_278.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00730787 -0.00424568 0.00700055
+v -0.00767615 -0.00424568 0.00700055
+v 0.00730787 -0.00466712 0.00700055
+v 0.00730787 -0.00424568 -0.00868155
+v -0.00767615 -0.00466712 0.00700055
+v -0.00767615 -0.00424568 -0.00868155
+v 0.00730787 -0.00466712 -0.00868155
+v -0.00767615 -0.00466712 -0.00868155
+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_279.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_279.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b75fe4299ddf4f43dda1468b524d8641419e7252
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_279.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.00134148 0.01177796 0.01408469
+v -0.00134148 0.01177566 0.01382056
+v -0.00173439 0.01172269 0.01380048
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+v -0.00134148 -0.01174984 0.01408469
+v -0.00134148 0.01177336 0.01358206
+v -0.00173439 0.01172039 0.01358206
+v -0.00173439 0.01172269 0.01408469
+v -0.00173439 -0.01170147 0.01408469
+v -0.00134148 -0.01174523 0.01358206
+v -0.00173439 -0.01169456 0.01358206
+v -0.00173439 -0.01169917 0.01389786
+v -0.00166785 -0.01170377 0.01358206
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 10
+f 1 10 6
+f 1 6 2
+f 2 6 3
+f 3 7 11
+f 3 11 12
+f 3 12 9
+f 3 9 8
+f 3 8 4
+f 3 6 7
+f 5 9 10
+f 6 10 13
+f 6 13 11
+f 6 11 7
+f 9 12 13
+f 9 13 10
+f 11 13 12
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_28.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae9a22b59d16c974c89a07e81405c9b5659f75cb
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_28.obj
@@ -0,0 +1,318 @@
+# https://github.com/mikedh/trimesh
+v -0.00561484 -0.00833130 0.00700055
+v -0.00702014 -0.00833130 0.00700055
+v -0.00561484 -0.00935117 0.00700055
+v -0.00561484 -0.00833130 -0.02991626
+v -0.00701866 -0.00833262 0.00700055
+v -0.00763187 -0.00833130 0.00549728
+v -0.00719731 -0.00873493 0.00549728
+v -0.00611904 -0.00905701 0.00700055
+v -0.00622460 -0.00912812 0.00664280
+v -0.00561484 -0.00936777 0.00695357
+v -0.00561484 -0.00887393 -0.02962717
+v -0.00611362 -0.00833130 -0.02974642
+v -0.00701866 -0.00866146 0.00611160
+v -0.00675931 -0.00855494 0.00700055
+v -0.00795274 -0.00833130 0.00400124
+v -0.00738186 -0.00888069 0.00400124
+v -0.00701866 -0.00886643 0.00550089
+v -0.00663357 -0.00865955 0.00700055
+v -0.00644778 -0.00928637 0.00550089
+v -0.00565003 -0.00976890 0.00546114
+v -0.00561484 -0.00950207 0.00645128
+v -0.00561484 -0.00897399 -0.02950431
+v -0.00577995 -0.00882368 -0.02958742
+v -0.00690719 -0.00833130 -0.02914656
+v -0.00809423 -0.00833130 0.00250158
+v -0.00746183 -0.00894460 0.00250158
+v -0.00663258 -0.00942272 0.00400124
+v -0.00597287 -0.00983238 0.00400124
+v -0.00565003 -0.00983238 0.00507810
+v -0.00561484 -0.00950280 0.00636816
+v -0.00561484 -0.00904687 -0.02941035
+v -0.00561484 -0.00950045 -0.02878881
+v -0.00634936 -0.00922392 -0.02859006
+v -0.00690252 -0.00833924 -0.02914295
+v -0.00691802 -0.00833130 -0.02913572
+v -0.00810654 -0.00833130 0.00100193
+v -0.00746996 -0.00895121 0.00100193
+v -0.00671231 -0.00948194 0.00250158
+v -0.00667958 -0.00950280 0.00250158
+v -0.00616013 -0.00983238 0.00250158
+v -0.00565003 -0.00983238 -0.02787456
+v -0.00561484 -0.00950280 -0.02878158
+v -0.00567759 -0.00983238 -0.02784204
+v -0.00565003 -0.00959993 -0.02848527
+v -0.00657500 -0.00938276 -0.02747345
+v -0.00701866 -0.00895415 -0.02782397
+v -0.00761071 -0.00833130 -0.02809861
+v -0.00812302 -0.00833130 -0.00349342
+v -0.00748570 -0.00896385 -0.00499308
+v -0.00748201 -0.00896106 -0.00349342
+v -0.00701866 -0.00927432 0.00100193
+v -0.00672043 -0.00948782 0.00100554
+v -0.00669705 -0.00950280 0.00100554
+v -0.00617908 -0.00983238 0.00100193
+v -0.00583778 -0.00983238 -0.02747345
+v -0.00592464 -0.00983238 -0.02662063
+v -0.00597853 -0.00983238 -0.02597380
+v -0.00662914 -0.00942625 -0.02597380
+v -0.00732453 -0.00883058 -0.02747345
+v -0.00784669 -0.00833130 -0.02747345
+v -0.00812770 -0.00833130 -0.00499308
+v -0.00701866 -0.00929739 -0.00499308
+v -0.00673249 -0.00949663 -0.00349342
+v -0.00812868 -0.00833130 -0.00597237
+v -0.00748521 -0.00896356 -0.00649273
+v -0.00673593 -0.00950119 -0.00649273
+v -0.00672855 -0.00949369 -0.00199377
+v -0.00669730 -0.00950280 0.00096941
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+v -0.00666383 -0.00946225 -0.02447414
+v -0.00794634 -0.00833130 -0.02597380
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+v -0.00620713 -0.00983238 -0.00349342
+v -0.00812770 -0.00833130 -0.00775750
+v -0.00812302 -0.00833130 -0.01074959
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+v -0.00810309 -0.00833130 -0.01820088
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+v -0.00808685 -0.00833130 -0.02255169
+v -0.00808464 -0.00833130 -0.02304676
+v -0.00748177 -0.00896047 -0.00799239
+v -0.00669656 -0.00948914 -0.02297810
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+v -0.00672855 -0.00950251 -0.00948843
+v -0.00673224 -0.00950251 -0.00799239
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+v -0.00741311 -0.00890346 -0.02447414
+v -0.00802681 -0.00833130 -0.02447414
+v -0.00612051 -0.00983238 -0.02376226
+v -0.00660428 -0.00950280 -0.02439826
+v -0.00622042 -0.00983238 -0.00649273
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+v -0.00615964 -0.00983238 -0.02297448
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+f 92 107 93
+f 93 107 98
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_280.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_280.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d7a265f958176c300e25b70425e0c511f19e8b3
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_280.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.01088801 -0.00414089 0.01092140
+v 0.01064278 -0.00478980 0.01092140
+v 0.01061292 -0.00472527 0.01047087
+v 0.01083257 -0.00414089 0.01051413
+v -0.01089752 -0.00414089 0.01092140
+v 0.01025253 -0.00553931 0.01092140
+v 0.01082617 -0.00414089 0.01047087
+v 0.01021628 -0.00547456 0.01047087
+v -0.01083781 -0.00414089 0.01047087
+v -0.01075464 -0.00436443 0.01047087
+v -0.01061390 -0.00472084 0.01047087
+v -0.01064375 -0.00478284 0.01092140
+v 0.01011605 -0.00575020 0.01092140
+v 0.00969595 -0.00629535 0.01047087
+v -0.01048168 -0.00498424 0.01047087
+v -0.01048808 -0.00498424 0.01051105
+v -0.01041131 -0.00524343 0.01092140
+v 0.00976206 -0.00629535 0.01092140
+v -0.00970972 -0.00629535 0.01047087
+v -0.01022152 -0.00547034 0.01047087
+v -0.01025564 -0.00553235 0.01092140
+v -0.00977583 -0.00629535 0.01092140
+v -0.00971185 -0.00629535 0.01047683
+v -0.01020446 -0.00549860 0.01047087
+v -0.01022365 -0.00558760 0.01092140
+v -0.00996775 -0.00599799 0.01092140
+f 1 2 3
+f 1 3 4
+f 1 4 7
+f 1 7 9
+f 1 9 5
+f 1 5 12
+f 1 12 17
+f 1 17 21
+f 1 21 25
+f 1 25 26
+f 1 26 22
+f 1 22 18
+f 1 18 13
+f 1 13 6
+f 1 6 2
+f 2 6 3
+f 3 7 4
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+f 3 14 19
+f 3 19 24
+f 3 24 20
+f 3 20 15
+f 3 15 11
+f 3 11 10
+f 3 10 9
+f 3 9 7
+f 5 9 10
+f 5 10 11
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+f 6 13 14
+f 6 14 8
+f 11 15 16
+f 11 16 12
+f 12 16 17
+f 13 18 14
+f 14 18 22
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+f 14 23 19
+f 15 20 16
+f 16 20 17
+f 17 20 21
+f 19 23 24
+f 20 24 25
+f 20 25 21
+f 22 26 23
+f 23 26 25
+f 23 25 24
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_281.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_281.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b09b0d131df95347dbfbe4bb0a8239cd9879a86
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_281.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.00515663 -0.01067483 0.01358201
+v -0.00515663 -0.01067292 0.01299810
+v -0.00504116 -0.01073213 0.01358201
+v -0.00515663 0.00779718 0.01358201
+v -0.00503906 -0.01073022 0.01299810
+v -0.00515663 -0.01064236 0.01264887
+v -0.00453727 -0.01093078 0.01358201
+v -0.00158215 0.00779718 0.01358201
+v -0.00515663 0.00779718 0.01264887
+v -0.00500652 -0.01071494 0.01264887
+v -0.00401868 -0.01110268 0.01264887
+v -0.00375064 -0.01123448 0.01299810
+v -0.00375064 -0.01124021 0.01358201
+v -0.00158215 0.00779718 0.01264887
+v -0.00158215 -0.01171581 0.01358201
+v -0.00375064 -0.01120582 0.01264887
+v -0.00225191 -0.01159929 0.01264887
+v -0.00225191 -0.01162603 0.01299810
+v -0.00316696 -0.01139301 0.01358201
+v -0.00158215 -0.01168333 0.01264887
+v -0.00225191 -0.01163176 0.01358201
+v -0.00158215 -0.01171390 0.01325900
+v -0.00158215 -0.01169671 0.01280490
+v -0.00158215 -0.01171199 0.01299810
+f 1 2 3
+f 1 3 7
+f 1 7 13
+f 1 13 19
+f 1 19 21
+f 1 21 15
+f 1 15 8
+f 1 8 4
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+f 1 9 6
+f 1 6 2
+f 2 5 3
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+f 3 5 7
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+f 8 20 14
+f 11 16 12
+f 12 17 18
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+f 12 19 13
+f 12 16 17
+f 15 21 22
+f 17 20 23
+f 17 23 24
+f 17 24 18
+f 18 21 19
+f 18 24 21
+f 21 24 22
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_282.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_282.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82ff5b184aaea4c93ff68dd0faf386d93481d14a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_282.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00472631 0.00874634 0.00165120
+v -0.00511291 0.00874634 0.00165120
+v -0.00472631 0.00844266 0.00165120
+v -0.00472631 0.00874634 -0.02832279
+v -0.00511291 0.00844266 0.00165120
+v -0.00511291 0.00874634 -0.02832279
+v -0.00472631 0.00844266 -0.02832279
+v -0.00511291 0.00844266 -0.02832279
+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_283.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_283.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15bb04af94dc9ec3d3223d179edc560f8f8be2c6
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_283.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00152060 -0.00983238 0.00700011
+v -0.00286439 -0.00983238 0.00700011
+v -0.00152060 -0.01079596 0.00700011
+v -0.00152060 -0.00983238 0.00252358
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+v -0.00286439 -0.00983238 0.00252358
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+v -0.00152060 -0.01086565 0.00673191
+v -0.00152060 -0.01086565 0.00252358
+v -0.00286439 -0.01062826 0.00675908
+v -0.00230175 -0.01068217 0.00700011
+v -0.00286439 -0.01086565 0.00252358
+v -0.00222979 -0.01086565 0.00635591
+v -0.00286439 -0.01086565 0.00568717
+f 1 2 5
+f 1 5 11
+f 1 11 7
+f 1 7 3
+f 1 3 8
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+f 1 9 4
+f 1 4 6
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+f 2 14 10
+f 2 10 5
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+f 4 9 12
+f 4 12 6
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+f 7 13 8
+f 8 13 14
+f 8 14 12
+f 8 12 9
+f 10 14 13
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_284.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_284.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cd8f4d5c07d72838d32e07965573d2236b34bac
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_284.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00100507 0.00727626 0.00615706
+v -0.00181513 0.00727626 0.00615706
+v 0.00100507 0.00690524 0.00615706
+v 0.00100507 0.00727626 -0.03052402
+v -0.00181513 0.00690524 0.00615706
+v -0.00181513 0.00727626 -0.03051684
+v 0.00100507 0.00690524 -0.03053839
+v -0.00075231 0.00727626 -0.03052761
+v -0.00181513 0.00690524 -0.03053480
+v -0.00075231 0.00690524 -0.03053839
+f 1 2 5
+f 1 5 3
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+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_285.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_285.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebd200d8b01b76c43a0d13434746b6a8498d7f8b
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_285.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.00508013 0.00069614 0.01092140
+v -0.00508013 -0.00414089 0.01092140
+v -0.00508013 0.00069614 0.01047087
+v -0.01163491 0.00069614 0.01092140
+v -0.00508013 -0.00414089 0.01047087
+v -0.01089698 -0.00414089 0.01092140
+v -0.01157331 0.00069614 0.01047087
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+v -0.01163427 0.00019141 0.01092140
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+v -0.01156946 -0.00072997 0.01047087
+v -0.01163106 -0.00048850 0.01092140
+v -0.01098168 -0.00374885 0.01047087
+v -0.01105034 -0.00372755 0.01092140
+v -0.01162978 -0.00072997 0.01092140
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+f 19 23 20
+f 20 23 24
+f 20 24 22
+f 21 22 24
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_286.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_286.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d7b59686262898b18168301f1fc181342f5a673
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_286.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.01161995 -0.00074640 -0.00046748
+v 0.01155191 -0.00127222 -0.00049351
+v 0.01155510 -0.00127222 -0.00648303
+v 0.01155828 -0.00127222 -0.01398229
+v 0.01155935 -0.00127222 -0.01848029
+v 0.01161995 -0.00074640 -0.00199284
+v 0.00409281 -0.00074635 0.00700055
+v 0.01161888 -0.00074640 0.00100582
+v 0.01154978 -0.00127222 0.00100582
+v 0.01161782 -0.00074640 -0.01848029
+v 0.01161888 -0.00074640 -0.01697835
+v 0.01155828 -0.00127222 -0.01959177
+v 0.00409281 -0.00074635 -0.01958917
+v 0.01090870 -0.00074640 0.00700055
+v 0.01128399 -0.00074640 0.00550122
+v 0.01150619 -0.00074640 0.00400189
+v 0.01160932 -0.00074640 0.00250255
+v 0.00075876 -0.00074635 0.00700055
+v 0.01154021 -0.00127222 0.00250255
+v 0.01161676 -0.00074640 -0.01959177
+v 0.00409388 -0.00127222 -0.01959177
+v 0.00075876 -0.00074635 -0.01958917
+v 0.01083428 -0.00127222 0.00700055
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+v 0.01143709 -0.00127222 0.00400189
+v 0.01150406 -0.00127222 0.00303877
+v 0.00075876 -0.00127222 0.00700055
+v 0.00902266 -0.00074640 -0.01959177
+v 0.00409388 -0.00074646 -0.01959177
+v 0.00075876 -0.00127222 -0.01958917
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+f 21 31 22
+f 21 22 30
+f 22 29 30
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_287.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_287.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b37a3f943f6e3d45407ef120fcbf9ff0d2913b6
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_287.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00784207 0.00754197 0.00699832
+v 0.00784207 0.00690536 0.00699832
+v 0.00784207 0.00754517 0.00699098
+v 0.00783893 0.00754517 0.00699832
+v 0.00382396 0.00690536 0.00699832
+v 0.00784207 0.00690536 -0.02963956
+v 0.00784207 0.00754517 -0.02903376
+v 0.00382396 0.00754517 0.00699832
+v 0.00382396 0.00690536 -0.03050971
+v 0.00784207 0.00722360 -0.02944865
+v 0.00766467 0.00690536 -0.02980845
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+v 0.00739208 0.00754517 -0.02963956
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+v 0.00446434 0.00754517 -0.03040323
+v 0.00510394 0.00690536 -0.03045096
+v 0.00685279 0.00690536 -0.03009850
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+v 0.00723867 0.00754517 -0.02973135
+v 0.00525066 0.00754517 -0.03025637
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+f 16 20 21
+f 17 22 18
+f 17 21 22
+f 20 22 21
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_288.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_288.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cec19119309bf984dd4b6fe2339c3ee58c11dd30
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_288.obj
@@ -0,0 +1,291 @@
+# https://github.com/mikedh/trimesh
+v 0.01076765 0.00445288 -0.01486016
+v 0.01076765 0.00445288 -0.01646094
+v 0.01063129 0.00481425 -0.01697843
+v 0.01063059 0.00481453 -0.01548115
+v 0.01076579 0.00445288 -0.01196909
+v 0.01076718 0.00445288 -0.01697843
+v 0.01062989 0.00481079 -0.01847917
+v 0.01045025 0.00516120 -0.01778228
+v 0.01045188 0.00516120 -0.01697843
+v 0.01045328 0.00516120 -0.01628499
+v 0.01045397 0.00516120 -0.01478771
+v 0.01045397 0.00516120 -0.01328352
+v 0.01045374 0.00516120 -0.01028895
+v 0.01045351 0.00516120 -0.00878477
+v 0.01045258 0.00516120 -0.00728403
+v 0.01045072 0.00516120 -0.00577985
+v 0.01062733 0.00481231 -0.01248658
+v 0.01076299 0.00445288 -0.00897797
+v 0.01076462 0.00445288 -0.01047525
+v 0.01076555 0.00445288 -0.01786508
+v 0.01076416 0.00445288 -0.01847917
+v 0.01062501 0.00480045 -0.02147374
+v 0.01044536 0.00516120 -0.01926921
+v 0.01062175 0.00480864 -0.00799128
+v 0.01062384 0.00480995 -0.00949201
+v 0.01062570 0.00481113 -0.01098930
+v 0.01044792 0.00516120 -0.00427567
+v 0.01076067 0.00445288 -0.00748068
+v 0.01075694 0.00445288 -0.02087345
+v 0.01062245 0.00479525 -0.02297447
+v 0.01043466 0.00516120 -0.02224998
+v 0.01061919 0.00480697 -0.00649399
+v 0.01075485 0.00445288 -0.00448611
+v 0.01075788 0.00445288 -0.00598340
+v 0.01061663 0.00480406 -0.00499326
+v 0.01044374 0.00516120 -0.00276803
+v 0.01075229 0.00445288 -0.02237418
+v 0.01070133 0.00445288 -0.02447176
+v 0.01059359 0.00473729 -0.02447176
+v 0.01032017 0.00516120 -0.02597249
+v 0.01037742 0.00516120 -0.02447176
+v 0.01043187 0.00516120 -0.02297447
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+v 0.01060592 0.00445288 -0.02719033
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+v 0.01030063 0.00516120 -0.02645894
+v 0.01074275 0.00445288 0.00009544
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+v 0.01029737 0.00516120 -0.02653484
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+v 0.01043047 0.00516120 0.00100278
+v 0.01054170 0.00445288 -0.02815632
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+v 0.00989597 0.00445288 -0.02907401
+v 0.00967444 0.00516120 -0.02893946
+v 0.00969794 0.00516120 -0.02890841
+v 0.01023477 0.00516120 -0.02766298
+v 0.01060081 0.00477154 0.00250006
+v 0.01072693 0.00445288 0.00250006
+v 0.01041698 0.00516120 0.00250006
+v 0.00945734 0.00445288 -0.02962600
+v 0.00913738 0.00479636 -0.02982955
+v 0.00902894 0.00516120 -0.02973985
+v 0.01055729 0.00466844 0.00400080
+v 0.01063757 0.00445288 0.00400080
+v 0.01031156 0.00516120 0.00400080
+v 0.00920719 0.00445288 -0.02987095
+v 0.00887466 0.00445288 -0.02999860
+v 0.00839066 0.00515891 -0.03004345
+v 0.00851189 0.00516120 -0.02999515
+v 0.01050819 0.00455522 0.00485639
+v 0.01053100 0.00445288 0.00492884
+v 0.01013937 0.00516120 0.00507029
+v 0.00839066 0.00445288 -0.03017455
+v 0.00839066 0.00516120 -0.02999860
+v 0.01035066 0.00477757 0.00507029
+v 0.01047468 0.00453179 0.00507029
+v 0.01048841 0.00450440 0.00507029
+v 0.01050656 0.00445288 0.00507029
+v 0.00839089 0.00516120 0.00507029
+v 0.00839066 0.00445288 -0.02653484
+v 0.00839066 0.00516120 -0.02653484
+v 0.00874319 0.00445288 0.00507029
+v 0.00839089 0.00446426 0.00507029
+v 0.00839089 0.00445288 0.00506684
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_289.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_289.obj
new file mode 100644
index 0000000000000000000000000000000000000000..652a1fcd7dcfb193032968b32cea895dd8064dbe
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_289.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00377643 -0.00950363 0.00700055
+v 0.00377643 -0.00983238 0.00700055
+v 0.00377643 -0.00950308 0.00697673
+v 0.00053049 -0.00950524 0.00700055
+v 0.00053049 -0.00983238 0.00700055
+v 0.00377643 -0.00983238 -0.00139040
+v 0.00053049 -0.00950308 0.00690527
+v 0.00377643 -0.00950308 -0.00139040
+v 0.00053049 -0.00983238 -0.00139040
+v 0.00053049 -0.00950308 -0.00139040
+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 9
+f 2 9 6
+f 3 7 4
+f 3 8 10
+f 3 10 7
+f 4 7 10
+f 4 10 9
+f 4 9 5
+f 6 9 10
+f 6 10 8
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_29.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba31c60aca30db8a04c913046ed353a11472d878
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_29.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.00495416 -0.00030549 0.01408469
+v -0.00495416 -0.00030549 0.01465438
+v -0.00495416 0.00013217 0.01408469
+v 0.01184308 -0.00030549 0.01408469
+v -0.00495416 0.00013217 0.01465438
+v 0.01183485 -0.00030549 0.01465438
+v 0.01184308 0.00013217 0.01408469
+v 0.01184801 0.00013217 0.01449707
+v 0.01184637 -0.00030549 0.01449707
+v 0.01183485 0.00013217 0.01465438
+v 0.01184143 -0.00030549 0.01457447
+v 0.01183979 0.00013217 0.01460391
+v 0.01184308 -0.00030549 0.01454965
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 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 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 6 11 12
+f 6 12 10
+f 8 12 11
+f 8 11 13
+f 8 13 9
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_290.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_290.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67613ba2b0799a630375f2b1dbebe9cb40c0e863
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_290.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.00566875 -0.00378712 0.02957973
+v -0.00566875 -0.00337719 0.02957973
+v -0.00566734 -0.00412494 0.02957973
+v -0.00566875 -0.00412494 0.02970272
+v -0.00566875 -0.00337719 0.03103520
+v 0.00872762 -0.00337719 0.02957973
+v 0.00836122 -0.00412494 0.02957973
+v -0.00566875 -0.00412494 0.03094832
+v -0.00566875 -0.00372768 0.03103520
+v -0.00524881 -0.00337719 0.03106131
+v 0.00827949 -0.00337719 0.03033234
+v 0.00825131 -0.00412494 0.02985051
+v 0.00852751 -0.00379473 0.02957973
+v -0.00524881 -0.00412494 0.03104898
+v -0.00524881 -0.00372768 0.03106131
+v 0.00524267 -0.00337719 0.03106131
+v 0.00803852 -0.00337719 0.03056730
+v 0.00794833 -0.00372768 0.03055889
+v 0.00785110 -0.00412494 0.03050233
+v 0.00824285 -0.00412494 0.02986458
+v -0.00374942 -0.00412494 0.03106131
+v 0.00524267 -0.00372768 0.03106131
+v 0.00559356 -0.00337719 0.03105841
+v 0.00711408 -0.00337719 0.03088349
+v 0.00765240 -0.00412494 0.03057774
+v 0.00674206 -0.00372768 0.03097109
+v 0.00484528 -0.00412494 0.03106131
+v 0.00524267 -0.00412494 0.03104898
+v 0.00674206 -0.00337719 0.03098937
+v 0.00675756 -0.00412494 0.03088349
+v 0.00634466 -0.00412494 0.03098270
+v 0.00616429 -0.00412494 0.03099358
+f 1 2 6
+f 1 6 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 2
+f 2 5 10
+f 2 10 16
+f 2 16 23
+f 2 23 29
+f 2 29 24
+f 2 24 17
+f 2 17 11
+f 2 11 6
+f 3 7 12
+f 3 12 20
+f 3 20 19
+f 3 19 25
+f 3 25 30
+f 3 30 31
+f 3 31 32
+f 3 32 28
+f 3 28 27
+f 3 27 21
+f 3 21 14
+f 3 14 8
+f 3 8 4
+f 5 9 15
+f 5 15 10
+f 6 11 12
+f 6 12 13
+f 7 13 12
+f 8 14 9
+f 9 14 15
+f 10 15 21
+f 10 21 27
+f 10 27 22
+f 10 22 16
+f 11 17 18
+f 11 18 19
+f 11 19 20
+f 11 20 12
+f 14 21 15
+f 16 22 23
+f 17 24 18
+f 18 25 19
+f 18 24 26
+f 18 26 25
+f 22 27 28
+f 22 28 23
+f 23 28 29
+f 24 29 26
+f 25 26 30
+f 26 29 31
+f 26 31 30
+f 28 32 29
+f 29 32 31
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_291.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_291.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d73d7e528826954e3b5408d4f4a7b3d657bb8e7e
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_291.obj
@@ -0,0 +1,78 @@
+# https://github.com/mikedh/trimesh
+v 0.00839038 0.00516120 0.00506331
+v 0.00514889 0.00516120 0.00507028
+v 0.00839038 0.00445288 0.00506331
+v 0.00839038 0.00516120 -0.02999987
+v 0.00514889 0.00445288 0.00507028
+v -0.00242341 0.00516120 0.00507028
+v 0.00839038 0.00445288 -0.03017071
+v 0.00839038 0.00515884 -0.03004171
+v 0.00838508 0.00516120 -0.03004520
+v -0.00242341 0.00445288 0.00507028
+v -0.00242341 0.00516120 -0.03054027
+v 0.00826758 0.00445288 -0.03021603
+v 0.00839038 0.00515426 -0.03004520
+v 0.00829510 0.00516120 -0.03007658
+v -0.00242341 0.00445288 -0.03054027
+v 0.00085301 0.00516120 -0.03054027
+v -0.00075080 0.00445288 -0.03054725
+v 0.00755513 0.00445288 -0.03040081
+v 0.00684797 0.00516120 -0.03045311
+v 0.00534791 0.00516120 -0.03053330
+v 0.00554163 0.00445288 -0.03053679
+v 0.00751067 0.00445288 -0.03040779
+v 0.00674211 0.00516120 -0.03046706
+v 0.00554163 0.00516120 -0.03052633
+v 0.00554163 0.00499098 -0.03053330
+v 0.00605718 0.00445288 -0.03053330
+v 0.00674211 0.00445288 -0.03049844
+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 14
+f 1 14 19
+f 1 19 23
+f 1 23 24
+f 1 24 20
+f 1 20 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 17
+f 3 17 21
+f 3 21 26
+f 3 26 27
+f 3 27 22
+f 3 22 18
+f 3 18 12
+f 3 12 7
+f 4 8 9
+f 6 11 15
+f 6 15 10
+f 7 12 13
+f 8 13 9
+f 9 13 14
+f 11 16 17
+f 11 17 15
+f 12 14 13
+f 12 18 19
+f 12 19 14
+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 21 25 26
+f 22 27 23
+f 23 27 26
+f 23 26 24
+f 24 26 25
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_292.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_292.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd7ec67fa98584a74d3f2deeadb667fad6d1e910
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_292.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00265520 -0.00412494 0.03106040
+v -0.00375072 -0.00412494 0.03106040
+v 0.00265520 -0.00475942 0.03106040
+v 0.00265520 -0.00412494 0.02179583
+v -0.00445676 -0.00412494 0.03104861
+v -0.00375072 -0.00475942 0.03106040
+v 0.00265520 -0.00475942 0.02179583
+v -0.00445676 -0.00412494 0.02179583
+v -0.00445676 -0.00475942 0.03103954
+v -0.00445676 -0.00475942 0.02179583
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 5
+f 1 5 2
+f 2 5 6
+f 3 6 9
+f 3 9 10
+f 3 10 7
+f 4 7 10
+f 4 10 8
+f 5 9 6
+f 5 8 10
+f 5 10 9
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_293.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_293.obj
new file mode 100644
index 0000000000000000000000000000000000000000..014bd9e0b4c244633d6fd8c9b7731ebce9e716f8
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_293.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.00949138 -0.00662680 0.01047087
+v 0.00949138 -0.00651837 0.01000005
+v 0.01021896 -0.00547433 0.01047087
+v 0.00949138 0.00479054 0.01047087
+v 0.00949138 -0.00635629 0.00972614
+v 0.01018140 -0.00540727 0.01000005
+v 0.01056113 -0.00461921 0.00972533
+v 0.01058062 -0.00465721 0.01000005
+v 0.01061291 -0.00472428 0.01047087
+v 0.01058854 0.00479054 0.01047087
+v 0.00949138 0.00479054 0.00972533
+v 0.00949138 -0.00624115 0.00972533
+v 0.00988878 -0.00571466 0.00972533
+v 0.01010098 -0.00537373 0.00972533
+v 0.01085598 -0.00372719 0.00972533
+v 0.01092238 -0.00372719 0.01000005
+v 0.01098655 -0.00372719 0.01047087
+v 0.01060803 0.00475366 0.01047087
+v 0.01054590 0.00479054 0.01015981
+v 0.01048599 0.00479054 0.00972533
+v 0.01122413 -0.00222150 0.00972533
+v 0.01131247 -0.00222821 0.01000005
+v 0.01137745 -0.00222821 0.01047087
+v 0.01074693 0.00439931 0.01047087
+v 0.01055808 0.00465417 0.00972533
+v 0.01126271 -0.00195322 0.00972533
+v 0.01141603 -0.00073034 0.00972533
+v 0.01150010 -0.00073034 0.01000005
+v 0.01156508 -0.00073034 0.01047087
+v 0.01075485 0.00437807 0.01047087
+v 0.01060133 0.00453680 0.00972533
+v 0.01141623 0.00076865 0.00972533
+v 0.01150111 0.00076865 0.01000005
+v 0.01156589 0.00029805 0.01047087
+v 0.01097944 0.00376663 0.01047087
+v 0.01078186 0.00404608 0.00972533
+v 0.01122231 0.00225870 0.00972533
+v 0.01131064 0.00226764 0.01000005
+v 0.01137460 0.00226764 0.01047087
+v 0.01156447 0.00076865 0.01047087
+v 0.01111265 0.00326137 0.01047087
+v 0.01091527 0.00376663 0.01000005
+v 0.01114392 0.00265328 0.00972533
+f 1 2 3
+f 1 3 9
+f 1 9 17
+f 1 17 23
+f 1 23 29
+f 1 29 34
+f 1 34 40
+f 1 40 39
+f 1 39 41
+f 1 41 35
+f 1 35 30
+f 1 30 24
+f 1 24 18
+f 1 18 10
+f 1 10 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 7
+f 3 7 8
+f 3 8 9
+f 4 10 19
+f 4 19 20
+f 4 20 11
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 14 7
+f 7 14 13
+f 7 13 12
+f 7 12 11
+f 7 11 20
+f 7 20 25
+f 7 25 31
+f 7 31 36
+f 7 36 43
+f 7 43 37
+f 7 37 32
+f 7 32 27
+f 7 27 26
+f 7 26 21
+f 7 21 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 9
+f 10 18 19
+f 15 21 22
+f 15 22 16
+f 16 22 23
+f 16 23 17
+f 18 24 25
+f 18 25 19
+f 19 25 20
+f 21 26 22
+f 22 26 27
+f 22 27 28
+f 22 28 29
+f 22 29 23
+f 24 30 25
+f 25 30 31
+f 27 32 33
+f 27 33 28
+f 28 33 34
+f 28 34 29
+f 30 35 36
+f 30 36 31
+f 32 37 38
+f 32 38 33
+f 33 38 39
+f 33 39 40
+f 33 40 34
+f 35 41 38
+f 35 38 42
+f 35 42 36
+f 36 42 38
+f 36 38 43
+f 37 43 38
+f 38 41 39
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_294.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_294.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1532ee38c5c315b4d13fb133531aac7811a3fc93
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_294.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.00241607 0.00983584 -0.00111242
+v -0.00305589 0.00983584 -0.00111242
+v -0.00241607 0.00935727 -0.00111242
+v -0.00241607 0.00983584 -0.02984072
+v -0.00305589 0.00935727 -0.00111242
+v -0.00305589 0.00983584 -0.02963921
+v -0.00241607 0.00935727 -0.03007346
+v -0.00241607 0.00957761 -0.03003940
+v -0.00305589 0.00947618 -0.02999682
+v -0.00305589 0.00972818 -0.02974706
+v -0.00305589 0.00935727 -0.03003372
+v -0.00241607 0.00935826 -0.03010751
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 12
+f 1 12 8
+f 1 8 4
+f 1 4 6
+f 1 6 2
+f 2 6 10
+f 2 10 9
+f 2 9 11
+f 2 11 5
+f 3 5 11
+f 3 11 7
+f 4 8 9
+f 4 9 10
+f 4 10 6
+f 7 11 12
+f 8 12 9
+f 9 12 11
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_296.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_296.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a07538dd8659aabcea15aeb62d62d99a46f26650
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_296.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00223362 0.00690515 -0.01272424
+v -0.00353690 0.00690515 -0.01272424
+v 0.00223362 0.00600313 -0.01272424
+v 0.00223362 0.00690515 -0.03053110
+v -0.00353690 0.00600313 -0.01272424
+v -0.00353690 0.00690515 -0.03051889
+v 0.00223362 0.00600313 -0.03053808
+v 0.00223362 0.00677712 -0.03053808
+v 0.00210540 0.00690515 -0.03053459
+v -0.00353690 0.00600313 -0.03053808
+v -0.00353690 0.00688519 -0.03052238
+v -0.00225074 0.00690515 -0.03053633
+v 0.00074580 0.00600313 -0.03054331
+v 0.00074580 0.00676547 -0.03054331
+v 0.00074580 0.00690515 -0.03053808
+v -0.00353690 0.00676547 -0.03053459
+v -0.00225074 0.00676547 -0.03054506
+v -0.00225074 0.00600313 -0.03054506
+v -0.00075219 0.00690515 -0.03053982
+v 0.00000923 0.00600313 -0.03054506
+v -0.00075219 0.00600313 -0.03054680
+v -0.00075219 0.00676547 -0.03054506
+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 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 16
+f 2 16 10
+f 2 10 5
+f 3 5 10
+f 3 10 18
+f 3 18 21
+f 3 21 20
+f 3 20 13
+f 3 13 7
+f 4 8 9
+f 6 12 11
+f 7 13 14
+f 7 14 8
+f 8 14 9
+f 9 14 15
+f 10 16 17
+f 10 17 18
+f 11 12 16
+f 12 19 17
+f 12 17 16
+f 13 20 14
+f 14 20 21
+f 14 21 22
+f 14 22 19
+f 14 19 15
+f 17 22 21
+f 17 21 18
+f 17 19 22
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_297.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_297.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65c80f3879d7833a25e0fbd1638d762f6946111e
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_297.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v 0.01162629 -0.00230378 0.01465438
+v 0.01156176 -0.00230378 0.01552157
+v 0.01131978 -0.00325330 0.01552157
+v 0.01125672 -0.00372805 0.01465438
+v -0.00335422 -0.00230378 0.01465438
+v -0.00335422 -0.00230378 0.01552157
+v 0.01119660 -0.00372805 0.01552157
+v 0.01120833 -0.00385373 0.01465438
+v 0.01088276 -0.00454818 0.01552157
+v -0.00335422 -0.01134001 0.01465438
+v -0.00335422 -0.01127857 0.01552157
+v 0.01072144 -0.00495963 0.01552157
+v 0.01075078 -0.00501642 0.01465438
+v -0.00225139 -0.01162952 0.01465438
+v -0.00225139 -0.01156436 0.01552157
+v 0.01060266 -0.00519701 0.01552157
+v 0.01037534 -0.00576579 0.01465438
+v -0.00075261 -0.01181384 0.01465438
+v -0.00075261 -0.01174495 0.01552157
+v 0.01034162 -0.00570901 0.01552157
+v 0.00987966 -0.00642487 0.01552157
+v 0.00968461 -0.00672648 0.01552157
+v 0.01027416 -0.00592218 0.01465438
+v 0.00074764 -0.01181291 0.01465438
+v 0.00074764 -0.01174309 0.01552157
+v 0.00928572 -0.00729712 0.01552157
+v 0.00975061 -0.00672648 0.01465438
+v 0.00090456 -0.01179522 0.01465438
+v 0.00177127 -0.01162487 0.01552157
+v 0.00965822 -0.00685773 0.01465438
+v 0.00908188 -0.00758384 0.01552157
+v 0.00911560 -0.00762293 0.01465438
+v 0.00224642 -0.01163324 0.01465438
+v 0.00224642 -0.01156715 0.01552157
+v 0.00885016 -0.00782121 0.01552157
+v 0.00838381 -0.00837231 0.01465438
+v 0.00247667 -0.01157460 0.01465438
+v 0.00327005 -0.01130929 0.01552157
+v 0.00834862 -0.00833321 0.01552157
+v 0.00783680 -0.00883682 0.01552157
+v 0.00830462 -0.00844957 0.01465438
+v 0.00374521 -0.01124692 0.01465438
+v 0.00374521 -0.01118641 0.01552157
+v 0.00759922 -0.00906489 0.01552157
+v 0.00763442 -0.00909468 0.01465438
+v 0.00826796 -0.00848495 0.01465438
+v 0.00387133 -0.01119758 0.01465438
+v 0.00456206 -0.01086991 0.01552157
+v 0.00731472 -0.00926783 0.01552157
+v 0.00687329 -0.00963833 0.01465438
+v 0.00503281 -0.01073586 0.01465438
+v 0.00497415 -0.01070700 0.01552157
+v 0.00674131 -0.00966532 0.01552157
+v 0.00674131 -0.00973049 0.01465438
+v 0.00570301 -0.01039980 0.01465438
+v 0.00521173 -0.01058784 0.01552157
+v 0.00644067 -0.00986267 0.01552157
+v 0.00593766 -0.01025831 0.01465438
+v 0.00578220 -0.01035884 0.01465438
+v 0.00572354 -0.01032347 0.01552157
+v 0.00589219 -0.01028810 0.01465438
+f 1 2 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 27
+f 1 27 30
+f 1 30 32
+f 1 32 36
+f 1 36 41
+f 1 41 46
+f 1 46 45
+f 1 45 50
+f 1 50 54
+f 1 54 58
+f 1 58 61
+f 1 61 59
+f 1 59 55
+f 1 55 51
+f 1 51 47
+f 1 47 42
+f 1 42 37
+f 1 37 33
+f 1 33 28
+f 1 28 24
+f 1 24 18
+f 1 18 14
+f 1 14 10
+f 1 10 5
+f 1 5 6
+f 1 6 2
+f 2 6 11
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+f 2 19 25
+f 2 25 29
+f 2 29 34
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+f 2 38 43
+f 2 43 48
+f 2 48 52
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+f 2 56 60
+f 2 60 57
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+f 2 39 35
+f 2 35 31
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+f 2 21 20
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+f 2 12 9
+f 2 9 7
+f 2 7 3
+f 4 7 9
+f 4 9 8
+f 5 10 11
+f 5 11 6
+f 8 9 12
+f 8 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 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 27
+f 26 31 32
+f 26 32 30
+f 28 33 29
+f 29 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 36 40 41
+f 37 42 38
+f 38 42 43
+f 40 44 45
+f 40 45 46
+f 40 46 41
+f 42 47 48
+f 42 48 43
+f 44 49 50
+f 44 50 45
+f 47 51 52
+f 47 52 48
+f 49 53 54
+f 49 54 50
+f 51 55 52
+f 52 55 56
+f 53 57 58
+f 53 58 54
+f 55 59 60
+f 55 60 56
+f 57 61 58
+f 57 60 59
+f 57 59 61
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_298.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_298.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4ef4b7e95fd2d814d8ee0e48c25c90999781196
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_298.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.01150052 -0.00170008 -0.01559469
+v -0.01149602 -0.00173947 -0.01559469
+v -0.01150503 -0.00170008 -0.01412100
+v 0.01150819 -0.00170008 -0.01559469
+v -0.01143519 -0.00222856 -0.01559469
+v -0.01143744 -0.00222856 -0.01469115
+v -0.01143744 -0.00222856 -0.01412100
+v 0.01150369 -0.00170008 -0.01412100
+v 0.01151045 -0.00170008 -0.01508947
+v 0.01145412 -0.00218917 -0.01559469
+v -0.01142843 -0.00225491 -0.01559469
+v -0.01137887 -0.00245497 -0.01469115
+v -0.01142618 -0.00227236 -0.01412100
+v 0.01145412 -0.00216317 -0.01412100
+v 0.01144962 -0.00222856 -0.01508947
+v 0.01144962 -0.00222856 -0.01559469
+v -0.01134282 -0.00258256 -0.01559469
+v -0.01134508 -0.00258256 -0.01469115
+v -0.01134508 -0.00258256 -0.01412100
+v 0.01145187 -0.00218028 -0.01412100
+v 0.01144511 -0.00222856 -0.01412100
+v 0.01135500 -0.00258256 -0.01412100
+v 0.01139555 -0.00243726 -0.01508947
+v 0.01135725 -0.00258256 -0.01559469
+v 0.01135725 -0.00258256 -0.01508947
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 16
+f 1 16 24
+f 1 24 17
+f 1 17 11
+f 1 11 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 3 7 13
+f 3 13 19
+f 3 19 22
+f 3 22 21
+f 3 21 20
+f 3 20 14
+f 3 14 8
+f 4 9 10
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 6 13 7
+f 8 14 9
+f 9 14 15
+f 9 15 16
+f 9 16 10
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 14 20 15
+f 15 20 21
+f 15 21 22
+f 15 22 23
+f 15 23 16
+f 16 23 24
+f 17 24 25
+f 17 25 22
+f 17 22 19
+f 17 19 18
+f 22 25 23
+f 23 25 24
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_299.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_299.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d01d035048804ef7ba72df2273b4feb175d6ae3c
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_299.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.00613175 -0.00515995 0.00548739
+v 0.00494033 -0.00515995 0.00548739
+v 0.00613175 -0.00601566 0.00548739
+v 0.00613175 -0.00515995 -0.03048728
+v 0.00494033 -0.00601566 0.00548739
+v 0.00494033 -0.00515995 -0.03053312
+v 0.00613175 -0.00601566 -0.03031804
+v 0.00613175 -0.00522671 -0.03048728
+v 0.00524343 -0.00515995 -0.03052959
+v 0.00494033 -0.00601566 -0.03049433
+v 0.00524343 -0.00522671 -0.03052959
+v 0.00494033 -0.00599355 -0.03049786
+v 0.00524343 -0.00601566 -0.03049433
+v 0.00613175 -0.00567634 -0.03039208
+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 6
+f 1 6 2
+f 2 6 12
+f 2 12 10
+f 2 10 5
+f 3 5 10
+f 3 10 13
+f 3 13 7
+f 4 8 11
+f 4 11 9
+f 6 9 11
+f 6 11 12
+f 7 13 14
+f 8 13 11
+f 8 14 13
+f 10 12 13
+f 11 13 12
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_30.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ca81040eeb42e0e236868bd28a0c3152493ab65
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_30.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00190538 0.00393773 0.00621035
+v 0.00190538 0.00393773 0.00700055
+v 0.00190538 0.00445281 0.00621035
+v 0.01042513 0.00393773 0.00621035
+v 0.00190538 0.00445281 0.00700055
+v 0.01018579 0.00393773 0.00700055
+v 0.01018412 0.00445281 0.00621035
+v 0.01036342 0.00415973 0.00621035
+v 0.01029003 0.00393773 0.00671258
+v 0.00994144 0.00445281 0.00700055
+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 10
+f 7 10 8
+f 8 10 9
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_300.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_300.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16dd248c334dda984cedcd56ae1120d7c2536ca7
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_300.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.00100511 0.00690535 -0.03053893
+v 0.00100511 0.00792217 -0.03050660
+v 0.00136971 0.00764103 -0.03051378
+v 0.00136971 0.00690535 -0.03053534
+v 0.00100511 0.00690535 -0.01964329
+v 0.00100511 0.00801756 -0.03050301
+v 0.00136971 0.00812175 -0.03048864
+v 0.00136971 0.00690535 -0.01964329
+v 0.00100511 0.00690547 0.00616065
+v 0.00100511 0.00812175 -0.03049582
+v 0.00136971 0.00812175 0.00481352
+v 0.00136971 0.00690547 0.00616065
+v 0.00100511 0.00812128 0.00616065
+v 0.00100511 0.00812175 0.00507935
+v 0.00136971 0.00812116 0.00616065
+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 15
+f 3 15 12
+f 3 12 8
+f 3 8 4
+f 5 8 12
+f 5 12 9
+f 6 10 7
+f 7 10 14
+f 7 14 11
+f 9 12 15
+f 9 15 13
+f 11 14 13
+f 11 13 15
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_301.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_301.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaea96f19ce44e01b3b14be5e1e19d1207e11888
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_301.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.00770775 0.00874634 -0.00548095
+v 0.00770629 0.00874634 -0.00697674
+v 0.00746729 0.00899227 -0.00498988
+v 0.00746729 0.00899213 -0.00049313
+v 0.00746729 0.00899209 0.00100454
+v 0.00770708 0.00874634 -0.00398329
+v 0.00746595 0.00899114 -0.00648755
+v 0.00770236 0.00874634 -0.00846875
+v 0.00713444 0.00923063 -0.00498988
+v 0.00713444 0.00922916 -0.00648755
+v 0.00713444 0.00923030 -0.00565405
+v 0.00770276 0.00874634 0.00100454
+v 0.00770382 0.00874634 0.00051347
+v 0.00713444 0.00923058 -0.00415827
+v 0.00713444 0.00923001 -0.00265872
+v 0.00713444 0.00922921 -0.00115918
+v 0.00713444 0.00922835 0.00033849
+v 0.00713444 0.00922755 0.00100454
+v 0.00713444 0.00922328 0.00184368
+v 0.00746157 0.00898848 0.00250408
+v 0.00769664 0.00874634 0.00201678
+v 0.00769776 0.00874634 -0.00996266
+v 0.00768856 0.00874634 -0.01294670
+v 0.00768395 0.00874634 -0.01439168
+v 0.00746286 0.00898844 -0.00798709
+v 0.00713444 0.00920707 -0.01439168
+v 0.00713444 0.00921110 -0.01311791
+v 0.00713444 0.00921987 -0.01013387
+v 0.00713444 0.00922423 -0.00864185
+v 0.00713444 0.00922816 -0.00714795
+v 0.00713444 0.00921574 0.00250408
+v 0.00713444 0.00909012 0.00400363
+v 0.00737535 0.00892036 0.00400363
+v 0.00754958 0.00874634 0.00400363
+v 0.00769350 0.00874634 0.00250408
+v 0.00713444 0.00874634 -0.01439168
+v 0.00765842 0.00877123 -0.01439168
+v 0.00759673 0.00883091 -0.01439168
+v 0.00744770 0.00897492 -0.01439168
+v 0.00724412 0.00912610 -0.01439168
+v 0.00713444 0.00893112 0.00482960
+v 0.00727028 0.00883536 0.00482960
+v 0.00735941 0.00874634 0.00482960
+v 0.00713444 0.00874634 0.00482960
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 12
+f 1 12 21
+f 1 21 35
+f 1 35 34
+f 1 34 43
+f 1 43 44
+f 1 44 36
+f 1 36 24
+f 1 24 23
+f 1 23 22
+f 1 22 8
+f 1 8 2
+f 2 7 3
+f 2 8 7
+f 3 9 4
+f 3 7 10
+f 3 10 11
+f 3 11 9
+f 4 9 5
+f 5 12 13
+f 5 13 6
+f 5 9 14
+f 5 14 15
+f 5 15 16
+f 5 16 17
+f 5 17 18
+f 5 18 19
+f 5 19 20
+f 5 20 21
+f 5 21 12
+f 7 8 22
+f 7 22 23
+f 7 23 24
+f 7 24 25
+f 7 25 26
+f 7 26 27
+f 7 27 28
+f 7 28 29
+f 7 29 30
+f 7 30 10
+f 9 11 10
+f 9 10 30
+f 9 30 29
+f 9 29 28
+f 9 28 27
+f 9 27 26
+f 9 26 36
+f 9 36 44
+f 9 44 41
+f 9 41 32
+f 9 32 31
+f 9 31 19
+f 9 19 18
+f 9 18 17
+f 9 17 16
+f 9 16 15
+f 9 15 14
+f 19 31 20
+f 20 31 32
+f 20 32 33
+f 20 33 34
+f 20 34 35
+f 20 35 21
+f 24 36 26
+f 24 26 40
+f 24 40 39
+f 24 39 38
+f 24 38 37
+f 24 37 25
+f 25 37 38
+f 25 38 39
+f 25 39 40
+f 25 40 26
+f 32 41 33
+f 33 41 42
+f 33 42 43
+f 33 43 34
+f 41 44 43
+f 41 43 42
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_302.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_302.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d51217d7182a89139890db31d9249ecf196e66a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_302.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.00769796 0.00874640 0.00293563
+v -0.00769361 0.00874640 0.00297697
+v -0.00767619 0.00876924 0.00293563
+v 0.00713439 0.00874640 0.00293563
+v -0.00757165 0.00874640 0.00400386
+v -0.00739162 0.00892712 0.00400386
+v -0.00746131 0.00898459 0.00293563
+v 0.00713439 0.00917894 0.00293563
+v 0.00713439 0.00874640 0.00482960
+v -0.00754842 0.00874640 0.00412029
+v -0.00728854 0.00910814 0.00293563
+v -0.00751212 0.00874640 0.00430142
+v -0.00727982 0.00883843 0.00482960
+v -0.00686749 0.00914360 0.00482960
+v -0.00678764 0.00935727 0.00400386
+v 0.00713439 0.00909008 0.00400386
+v 0.00687741 0.00935727 0.00293563
+v 0.00675400 0.00935727 0.00400386
+v -0.00737855 0.00874640 0.00482960
+v 0.00713439 0.00893112 0.00482960
+v -0.00683555 0.00935727 0.00366125
+v -0.00724643 0.00913792 0.00293563
+v -0.00736984 0.00875507 0.00482960
+v -0.00659599 0.00933688 0.00482960
+v -0.00656695 0.00935727 0.00482960
+v 0.00713439 0.00897310 0.00461158
+v 0.00655073 0.00935727 0.00482960
+v -0.00692992 0.00935727 0.00293563
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 22
+f 1 22 28
+f 1 28 17
+f 1 17 8
+f 1 8 4
+f 1 4 9
+f 1 9 19
+f 1 19 12
+f 1 12 10
+f 1 10 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 3 6 7
+f 4 8 16
+f 4 16 26
+f 4 26 20
+f 4 20 9
+f 5 10 6
+f 6 11 7
+f 6 10 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 11
+f 8 17 18
+f 8 18 16
+f 9 20 27
+f 9 27 25
+f 9 25 24
+f 9 24 14
+f 9 14 13
+f 9 13 23
+f 9 23 19
+f 11 15 21
+f 11 21 22
+f 12 19 23
+f 12 23 13
+f 14 24 15
+f 15 24 25
+f 15 25 27
+f 15 27 18
+f 15 18 17
+f 15 17 28
+f 15 28 21
+f 16 18 27
+f 16 27 26
+f 20 26 27
+f 21 28 22
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_304.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_304.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50c4b6f47ea06710168041512549eac50f1bea73
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_304.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.00854643 -0.00722927 0.00897201
+v -0.00854643 -0.00721768 0.00894941
+v -0.00783257 -0.00780705 0.00843135
+v -0.00843378 -0.00736261 0.00897201
+v -0.00854643 0.00721519 0.00897201
+v -0.00854643 -0.00693555 0.00843135
+v -0.00679057 -0.00866889 0.00843135
+v -0.00638332 -0.00923701 0.00882255
+v -0.00651021 -0.00919256 0.00897201
+v -0.00769492 -0.00814715 0.00897201
+v -0.00793730 -0.00791140 0.00897201
+v -0.00817273 -0.00766986 0.00897201
+v -0.00792275 0.00793789 0.00897201
+v -0.00781833 0.00783161 0.00843135
+v -0.00785820 0.00778331 0.00843135
+v -0.00854643 0.00694852 0.00843135
+v -0.00531379 -0.00964860 0.00843135
+v -0.00531379 -0.00969691 0.00852434
+v -0.00531379 -0.00985923 0.00897111
+v -0.00626308 -0.00935488 0.00897201
+v -0.00641528 -0.00926020 0.00897201
+v -0.00640357 0.00929055 0.00897201
+v -0.00637320 0.00926930 0.00883081
+v -0.00678962 0.00868766 0.00843135
+v -0.00531379 0.00967316 0.00843135
+v -0.00531379 -0.00941672 0.00897201
+v -0.00612448 -0.00942831 0.00897201
+v -0.00531379 0.00988186 0.00897201
+v -0.00531379 0.00972727 0.00853540
+v -0.00619220 0.00914563 0.00843135
+f 1 2 3
+f 1 3 4
+f 1 4 12
+f 1 12 11
+f 1 11 10
+f 1 10 9
+f 1 9 21
+f 1 21 20
+f 1 20 27
+f 1 27 26
+f 1 26 28
+f 1 28 22
+f 1 22 13
+f 1 13 5
+f 1 5 16
+f 1 16 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 4
+f 3 6 16
+f 3 16 15
+f 3 15 14
+f 3 14 24
+f 3 24 30
+f 3 30 25
+f 3 25 17
+f 3 17 7
+f 5 13 14
+f 5 14 15
+f 5 15 16
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 21
+f 8 21 9
+f 13 22 23
+f 13 23 14
+f 14 23 24
+f 17 25 29
+f 17 29 28
+f 17 28 26
+f 17 26 19
+f 17 19 18
+f 19 26 27
+f 19 27 20
+f 22 28 23
+f 23 28 29
+f 23 29 25
+f 23 25 30
+f 23 30 24
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_305.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_305.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04817611da573192a49af317ff6d222b1835b962
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_305.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00327515 0.00874634 -0.01833146
+v -0.00472627 0.00874634 -0.01833146
+v -0.00327515 0.00844266 -0.01833146
+v -0.00327515 0.00874634 -0.02832181
+v -0.00472627 0.00844266 -0.01833146
+v -0.00472627 0.00874634 -0.02832181
+v -0.00327515 0.00844266 -0.02832181
+v -0.00472627 0.00844266 -0.02832181
+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_306.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_306.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c68aa1b46f92b7535e2b0ccdb45603ba964c6cf6
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_306.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.01152120 0.00273023 0.01465438
+v -0.00335271 0.00273023 0.01465438
+v 0.01145428 0.00273023 0.01552157
+v 0.01157771 0.00226802 0.01552157
+v 0.01164314 0.00226802 0.01465438
+v -0.00335271 0.00273023 0.01552157
+v -0.00335568 -0.00050472 0.01465438
+v 0.01171006 0.00124407 0.01552157
+v 0.01166396 0.00211083 0.01465438
+v -0.00335568 -0.00050472 0.01552157
+v -0.00335568 -0.00198989 0.01465438
+v 0.01177103 0.00076955 0.01552157
+v 0.01183647 0.00076955 0.01465438
+v -0.00335568 -0.00198989 0.01552157
+v -0.00335420 -0.00230378 0.01465438
+v 0.01177103 0.00028566 0.01552157
+v 0.01181565 0.00028566 0.01493170
+v 0.01183498 -0.00050472 0.01465438
+v -0.00335420 -0.00230378 0.01552157
+v 0.01162381 -0.00230378 0.01465438
+v 0.01176955 -0.00072942 0.01552157
+v 0.01178442 -0.00050472 0.01532956
+v 0.01183349 -0.00072942 0.01465438
+v 0.01155838 -0.00230378 0.01552157
+v 0.01164314 -0.00222839 0.01465438
+v 0.01157920 -0.00222839 0.01552157
+v 0.01180524 -0.00095954 0.01465438
+v 0.01161043 -0.00198989 0.01552157
+v 0.01167437 -0.00198989 0.01465438
+f 1 2 6
+f 1 6 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 13
+f 1 13 18
+f 1 18 23
+f 1 23 27
+f 1 27 29
+f 1 29 25
+f 1 25 20
+f 1 20 15
+f 1 15 11
+f 1 11 7
+f 1 7 2
+f 2 7 10
+f 2 10 6
+f 3 6 10
+f 3 10 14
+f 3 14 19
+f 3 19 24
+f 3 24 26
+f 3 26 28
+f 3 28 21
+f 3 21 16
+f 3 16 12
+f 3 12 8
+f 3 8 4
+f 4 8 9
+f 4 9 5
+f 7 11 14
+f 7 14 10
+f 8 12 13
+f 8 13 9
+f 11 15 19
+f 11 19 14
+f 12 16 17
+f 12 17 13
+f 13 17 18
+f 15 20 24
+f 15 24 19
+f 16 21 22
+f 16 22 17
+f 17 22 18
+f 18 22 21
+f 18 21 23
+f 20 25 26
+f 20 26 24
+f 21 27 23
+f 21 28 27
+f 25 29 28
+f 25 28 26
+f 27 28 29
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_308.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_308.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcb8a3f099d33d4727bb75b92facec45de28dc53
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_308.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00497625 -0.00074630 -0.01738130
+v 0.00497625 -0.00074630 -0.01245653
+v 0.00497625 0.00000314 -0.01738130
+v 0.01052209 -0.00074630 -0.01738130
+v 0.00497625 0.00000314 -0.01245653
+v 0.01052209 -0.00074630 -0.01245653
+v 0.01052209 0.00000314 -0.01738130
+v 0.01052209 0.00000314 -0.01245653
+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_309.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_309.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f05fbea084dc5c33e6636c93e2ed31c6df2db52
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_309.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.01015193 0.00612001 0.01465438
+v 0.01036741 0.00578919 0.01465438
+v -0.00639652 0.00612001 0.01465438
+v 0.01008011 0.00612001 0.01552157
+v 0.01033233 0.00573112 0.01552157
+v 0.01066808 0.00507082 0.01552157
+v 0.01066808 0.00518894 0.01465438
+v -0.00639652 0.00273023 0.01465438
+v -0.00639652 0.00612001 0.01552157
+v 0.01066808 0.00273023 0.01552157
+v 0.01066808 0.00273023 0.01465438
+v -0.00639652 0.00273023 0.01552157
+f 1 2 7
+f 1 7 11
+f 1 11 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 3 8 12
+f 3 12 9
+f 4 9 12
+f 4 12 10
+f 4 10 6
+f 4 6 5
+f 6 10 11
+f 6 11 7
+f 8 11 10
+f 8 10 12
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_31.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79c8223dc20a35ee1f7e47cec1c41fb65ae407e6
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_31.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.01097415 0.00076833 0.00774229
+v -0.01075710 0.00221682 0.00774229
+v -0.01071257 0.00221804 0.00700055
+v -0.01071655 0.00218990 0.00700055
+v -0.01091114 0.00076710 0.00700055
+v -0.01091015 -0.00073032 0.00700055
+v -0.01097356 0.00000983 0.00774229
+v -0.01026354 0.00376562 0.00700055
+v -0.01069886 0.00228410 0.00700055
+v -0.01000236 0.00449476 0.00774229
+v -0.01071078 -0.00216902 0.00700055
+v -0.01097296 -0.00072910 0.00774229
+v -0.01024605 0.00380844 0.00700055
+v -0.00962390 0.00526916 0.00774229
+v -0.00954061 0.00529853 0.00700055
+v -0.01069766 -0.00223019 0.00700055
+v -0.01075809 -0.00216780 0.00774229
+v -0.01086563 -0.00147047 0.00774229
+v -0.00960223 0.00531321 0.00774229
+v -0.00942512 0.00551262 0.00700055
+v -0.01051718 -0.00297768 0.00700055
+v -0.01024387 -0.00373740 0.00774229
+v -0.00904547 0.00584171 0.00774229
+v -0.00894350 0.00622830 0.00700055
+v -0.01026633 -0.00372639 0.00700055
+v -0.01025023 -0.00376554 0.00700055
+v -0.00960819 -0.00528254 0.00774229
+v -0.00894350 0.00592735 0.00774229
+v -0.00894350 -0.00626981 0.00700055
+v -0.00951894 -0.00531924 0.00700055
+v -0.00942274 -0.00549908 0.00700055
+v -0.00908006 -0.00609242 0.00700055
+v -0.00894350 -0.00591258 0.00774229
+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 18
+f 1 18 17
+f 1 17 22
+f 1 22 27
+f 1 27 33
+f 1 33 28
+f 1 28 23
+f 1 23 19
+f 1 19 14
+f 1 14 10
+f 1 10 2
+f 2 8 9
+f 2 9 3
+f 2 10 8
+f 3 9 8
+f 3 8 13
+f 3 13 15
+f 3 15 20
+f 3 20 24
+f 3 24 29
+f 3 29 32
+f 3 32 31
+f 3 31 30
+f 3 30 26
+f 3 26 25
+f 3 25 21
+f 3 21 16
+f 3 16 11
+f 3 11 6
+f 3 6 5
+f 3 5 4
+f 6 11 12
+f 6 12 7
+f 8 10 13
+f 10 14 15
+f 10 15 13
+f 11 16 17
+f 11 17 18
+f 11 18 12
+f 14 19 15
+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 22 26 27
+f 23 28 24
+f 24 28 33
+f 24 33 29
+f 26 30 27
+f 27 30 31
+f 27 31 32
+f 27 32 29
+f 27 29 33
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_310.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_310.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d08b633960bbd81649a5d6003867a86c6be5417b
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_310.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.00775690 0.00874640 -0.01439168
+v -0.00775836 0.00874640 -0.01398402
+v -0.00749596 0.00901222 -0.01439168
+v 0.00713439 0.00874640 -0.01439168
+v -0.00775253 0.00874640 -0.00798459
+v -0.00749596 0.00901222 -0.00798835
+v -0.00698573 0.00935727 -0.00846938
+v -0.00698428 0.00935727 -0.00996454
+v -0.00697844 0.00935727 -0.01295171
+v -0.00697553 0.00935727 -0.01439168
+v 0.00713439 0.00920711 -0.01439168
+v 0.00713439 0.00874640 -0.00798459
+v -0.00749742 0.00901042 -0.00798459
+v -0.00749304 0.00901347 -0.00798459
+v -0.00698573 0.00935727 -0.00798459
+v 0.00693030 0.00935727 -0.01439168
+v 0.00713439 0.00921106 -0.01311791
+v 0.00713439 0.00922541 -0.00798459
+v -0.00687932 0.00935727 -0.00798459
+v 0.00693904 0.00935727 -0.01201410
+v 0.00713439 0.00922427 -0.00864248
+v 0.00713439 0.00921548 -0.01162589
+v 0.00695216 0.00935637 -0.00798459
+v 0.00695071 0.00935727 -0.00798835
+v 0.00694779 0.00935727 -0.00901125
+f 1 2 3
+f 1 3 10
+f 1 10 16
+f 1 16 11
+f 1 11 4
+f 1 4 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 15
+f 3 15 7
+f 3 7 8
+f 3 8 9
+f 3 9 10
+f 4 11 17
+f 4 17 22
+f 4 22 21
+f 4 21 18
+f 4 18 12
+f 5 13 6
+f 5 12 18
+f 5 18 23
+f 5 23 19
+f 5 19 15
+f 5 15 14
+f 5 14 13
+f 6 13 14
+f 6 14 15
+f 7 15 19
+f 7 19 24
+f 7 24 25
+f 7 25 20
+f 7 20 16
+f 7 16 10
+f 7 10 9
+f 7 9 8
+f 11 16 17
+f 16 20 21
+f 16 21 22
+f 16 22 17
+f 18 21 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_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_311.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_311.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7765205b27ec9001120c77d0395b5af0f7a02777
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_311.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.00074601 0.01181883 0.01264878
+v 0.00074601 0.01176804 0.01206504
+v -0.00075181 0.01181883 0.01264878
+v 0.00109534 0.01177463 0.01264878
+v -0.00075181 0.01176804 0.01206504
+v 0.00150688 0.01167164 0.01206504
+v -0.00225123 0.01157430 0.01206504
+v -0.00225123 0.01162321 0.01264878
+v 0.00224383 0.01162650 0.01264878
+v 0.00167916 0.01164954 0.01206504
+v -0.00281750 0.01142523 0.01206504
+v -0.00340131 0.01132037 0.01264878
+v 0.00224383 0.01157665 0.01206504
+v 0.00259316 0.01153386 0.01264878
+v 0.00300630 0.01137492 0.01206504
+v -0.00375065 0.01117836 0.01206504
+v -0.00375065 0.01122773 0.01264878
+v 0.00374325 0.01122679 0.01264878
+v 0.00317698 0.01132931 0.01206504
+v -0.00491987 0.01072034 0.01206504
+v -0.00497251 0.01074573 0.01264878
+v 0.00400485 0.01112522 0.01264878
+v 0.00444351 0.01090656 0.01206504
+v 0.00374325 0.01117789 0.01206504
+v -0.00566958 0.01033850 0.01206504
+v -0.00572222 0.01036625 0.01264878
+v 0.00497468 0.01074197 0.01264878
+v 0.00492045 0.01071799 0.01206504
+v -0.00682285 0.00959176 0.01206504
+v -0.00677660 0.00968392 0.01264878
+v 0.00554893 0.01046124 0.01264878
+v 0.00520279 0.01057974 0.01206504
+v -0.00758373 0.00908765 0.01206504
+v -0.00760606 0.00910787 0.01264878
+v 0.00572439 0.01037330 0.01264878
+v 0.00528892 0.01053647 0.01206504
+v -0.00795858 0.00867666 0.01206504
+v -0.00795858 0.00874626 0.01264878
+v 0.00567016 0.01034415 0.01206504
+v 0.00600673 0.01018944 0.01264878
+v -0.00795858 0.00701529 0.01206504
+v -0.00795858 0.00701529 0.01264878
+v 0.00642305 0.00985368 0.01206504
+v 0.00676920 0.00968910 0.01264878
+v 0.00833401 0.00701529 0.01206504
+v 0.00833401 0.00701529 0.01264878
+v 0.00681705 0.00959505 0.01206504
+v 0.00700528 0.00953250 0.01264878
+v 0.00744712 0.00917747 0.01206504
+v 0.00833401 0.00830517 0.01206504
+v 0.00833401 0.00837712 0.01264878
+v 0.00759707 0.00910599 0.01264878
+v 0.00757314 0.00908577 0.01206504
+v 0.00833401 0.00837665 0.01264410
+v 0.00768320 0.00898044 0.01206504
+v 0.00810751 0.00861412 0.01264878
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 12
+f 1 12 17
+f 1 17 21
+f 1 21 26
+f 1 26 30
+f 1 30 34
+f 1 34 38
+f 1 38 42
+f 1 42 46
+f 1 46 51
+f 1 51 56
+f 1 56 52
+f 1 52 48
+f 1 48 44
+f 1 44 40
+f 1 40 35
+f 1 35 31
+f 1 31 27
+f 1 27 22
+f 1 22 18
+f 1 18 14
+f 1 14 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 10
+f 2 10 13
+f 2 13 15
+f 2 15 19
+f 2 19 24
+f 2 24 23
+f 2 23 28
+f 2 28 32
+f 2 32 36
+f 2 36 39
+f 2 39 43
+f 2 43 47
+f 2 47 49
+f 2 49 53
+f 2 53 55
+f 2 55 50
+f 2 50 45
+f 2 45 41
+f 2 41 37
+f 2 37 33
+f 2 33 29
+f 2 29 25
+f 2 25 20
+f 2 20 16
+f 2 16 11
+f 2 11 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 4 9 10
+f 4 10 6
+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 14 18 15
+f 15 18 19
+f 16 20 17
+f 17 20 21
+f 18 22 23
+f 18 23 24
+f 18 24 19
+f 20 25 26
+f 20 26 21
+f 22 27 23
+f 23 27 28
+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 35 40 39
+f 37 41 42
+f 37 42 38
+f 39 40 43
+f 40 44 43
+f 41 45 46
+f 41 46 42
+f 43 44 47
+f 44 48 49
+f 44 49 47
+f 45 50 54
+f 45 54 51
+f 45 51 46
+f 48 52 49
+f 49 52 53
+f 50 55 56
+f 50 56 54
+f 51 54 56
+f 52 56 55
+f 52 55 53
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_312.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_312.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f152bc55a6a347ff16bf0c170af75edbbde25c3
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_312.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v 0.00531703 -0.00533836 0.00972526
+v 0.00531703 -0.01012376 0.00972526
+v 0.00531703 -0.00533836 0.00941181
+v -0.01013301 -0.00533836 0.00972526
+v 0.00511891 -0.01022812 0.00972526
+v 0.00493441 -0.01022812 0.00945194
+v 0.00531703 -0.01010701 0.00967816
+v 0.00531703 -0.01001079 0.00941181
+v -0.01001202 -0.00533836 0.00941181
+v -0.01001353 -0.00533836 0.00941570
+v -0.00972316 -0.00588502 0.00941181
+v -0.00997119 -0.00562940 0.00972526
+v -0.00521035 -0.01022812 0.00972526
+v 0.00491324 -0.01022812 0.00942150
+v 0.00490567 -0.01022812 0.00941181
+v -0.00934962 -0.00648816 0.00941181
+v -0.00939650 -0.00655566 0.00972526
+v -0.00657599 -0.00937367 0.00972526
+v -0.00650793 -0.00932676 0.00941181
+v -0.00590754 -0.00970156 0.00941181
+v -0.00518161 -0.01022812 0.00966850
+v -0.00505155 -0.01022812 0.00941181
+v -0.00908345 -0.00686249 0.00941181
+v -0.00898817 -0.00712960 0.00972526
+v -0.00715068 -0.00896391 0.00972526
+v -0.00688299 -0.00905917 0.00941181
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+v -0.00870839 -0.00744601 0.00972526
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+v -0.00756203 -0.00846129 0.00941181
+v -0.00803086 -0.00800559 0.00941181
+v -0.00849666 -0.00766381 0.00972526
+v -0.00768605 -0.00847183 0.00972526
+v -0.00809740 -0.00807213 0.00972526
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+f 1 8 3
+f 1 3 9
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+f 1 10 4
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+f 1 12 17
+f 1 17 24
+f 1 24 28
+f 1 28 32
+f 1 32 34
+f 1 34 33
+f 1 33 29
+f 1 29 25
+f 1 25 18
+f 1 18 13
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+f 3 8 15
+f 3 15 22
+f 3 22 20
+f 3 20 19
+f 3 19 26
+f 3 26 30
+f 3 30 31
+f 3 31 27
+f 3 27 23
+f 3 23 16
+f 3 16 11
+f 3 11 9
+f 4 10 11
+f 4 11 12
+f 5 13 21
+f 5 21 22
+f 5 22 15
+f 5 15 14
+f 5 14 6
+f 6 14 8
+f 6 8 7
+f 8 14 15
+f 9 11 10
+f 11 16 12
+f 12 16 17
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 16 23 17
+f 17 23 24
+f 18 25 19
+f 19 25 26
+f 20 22 21
+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 30 34 31
+f 31 34 32
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_313.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_313.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94acd1d1bbc203a23bf2eee2f7379b5d3c3a07eb
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_313.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.01086916 -0.00074630 -0.00270490
+v -0.01086916 -0.00074630 0.00017517
+v -0.01086916 0.00197372 -0.00270490
+v 0.00497571 -0.00074630 -0.00270490
+v -0.01086916 0.00197372 0.00017517
+v 0.00497571 -0.00074630 0.00017517
+v 0.00497571 0.00197372 -0.00270490
+v 0.00497571 0.00197372 0.00017517
+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_314.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_314.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7abf1ac08eba176434e2b143ff014ff089f20cd4
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_314.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00574800 0.00561617 0.00268961
+v -0.00641762 0.00561617 0.00268961
+v -0.00574800 0.00516127 0.00268961
+v -0.00574800 0.00561617 -0.01793921
+v -0.00641762 0.00516127 0.00268961
+v -0.00641762 0.00561617 -0.01793921
+v -0.00574800 0.00516127 -0.01793921
+v -0.00641762 0.00516127 -0.01793921
+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_315.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_315.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a12b07b7e88c554f756092e8a4549e1dbb4c82fd
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_315.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.00255885 0.00844260 0.00328326
+v -0.00507000 0.00844260 0.00328326
+v -0.00255885 0.00812190 0.00328326
+v -0.00255885 0.00844260 -0.03037197
+v -0.00507000 0.00844260 -0.03003848
+v -0.00507000 0.00812193 0.00328326
+v -0.00360426 0.00812190 0.00328326
+v -0.00255885 0.00812190 -0.03044791
+v -0.00255885 0.00830497 -0.03042479
+v -0.00375101 0.00844260 -0.03028612
+v -0.00507000 0.00842769 -0.03004509
+v -0.00507000 0.00812193 -0.03011112
+v -0.00360426 0.00812190 -0.03036866
+v -0.00375101 0.00812193 -0.03036536
+v -0.00255885 0.00826459 -0.03043470
+v -0.00360426 0.00826459 -0.03036206
+v -0.00375101 0.00826462 -0.03034885
+v -0.00452112 0.00835984 -0.03017385
+v -0.00452112 0.00836851 -0.03017055
+v -0.00507000 0.00831209 -0.03008801
+v -0.00507000 0.00829388 -0.03009131
+v -0.00452112 0.00812193 -0.03022008
+v -0.00452112 0.00822243 -0.03020687
+v -0.00452112 0.00829228 -0.03019697
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+f 1 7 3
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+f 2 21 12
+f 2 12 6
+f 3 7 13
+f 3 13 8
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+f 5 10 11
+f 6 12 13
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+f 8 13 14
+f 8 14 15
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+f 9 16 10
+f 10 16 17
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+f 10 19 11
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+f 11 18 20
+f 12 21 22
+f 12 22 13
+f 13 22 14
+f 14 22 17
+f 14 17 16
+f 14 16 15
+f 17 22 23
+f 17 23 21
+f 17 21 24
+f 17 24 18
+f 18 24 20
+f 20 24 21
+f 21 23 22
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_316.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_316.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a3d36540f2d3342243bdbf541634f8d111408e4
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_316.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00447762 -0.00601566 -0.03049949
+v 0.00447762 -0.00515995 -0.03053475
+v 0.00494033 -0.00522671 -0.03053122
+v 0.00494033 -0.00570340 -0.03051007
+v 0.00494033 -0.00601566 -0.03049596
+v 0.00447762 -0.00601566 0.00548739
+v 0.00494033 -0.00515995 -0.03053122
+v 0.00447762 -0.00515995 0.00548739
+v 0.00494033 -0.00601566 0.00548739
+v 0.00494033 -0.00515995 0.00548739
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 6
+f 1 6 8
+f 1 8 2
+f 2 7 3
+f 2 8 10
+f 2 10 7
+f 3 7 10
+f 3 10 9
+f 3 9 5
+f 3 5 4
+f 6 9 10
+f 6 10 8
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_317.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_317.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da0898b64683e8bc0f0f4ded778809d247b1b8d3
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_317.obj
@@ -0,0 +1,204 @@
+# https://github.com/mikedh/trimesh
+v 0.00977876 -0.00670176 0.01449707
+v 0.00975857 -0.00672584 0.01408469
+v 0.00977444 -0.00670176 0.01408469
+v 0.00976578 -0.00670176 0.01465438
+v 0.00974992 -0.00672584 0.01465438
+v 0.00968935 -0.00681364 0.01465438
+v 0.00912115 -0.00763036 0.01449707
+v 0.00964609 -0.00688487 0.01408469
+v -0.00495416 -0.00670176 0.01408469
+v -0.00495416 -0.00670176 0.01465438
+v 0.00911538 -0.00762333 0.01465438
+v 0.00911970 -0.00762785 0.01408469
+v 0.00838998 -0.00837985 0.01449707
+v -0.00495416 -0.01076931 0.01408469
+v -0.00495416 -0.01076128 0.01465438
+v 0.00846065 -0.00829407 0.01465438
+v 0.00838710 -0.00837734 0.01408469
+v 0.00838277 -0.00837283 0.01465438
+v 0.00830489 -0.00845009 0.01465438
+v 0.00826884 -0.00848520 0.01465438
+v 0.00763430 -0.00909523 0.01465438
+v 0.00764007 -0.00910075 0.01449707
+v 0.00763718 -0.00909875 0.01408469
+v -0.00495416 -0.01076981 0.01411307
+v -0.00410474 -0.01110593 0.01408469
+v -0.00495416 -0.01077082 0.01450805
+v -0.00374997 -0.01124841 0.01449707
+v -0.00374997 -0.01123737 0.01465438
+v 0.00682958 -0.00966965 0.01465438
+v 0.00674161 -0.00974239 0.01449707
+v 0.00674161 -0.00974038 0.01408469
+v 0.00739346 -0.00927483 0.01408469
+v -0.00495416 -0.01077132 0.01449707
+v -0.00374997 -0.01124489 0.01408469
+v -0.00225159 -0.01164172 0.01449707
+v -0.00225159 -0.01162968 0.01465438
+v 0.00674161 -0.00973085 0.01465438
+v 0.00579268 -0.01036546 0.01449707
+v 0.00631330 -0.01002282 0.01408469
+v -0.00266404 -0.01152984 0.01408469
+v -0.00225159 -0.01163770 0.01408469
+v -0.00075176 -0.01182382 0.01408469
+v -0.00075176 -0.01182583 0.01449707
+v -0.00075176 -0.01181379 0.01465438
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+v 0.00579124 -0.01036546 0.01408469
+v 0.00589219 -0.01028821 0.01465438
+v 0.00578259 -0.01035894 0.01465438
+v 0.00566722 -0.01041814 0.01465438
+v 0.00504277 -0.01074172 0.01449707
+v 0.00074663 -0.01182483 0.01408469
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+v 0.00074663 -0.01181329 0.01465438
+v 0.00524755 -0.01063787 0.01408469
+v 0.00503267 -0.01073620 0.01465438
+v 0.00504133 -0.01073971 0.01408469
+v 0.00393232 -0.01117316 0.01465438
+v 0.00374340 -0.01125744 0.01449707
+v 0.00183400 -0.01169389 0.01408469
+v 0.00224645 -0.01164523 0.01449707
+v 0.00224645 -0.01163319 0.01465438
+v 0.00090382 -0.01179523 0.01465438
+v 0.00374340 -0.01125392 0.01408469
+v 0.00386886 -0.01119824 0.01465438
+v 0.00306848 -0.01143001 0.01408469
+v 0.00333095 -0.01136178 0.01408469
+v 0.00374340 -0.01124690 0.01465438
+v 0.00224645 -0.01164272 0.01408469
+v 0.00240365 -0.01159356 0.01465438
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+f 1 3 9
+f 1 9 10
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+f 1 4 5
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+f 1 7 8
+f 1 8 2
+f 2 8 12
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+f 2 39 46
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+f 2 59 51
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+f 22 32 23
+f 24 25 27
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+f 27 35 28
+f 27 34 35
+f 28 35 36
+f 29 37 30
+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 35 43 44
+f 35 44 36
+f 37 45 38
+f 38 46 39
+f 38 45 47
+f 38 47 48
+f 38 48 49
+f 38 49 50
+f 38 50 46
+f 42 51 43
+f 43 52 44
+f 43 51 52
+f 44 52 53
+f 46 50 54
+f 49 55 50
+f 50 56 54
+f 50 55 57
+f 50 57 58
+f 50 58 56
+f 51 59 52
+f 52 59 60
+f 52 60 61
+f 52 61 62
+f 52 62 53
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+f 57 64 58
+f 58 65 66
+f 58 66 63
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+f 58 67 60
+f 58 60 65
+f 59 68 60
+f 60 67 69
+f 60 69 61
+f 60 68 65
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_318.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_318.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d83df5fbb5c1236a7f754c8c26c82419120562e
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_318.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v -0.00149539 -0.00258256 -0.02366011
+v -0.00149636 -0.00258256 -0.00760054
+v -0.00149539 -0.00302299 -0.02366011
+v -0.00149539 -0.00258256 -0.03054343
+v -0.01134335 -0.00258256 -0.00760054
+v -0.00149636 -0.00302299 -0.00760054
+v -0.00149539 -0.00302299 -0.03054343
+v -0.00225234 -0.00258256 -0.03054343
+v -0.01134528 -0.00258256 -0.00834614
+v -0.01128164 -0.00281752 -0.00760054
+v -0.01122668 -0.00302299 -0.00760054
+v -0.00225234 -0.00302299 -0.03054343
+v -0.00375176 -0.00302299 -0.03053894
+v -0.00595508 -0.00302299 -0.03053220
+v -0.00639575 -0.00258256 -0.03052996
+v -0.01122957 -0.00302299 -0.01028650
+v -0.01134624 -0.00258256 -0.01134201
+v -0.01123053 -0.00302299 -0.01178443
+v -0.00674770 -0.00302299 -0.03052771
+v -0.00674770 -0.00258256 -0.03052771
+v -0.01134624 -0.00258256 -0.01434238
+v -0.01123053 -0.00302299 -0.01627824
+v -0.00745257 -0.00302299 -0.03049178
+v -0.00789324 -0.00258256 -0.03047156
+v -0.00757889 -0.00258256 -0.03048728
+v -0.01134335 -0.00258256 -0.01733600
+v -0.01122668 -0.00302299 -0.02227222
+v -0.01122957 -0.00302299 -0.01927186
+v -0.00824712 -0.00302299 -0.03040194
+v -0.00824712 -0.00258256 -0.03043114
+v -0.01133853 -0.00258256 -0.02183205
+v -0.01122571 -0.00302299 -0.02297515
+v -0.00887871 -0.00302299 -0.03021105
+v -0.00899249 -0.00258256 -0.03020881
+v -0.01133564 -0.00258256 -0.02297515
+v -0.01132021 -0.00258256 -0.02366011
+v -0.01130092 -0.00258256 -0.02447758
+v -0.01118810 -0.00302299 -0.02447758
+v -0.00946691 -0.00302299 -0.02999995
+v -0.00953730 -0.00258256 -0.03002915
+v -0.00927405 -0.00258256 -0.03012347
+v -0.01124114 -0.00258256 -0.02597551
+v -0.01112639 -0.00302299 -0.02597551
+v -0.00981886 -0.00302299 -0.02977088
+v -0.01010910 -0.00258256 -0.02965635
+v -0.01115725 -0.00258256 -0.02747345
+v -0.01103864 -0.00302299 -0.02747345
+v -0.01028652 -0.00258256 -0.02948342
+v -0.01021613 -0.00302299 -0.02938236
+v -0.01110711 -0.00258256 -0.02770926
+v -0.01092583 -0.00302299 -0.02800345
+v -0.01079565 -0.00258256 -0.02873333
+v -0.01073394 -0.00302299 -0.02863452
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 15
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+f 1 20 25
+f 1 25 24
+f 1 24 30
+f 1 30 34
+f 1 34 41
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+f 1 48 52
+f 1 52 50
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+f 23 29 24
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+f 27 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 40
+f 33 40 41
+f 33 41 34
+f 37 42 38
+f 38 42 43
+f 39 44 40
+f 40 44 45
+f 42 46 43
+f 43 46 47
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+f 44 49 48
+f 46 50 47
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+f 48 49 53
+f 48 53 52
+f 50 52 53
+f 50 53 51
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_319.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_319.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ef971641d7c2e6c1f804e86d4e505b601d9affb
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_319.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00950025 0.00393773 0.00700055
+v 0.00897192 0.00393773 0.00700055
+v 0.00950025 0.00345748 0.00700055
+v 0.00950025 0.00393773 -0.02921492
+v 0.00897192 0.00345748 0.00700055
+v 0.00897192 0.00393773 -0.02921492
+v 0.00950025 0.00345748 -0.02921492
+v 0.00897192 0.00345748 -0.02921492
+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_32.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9eee37063d86f87d4f4b962d02ea0a61c11b233
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_32.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v -0.00075303 0.01132843 0.00941181
+v -0.00018996 0.01132759 0.00941181
+v -0.00075303 0.01119315 0.00897201
+v -0.00166327 0.01121288 0.00941181
+v -0.00018996 0.01122227 0.00906969
+v -0.00018996 0.01025049 0.00941181
+v -0.00122393 0.01113332 0.00897201
+v -0.00018996 0.01119220 0.00897201
+v -0.00151664 0.01109153 0.00897201
+v -0.00222970 0.01113194 0.00941181
+v -0.00018996 0.01025049 0.00897201
+v -0.00304302 0.01025049 0.00941181
+v -0.00221322 0.01099191 0.00897201
+v -0.00304302 0.01080418 0.00897201
+v -0.00304302 0.01091868 0.00941181
+v -0.00304302 0.01025049 0.00897201
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 15
+f 1 15 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 11
+f 2 11 8
+f 2 8 5
+f 3 7 4
+f 3 5 8
+f 3 8 11
+f 3 11 16
+f 3 16 14
+f 3 14 13
+f 3 13 9
+f 3 9 7
+f 4 9 10
+f 4 7 9
+f 6 12 16
+f 6 16 11
+f 9 13 10
+f 10 13 14
+f 10 14 15
+f 12 15 14
+f 12 14 16
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_320.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_320.obj
new file mode 100644
index 0000000000000000000000000000000000000000..365183ecdc60c43f5b5be57bc8675e9dacf03947
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_320.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.00612901 0.00561617 -0.03041693
+v -0.00677369 0.00561617 -0.03038397
+v -0.00612901 0.00682839 -0.03026677
+v -0.00612901 0.00561617 0.00700055
+v -0.00703610 0.00561617 -0.03030706
+v -0.00703610 0.00582248 -0.03026677
+v -0.00686374 0.00688101 -0.03010195
+v -0.00612901 0.00690511 -0.03024113
+v -0.00685326 0.00690511 -0.03009829
+v -0.00612901 0.00690511 0.00700055
+v -0.00703610 0.00561617 0.00700055
+v -0.00703610 0.00680681 -0.03006532
+v -0.00688789 0.00690511 -0.03008363
+v -0.00703610 0.00690511 0.00700055
+v -0.00703610 0.00690511 -0.02998841
+f 1 2 3
+f 1 3 8
+f 1 8 10
+f 1 10 4
+f 1 4 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 9
+f 3 9 8
+f 4 10 14
+f 4 14 11
+f 5 11 14
+f 5 14 15
+f 5 15 12
+f 5 12 6
+f 6 12 7
+f 7 12 9
+f 8 9 13
+f 8 13 15
+f 8 15 14
+f 8 14 10
+f 9 12 13
+f 12 15 13
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_322.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_322.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb9b6bd34d8d08a3f773fdbaa5073723a352e0ee
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_322.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.00641762 0.00561617 0.00268961
+v -0.01020311 0.00561617 0.00268961
+v -0.00641762 0.00516127 0.00268961
+v -0.00641762 0.00561617 -0.01793921
+v -0.01021301 0.00561617 0.00258259
+v -0.01025580 0.00555949 0.00250384
+v -0.01024788 0.00554453 0.00268961
+v -0.01044438 0.00516127 0.00268961
+v -0.00641762 0.00516127 -0.01793921
+v -0.01020549 0.00561617 -0.01793921
+v -0.01021856 0.00561617 0.00250384
+v -0.01022331 0.00561617 0.00100554
+v -0.01025620 0.00556586 0.00100554
+v -0.01046459 0.00516127 0.00100554
+v -0.01045944 0.00516127 0.00250384
+v -0.01029542 0.00545217 0.00268961
+v -0.01045349 0.00516127 -0.01793921
+v -0.01024114 0.00555913 -0.01793921
+v -0.01024827 0.00556443 -0.01398347
+v -0.01021579 0.00561617 -0.01398347
+v -0.01022371 0.00561617 -0.00049477
+v -0.01025659 0.00556586 -0.00199307
+v -0.01046498 0.00516127 -0.00118334
+v -0.01045547 0.00516127 -0.01698207
+v -0.01025065 0.00556563 -0.01248517
+v -0.01021856 0.00561617 -0.01248517
+v -0.01022371 0.00561617 -0.00349136
+v -0.01025620 0.00556586 -0.00349136
+v -0.01046419 0.00516127 -0.00499168
+v -0.01046498 0.00516127 -0.00199307
+v -0.01046023 0.00516127 -0.01398347
+v -0.01046181 0.00516127 -0.01248517
+v -0.01025263 0.00556586 -0.00948656
+v -0.01022054 0.00561617 -0.00948656
+v -0.01022292 0.00561617 -0.00499168
+v -0.01046261 0.00516127 -0.01098486
+f 1 2 7
+f 1 7 16
+f 1 16 8
+f 1 8 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
+f 1 10 20
+f 1 20 26
+f 1 26 34
+f 1 34 35
+f 1 35 27
+f 1 27 21
+f 1 21 12
+f 1 12 11
+f 1 11 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 30
+f 3 30 29
+f 3 29 36
+f 3 36 32
+f 3 32 31
+f 3 31 24
+f 3 24 17
+f 3 17 9
+f 4 9 17
+f 4 17 18
+f 4 18 10
+f 5 11 6
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 8
+f 6 8 16
+f 6 16 7
+f 6 11 12
+f 10 18 19
+f 10 19 20
+f 12 21 13
+f 13 21 22
+f 13 22 23
+f 13 23 14
+f 17 24 19
+f 17 19 18
+f 19 24 25
+f 19 25 20
+f 20 25 26
+f 21 27 22
+f 22 27 28
+f 22 28 36
+f 22 36 29
+f 22 29 30
+f 22 30 23
+f 24 31 25
+f 25 32 33
+f 25 33 26
+f 25 31 32
+f 26 33 34
+f 27 35 28
+f 28 35 34
+f 28 34 33
+f 28 33 32
+f 28 32 36
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_323.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_323.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2236b3704651312f8f6efb3ec8b0679b132c4c7f
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_323.obj
@@ -0,0 +1,252 @@
+# https://github.com/mikedh/trimesh
+v 0.00976392 -0.00629535 0.01092140
+v 0.00946743 -0.00677055 0.01092140
+v 0.00944830 -0.00669448 0.01047087
+v 0.00969697 -0.00629535 0.01047087
+v -0.00977773 -0.00629535 0.01092140
+v 0.00927997 -0.00703421 0.01092140
+v 0.00909633 -0.00719105 0.01047087
+v -0.00971078 -0.00629535 0.01047087
+v -0.00971269 -0.00629535 0.01047683
+v -0.00945446 -0.00669344 0.01047087
+v -0.00946976 -0.00676951 0.01092140
+v 0.00896817 -0.00744689 0.01092140
+v 0.00893374 -0.00740572 0.01047087
+v -0.00970887 -0.00629952 0.01047087
+v -0.00893799 -0.00740468 0.01047087
+v -0.00900877 -0.00739530 0.01092140
+v 0.00847657 -0.00796638 0.01092140
+v 0.00868316 -0.00767198 0.01047087
+v -0.00819580 -0.00817324 0.01047087
+v -0.00823598 -0.00821388 0.01092140
+v -0.00896860 -0.00744011 0.01087919
+v -0.00894564 -0.00746773 0.01092140
+v 0.00823173 -0.00821701 0.01092140
+v 0.00819156 -0.00817532 0.01047087
+v -0.00742493 -0.00891575 0.01047087
+v -0.00753205 -0.00888761 0.01092140
+v -0.00890930 -0.00750889 0.01092140
+v 0.00797923 -0.00846243 0.01092140
+v 0.00768465 -0.00866720 0.01047087
+v -0.00671526 -0.00943264 0.01047087
+v -0.00678986 -0.00944983 0.01092140
+v -0.00697732 -0.00931175 0.01092140
+v -0.00741728 -0.00898661 0.01092140
+v -0.00746127 -0.00894649 0.01087875
+v 0.00746467 -0.00895378 0.01092140
+v 0.00742068 -0.00891783 0.01047087
+v -0.00632504 -0.00968848 0.01047087
+v -0.00602855 -0.00995005 0.01092140
+v 0.00704959 -0.00926329 0.01092140
+v 0.00721027 -0.00907623 0.01047087
+v -0.00550252 -0.01020224 0.01047087
+v -0.00598838 -0.00997558 0.01092140
+v 0.00678561 -0.00945139 0.01092140
+v 0.00670910 -0.00943420 0.01047087
+v -0.00548530 -0.01021162 0.01047087
+v -0.00556564 -0.01023871 0.01092140
+v 0.00555948 -0.01023975 0.01092140
+v 0.00549253 -0.01020328 0.01047087
+v -0.00527680 -0.01039399 0.01092140
+v -0.00553121 -0.01025747 0.01092140
+v -0.00498796 -0.01047840 0.01047087
+v 0.00480964 -0.01062794 0.01092140
+v 0.00474269 -0.01059668 0.01047087
+v -0.00493823 -0.01056750 0.01092140
+v -0.00475268 -0.01059876 0.01047087
+v 0.00374419 -0.01103645 0.01092140
+v 0.00374419 -0.01097392 0.01047087
+v -0.00481772 -0.01062898 0.01092140
+v -0.00439115 -0.01073789 0.01047087
+v -0.00429551 -0.01083011 0.01092140
+v 0.00224451 -0.01142725 0.01092140
+v 0.00224451 -0.01136472 0.01047087
+v -0.00437011 -0.01074570 0.01047087
+v -0.00407936 -0.01091296 0.01092140
+v -0.00410996 -0.01090150 0.01092140
+v 0.00166683 -0.01149915 0.01092140
+v 0.00125175 -0.01148873 0.01047087
+v -0.00375035 -0.01097497 0.01047087
+v -0.00375035 -0.01103489 0.01092140
+v 0.00142582 -0.01152885 0.01092140
+v 0.00074484 -0.01161274 0.01092140
+v 0.00074484 -0.01155074 0.01047087
+v -0.00327979 -0.01109950 0.01047087
+v -0.00277862 -0.01129177 0.01092140
+v 0.00021881 -0.01161535 0.01092140
+v -0.00024601 -0.01155542 0.01047087
+v -0.00225068 -0.01136941 0.01047087
+v -0.00225068 -0.01142985 0.01092140
+v -0.00007194 -0.01161639 0.01092140
+v -0.00075100 -0.01155699 0.01047087
+v -0.00174568 -0.01143350 0.01047087
+v -0.00157162 -0.01151582 0.01092140
+v -0.00075100 -0.01161847 0.01092140
+v -0.00127895 -0.01155282 0.01092140
+v -0.00132868 -0.01154657 0.01092140
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 9
+f 1 9 5
+f 1 5 11
+f 1 11 16
+f 1 16 22
+f 1 22 27
+f 1 27 20
+f 1 20 26
+f 1 26 33
+f 1 33 32
+f 1 32 31
+f 1 31 38
+f 1 38 42
+f 1 42 46
+f 1 46 50
+f 1 50 49
+f 1 49 54
+f 1 54 58
+f 1 58 60
+f 1 60 65
+f 1 65 64
+f 1 64 69
+f 1 69 74
+f 1 74 78
+f 1 78 82
+f 1 82 85
+f 1 85 84
+f 1 84 83
+f 1 83 79
+f 1 79 75
+f 1 75 71
+f 1 71 70
+f 1 70 66
+f 1 66 61
+f 1 61 56
+f 1 56 52
+f 1 52 47
+f 1 47 43
+f 1 43 39
+f 1 39 35
+f 1 35 28
+f 1 28 23
+f 1 23 17
+f 1 17 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 13
+f 3 13 18
+f 3 18 24
+f 3 24 29
+f 3 29 36
+f 3 36 40
+f 3 40 44
+f 3 44 48
+f 3 48 53
+f 3 53 57
+f 3 57 62
+f 3 62 67
+f 3 67 72
+f 3 72 76
+f 3 76 80
+f 3 80 81
+f 3 81 77
+f 3 77 73
+f 3 73 68
+f 3 68 63
+f 3 63 59
+f 3 59 55
+f 3 55 51
+f 3 51 45
+f 3 45 41
+f 3 41 37
+f 3 37 30
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+f 3 19 15
+f 3 15 10
+f 3 10 14
+f 3 14 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 6 12 7
+f 7 12 13
+f 8 14 9
+f 9 14 10
+f 10 15 11
+f 11 15 16
+f 12 17 18
+f 12 18 13
+f 15 19 20
+f 15 20 21
+f 15 21 16
+f 16 21 22
+f 17 23 24
+f 17 24 18
+f 19 25 20
+f 20 27 21
+f 20 25 26
+f 21 27 22
+f 23 28 24
+f 24 28 29
+f 25 30 31
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 26 34 33
+f 28 35 29
+f 29 35 36
+f 30 37 38
+f 30 38 31
+f 35 39 40
+f 35 40 36
+f 37 41 42
+f 37 42 38
+f 39 43 44
+f 39 44 40
+f 41 45 50
+f 41 50 46
+f 41 46 42
+f 43 47 44
+f 44 47 48
+f 45 49 50
+f 45 51 49
+f 47 52 53
+f 47 53 48
+f 49 51 54
+f 51 55 54
+f 52 56 53
+f 53 56 57
+f 54 55 58
+f 55 59 60
+f 55 60 58
+f 56 61 62
+f 56 62 57
+f 59 63 64
+f 59 64 65
+f 59 65 60
+f 61 66 67
+f 61 67 62
+f 63 68 69
+f 63 69 64
+f 66 70 67
+f 67 70 71
+f 67 71 72
+f 68 73 69
+f 69 73 74
+f 71 75 72
+f 72 75 76
+f 73 77 74
+f 74 77 78
+f 75 79 76
+f 76 79 80
+f 77 81 78
+f 78 81 82
+f 79 83 80
+f 80 83 81
+f 81 83 84
+f 81 84 85
+f 81 85 82
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_324.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_324.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba1e8eb054496e9454312c0fbf9e53a61f0d8342
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_324.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00912270 0.00292060 0.00699661
+v 0.00633737 0.00292060 0.00699661
+v 0.00912270 0.00236981 0.00699661
+v 0.00912270 0.00292060 -0.03013528
+v 0.00633737 0.00236981 0.00699661
+v 0.00633737 0.00292060 -0.03053953
+v 0.00912270 0.00236981 -0.03018305
+v 0.00912270 0.00277729 -0.03015365
+v 0.00899483 0.00292060 -0.03017938
+v 0.00633737 0.00236981 -0.03053953
+v 0.00674252 0.00292060 -0.03053585
+v 0.00674252 0.00236981 -0.03053953
+v 0.00824124 0.00236981 -0.03045500
+v 0.00824124 0.00292060 -0.03041458
+v 0.00884378 0.00292060 -0.03022716
+v 0.00758935 0.00292060 -0.03049175
+v 0.00800813 0.00236981 -0.03047338
+v 0.00813955 0.00236981 -0.03046602
+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 14
+f 1 14 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 12
+f 3 12 17
+f 3 17 18
+f 3 18 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 15
+f 8 15 9
+f 11 16 12
+f 12 16 17
+f 13 18 16
+f 13 16 14
+f 16 18 17
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_328.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_328.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3884226920ea7de6259871dab9fb0a9cc4af449
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_328.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.00784196 0.00762064 0.00700055
+v 0.00772980 0.00775364 0.00700055
+v 0.00783908 0.00754517 0.00700055
+v 0.00784196 0.00754517 0.00699332
+v 0.00784196 0.00786705 0.00635357
+v 0.00729247 0.00812187 0.00700055
+v 0.00784196 0.00812187 0.00558371
+v 0.00670869 0.00754517 0.00700055
+v 0.00784196 0.00754517 -0.02903136
+v 0.00721381 0.00812187 0.00700055
+v 0.00784196 0.00812187 -0.02813499
+v 0.00670869 0.00812170 0.00700055
+v 0.00670869 0.00754517 -0.02992411
+v 0.00739242 0.00754517 -0.02964219
+v 0.00784196 0.00790995 -0.02870245
+v 0.00670869 0.00812187 0.00697163
+v 0.00784196 0.00794552 -0.02862655
+v 0.00773990 0.00812187 -0.02840607
+v 0.00670869 0.00775720 -0.02984821
+v 0.00723943 0.00754517 -0.02973255
+v 0.00670869 0.00797786 -0.02963496
+v 0.00704573 0.00812187 -0.02929159
+v 0.00741262 0.00812187 -0.02889763
+v 0.00670869 0.00812187 -0.02949400
+f 1 2 6
+f 1 6 10
+f 1 10 12
+f 1 12 8
+f 1 8 3
+f 1 3 4
+f 1 4 9
+f 1 9 15
+f 1 15 17
+f 1 17 11
+f 1 11 7
+f 1 7 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 13
+f 3 13 20
+f 3 20 14
+f 3 14 9
+f 3 9 4
+f 6 7 11
+f 6 11 18
+f 6 18 23
+f 6 23 22
+f 6 22 24
+f 6 24 16
+f 6 16 10
+f 8 12 16
+f 8 16 24
+f 8 24 21
+f 8 21 19
+f 8 19 13
+f 9 14 15
+f 10 16 12
+f 11 17 18
+f 13 19 20
+f 14 20 19
+f 14 19 21
+f 14 21 22
+f 14 22 15
+f 15 18 17
+f 15 22 23
+f 15 23 18
+f 21 24 22
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_329.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_329.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d752e193f12fe423ae197632a1cccc2a35ae0883
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_329.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.00807475 -0.00074635 -0.01579316
+v -0.00807510 -0.00074635 -0.01255043
+v -0.00807475 -0.00127228 -0.01579316
+v -0.00807475 -0.00074635 -0.01959140
+v -0.01162949 -0.00074635 -0.01255043
+v -0.00807510 -0.00127228 -0.01255043
+v -0.00807475 -0.00127228 -0.01959140
+v -0.01160862 -0.00074635 -0.01959140
+v -0.01156164 -0.00127228 -0.01302874
+v -0.01156164 -0.00127228 -0.01255043
+v -0.01162601 -0.00074635 -0.01400122
+v -0.01155538 -0.00127228 -0.01602681
+v -0.01155886 -0.00127228 -0.01452709
+v -0.01154633 -0.00127228 -0.01959140
+v -0.01161210 -0.00074635 -0.01850658
+v -0.01162149 -0.00074635 -0.01550921
+v -0.01154807 -0.00127228 -0.01902349
+f 1 2 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 8
+f 1 8 15
+f 1 15 16
+f 1 16 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
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+f 3 13 12
+f 3 12 17
+f 3 17 14
+f 3 14 7
+f 4 7 14
+f 4 14 8
+f 5 9 10
+f 5 11 12
+f 5 12 13
+f 5 13 9
+f 8 14 15
+f 11 16 17
+f 11 17 12
+f 14 17 16
+f 14 16 15
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_33.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61d2899443e6166a3a731f95c152c191bcba8395
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_33.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v -0.00894350 -0.00626955 0.00700055
+v -0.00867827 -0.00661166 0.00700055
+v -0.00860197 -0.00675887 0.00774229
+v -0.00894350 -0.00591293 0.00774229
+v -0.00894350 0.00622672 0.00700055
+v -0.00774352 -0.00772092 0.00700055
+v -0.00778967 -0.00776654 0.00774229
+v -0.00821920 -0.00723575 0.00774229
+v -0.00894350 0.00592815 0.00774229
+v -0.00889427 0.00606292 0.00774229
+v -0.00858720 0.00679483 0.00774229
+v -0.00865366 0.00665798 0.00700055
+v -0.00675891 -0.00855442 0.00700055
+v -0.00663338 -0.00865809 0.00700055
+v -0.00678107 -0.00857930 0.00774229
+v -0.00777613 0.00779213 0.00774229
+v -0.00773059 0.00774858 0.00700200
+v -0.00773182 0.00774651 0.00700055
+v -0.00611831 -0.00905618 0.00700055
+v -0.00530724 -0.00958696 0.00774229
+v -0.00677676 0.00860489 0.00774229
+v -0.00663707 0.00867953 0.00700055
+v -0.00675399 0.00858001 0.00700055
+v -0.00552755 -0.00940036 0.00700055
+v -0.00534478 -0.00949988 0.00700055
+v -0.00381065 -0.01023593 0.00700055
+v -0.00376695 -0.01022557 0.00774229
+v -0.00530109 0.00961670 0.00774229
+v -0.00551093 0.00943632 0.00700055
+v -0.00375465 -0.01025874 0.00700055
+v -0.00304327 -0.01050340 0.00700055
+v -0.00265743 -0.01059670 0.00700055
+v -0.00265743 -0.01041632 0.00774229
+v -0.00452633 0.00999406 0.00774229
+v -0.00528201 0.00955865 0.00700055
+v -0.00534109 0.00952755 0.00700055
+v -0.00265743 0.01058497 0.00700055
+v -0.00265743 0.01042947 0.00774229
+v -0.00448079 0.01001479 0.00774229
+v -0.00377249 0.01025945 0.00700055
+v -0.00375034 0.01026774 0.00700055
+v -0.00375649 0.01025323 0.00774229
+v -0.00300881 0.01037349 0.00774229
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+f 28 35 36
+f 28 36 29
+f 32 37 38
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+f 34 39 40
+f 34 40 35
+f 37 41 42
+f 37 42 43
+f 37 43 38
+f 39 42 41
+f 39 41 40
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_332.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_332.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05bb3b5431046bd6ef67c457a9b4088120f3ed8c
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_332.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.00100507 0.00812137 0.00616065
+v -0.00046714 0.00812187 0.00616065
+v 0.00100507 0.00727635 0.00616065
+v 0.00100507 0.00812187 0.00508138
+v -0.00181513 0.00812187 0.00616065
+v -0.00181513 0.00727635 0.00616065
+v 0.00100507 0.00727635 -0.00570787
+v 0.00100507 0.00812187 -0.00570787
+v -0.00181513 0.00812187 -0.00570787
+v -0.00181513 0.00727635 -0.00570787
+f 1 2 5
+f 1 5 6
+f 1 6 3
+f 1 3 7
+f 1 7 8
+f 1 8 4
+f 1 4 2
+f 2 4 8
+f 2 8 9
+f 2 9 5
+f 3 6 10
+f 3 10 7
+f 5 9 10
+f 5 10 6
+f 7 10 9
+f 7 9 8
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_333.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_333.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2e33b78f28e592dc51b5850541425785b897918
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_333.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
+v 0.01081922 -0.00471293 0.01552163
+v 0.01080652 -0.00471293 0.01572685
+v 0.01070486 -0.00492824 0.01599607
+v 0.01072180 -0.00495914 0.01552163
+v -0.01081652 -0.00471293 0.01552163
+v 0.01078746 -0.00471293 0.01599607
+v 0.01075569 -0.00471293 0.01614323
+v 0.01068368 -0.00488479 0.01616896
+v 0.01032365 -0.00567796 0.01599607
+v 0.01060320 -0.00519665 0.01552163
+v -0.01072546 -0.00495093 0.01552163
+v -0.01070851 -0.00492052 0.01599607
+v -0.01078687 -0.00471293 0.01599607
+v 0.01074934 -0.00471293 0.01616896
+v 0.01037660 -0.00548583 0.01616896
+v 0.01034059 -0.00570886 0.01552163
+v 0.00949982 -0.00689886 0.01616896
+v 0.00964806 -0.00672604 0.01599607
+v 0.00987891 -0.00642528 0.01552163
+v -0.01034425 -0.00570065 0.01552163
+v -0.01068734 -0.00487755 0.01616896
+v -0.01032731 -0.00566976 0.01599607
+v -0.01072122 -0.00471293 0.01616789
+v -0.01067251 -0.00471293 0.01616896
+v 0.00904872 -0.00754528 0.01616896
+v 0.00906354 -0.00756266 0.01599607
+v 0.00968407 -0.00672604 0.01552163
+v -0.00968772 -0.00672604 0.01552163
+v -0.00965172 -0.00672604 0.01599607
+v -0.01071910 -0.00471872 0.01616896
+v -0.00958183 -0.00672604 0.01616896
+v 0.00848114 -0.00812411 0.01616896
+v 0.00832866 -0.00831238 0.01599607
+v 0.00908260 -0.00758390 0.01552163
+v 0.00928380 -0.00729762 0.01552163
+v -0.00908838 -0.00758342 0.01552163
+v -0.00907143 -0.00756362 0.01599607
+v -0.00905661 -0.00754673 0.01616896
+v 0.00814229 -0.00846493 0.01616896
+v 0.00834772 -0.00833362 0.01552163
+v 0.00756412 -0.00903507 0.01616896
+v 0.00757894 -0.00904859 0.01599607
+v -0.00834925 -0.00833314 0.01552163
+v -0.00833019 -0.00831335 0.01599607
+v -0.00756566 -0.00903025 0.01616896
+v 0.00783520 -0.00883666 0.01552163
+v 0.00691395 -0.00948404 0.01616896
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+v 0.00672334 -0.00964432 0.01596647
+v 0.00677205 -0.00964432 0.01552163
+v 0.00731422 -0.00926825 0.01552163
+v 0.00759800 -0.00906500 0.01552163
+v -0.00759954 -0.00905873 0.01552163
+v -0.00758048 -0.00904328 0.01599607
+v -0.00674817 -0.00962887 0.01599607
+v -0.00672488 -0.00964432 0.01599607
+v -0.00674817 -0.00956080 0.01616896
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+v -0.00677147 -0.00964432 0.01552163
+v -0.00674817 -0.00964432 0.01577495
+v -0.00672064 -0.00964432 0.01600044
+v -0.00655545 -0.00964432 0.01616896
+f 1 2 3
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+f 1 19 27
+f 1 27 35
+f 1 35 34
+f 1 34 40
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+f 1 52 51
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+f 43 53 54
+f 43 54 44
+f 44 54 45
+f 45 54 55
+f 45 55 56
+f 45 56 57
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+f 47 59 48
+f 48 59 58
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+f 48 62 56
+f 48 56 61
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+f 55 61 56
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+f 57 62 63
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_334.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_334.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cafac4521b88132a543bdebb15e0f62e145c7d65
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_334.obj
@@ -0,0 +1,207 @@
+# https://github.com/mikedh/trimesh
+v -0.00075140 0.01184888 0.01465438
+v -0.00090842 0.01182813 0.01465438
+v -0.00177700 0.01164813 0.01552157
+v -0.00075140 0.01178271 0.01552157
+v 0.00074525 0.01178103 0.01552157
+v 0.00074525 0.01184664 0.01465438
+v -0.00225004 0.01164644 0.01465438
+v -0.00225004 0.01158364 0.01552157
+v 0.00224388 0.01159037 0.01552157
+v 0.00224388 0.01165373 0.01465438
+v -0.00240905 0.01160607 0.01465438
+v -0.00327563 0.01132007 0.01552157
+v 0.00374252 0.01119895 0.01552157
+v 0.00374252 0.01125727 0.01465438
+v -0.00375067 0.01125390 0.01465438
+v -0.00375067 0.01119558 0.01552157
+v 0.00494699 0.01072958 0.01552157
+v 0.00500265 0.01075705 0.01465438
+v -0.00387390 0.01120736 0.01465438
+v -0.00455564 0.01089164 0.01552157
+v 0.00569631 0.01035217 0.01552157
+v 0.00575197 0.01038582 0.01465438
+v -0.00500881 0.01076322 0.01465438
+v -0.00495713 0.01073462 0.01552157
+v 0.00674178 0.00968037 0.01552157
+v 0.00674178 0.00974317 0.01465438
+v -0.00504657 0.01074472 0.01465438
+v -0.00568061 0.01042395 0.01465438
+v -0.00519365 0.01061462 0.01552157
+v 0.00758054 0.00909099 0.01552157
+v 0.00761632 0.00912071 0.01465438
+v -0.00575812 0.01038358 0.01465438
+v -0.00570645 0.01035049 0.01552157
+v 0.00832986 0.00836311 0.01552157
+v 0.00836564 0.00839844 0.01465438
+v -0.00587142 0.01031124 0.01465438
+v -0.00643788 0.00988000 0.01552157
+v 0.00907322 0.00761335 0.01552157
+v 0.00898974 0.00776420 0.01465438
+v -0.00591912 0.01028040 0.01465438
+v -0.00674794 0.00967812 0.01552157
+v 0.00910303 0.00764868 0.01465438
+v 0.00902551 0.00772775 0.01465438
+v 0.00966552 0.00676602 0.01552157
+v 0.00973111 0.00676602 0.01465438
+v -0.00674794 0.00974037 0.01465438
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+v -0.00758869 0.00909099 0.01552157
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+v -0.01015068 0.00612001 0.01465438
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+v -0.00782720 0.00886107 0.01552157
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+v -0.01012683 0.00612001 0.01500054
+v -0.00972932 0.00676602 0.01465438
+v -0.00837378 0.00839227 0.01465438
+v -0.00833801 0.00835862 0.01552157
+v -0.00966571 0.00676602 0.01552157
+v -0.00927416 0.00732960 0.01552157
+v -0.00907540 0.00760886 0.01552157
+v -0.00913503 0.00759989 0.01465438
+v -0.00845130 0.00831320 0.01465438
+v -0.00884484 0.00784607 0.01552157
+v -0.00910323 0.00764251 0.01465438
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+f 1 18 22
+f 1 22 26
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+f 62 68 69
+f 62 69 63
+f 66 70 67
+f 66 69 70
+f 68 70 69
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_335.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_335.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0866e23f42349ab2c99a3f74863f1a722854bdcc
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_335.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v -0.00199082 -0.00295847 0.01092140
+v 0.00582735 -0.00295847 0.01092140
+v -0.00199082 -0.00295847 0.01139517
+v -0.00199082 0.01147915 0.01092140
+v 0.00582735 -0.00295847 0.01139517
+v 0.00582735 0.01009108 0.01092140
+v -0.00199082 0.01154518 0.01139517
+v -0.00199082 0.01151216 0.01115307
+v -0.00172445 0.01151360 0.01092140
+v 0.00582735 0.01016429 0.01139517
+v 0.00553648 0.01027051 0.01092140
+v 0.00560308 0.01030783 0.01139517
+v 0.00582735 0.01012553 0.01113011
+v -0.00075234 0.01170451 0.01139517
+v -0.00199082 0.01153800 0.01134211
+v -0.00143205 0.01155092 0.01092140
+v 0.00582735 0.01015568 0.01133418
+v 0.00568727 0.01025472 0.01139517
+v 0.00528159 0.01040544 0.01092140
+v 0.00582735 0.01013414 0.01118544
+v 0.00555103 0.01033511 0.01139517
+v 0.00074638 0.01170308 0.01139517
+v 0.00074638 0.01163705 0.01092140
+v -0.00075234 0.01163705 0.01092140
+v 0.00525633 0.01041836 0.01092140
+v 0.00490729 0.01059492 0.01092140
+v 0.00485371 0.01068679 0.01139517
+v 0.00085048 0.01169016 0.01139517
+v 0.00127377 0.01157102 0.01092140
+v 0.00478636 0.01065521 0.01092140
+v 0.00409593 0.01092363 0.01092140
+v 0.00380736 0.01109302 0.01139517
+v 0.00224511 0.01151360 0.01139517
+v 0.00224511 0.01144757 0.01092140
+v 0.00405383 0.01093942 0.01092140
+v 0.00374383 0.01111598 0.01139517
+v 0.00234844 0.01148633 0.01139517
+v 0.00282225 0.01129685 0.01092140
+v 0.00374383 0.01105139 0.01092140
+f 1 2 5
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+f 1 9 16
+f 1 16 24
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+f 1 34 38
+f 1 38 39
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+f 1 35 31
+f 1 31 30
+f 1 30 26
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+f 1 25 19
+f 1 19 11
+f 1 11 6
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+f 9 14 16
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+f 11 19 12
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+f 14 23 24
+f 14 24 16
+f 17 20 18
+f 19 25 21
+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 29
+f 29 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 38
+f 36 38 37
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_336.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_336.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4052ad00d82473f57440d84f20a779f0f79175e4
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_336.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00670869 0.00812159 0.00173556
+v 0.00581407 0.00812187 0.00173556
+v 0.00670869 0.00754517 0.00173556
+v 0.00670869 0.00812187 0.00113707
+v 0.00514827 0.00812187 0.00173556
+v 0.00514827 0.00754517 0.00173556
+v 0.00670869 0.00754517 -0.02992176
+v 0.00670869 0.00812187 -0.02949561
+v 0.00514827 0.00812187 -0.03012230
+v 0.00514827 0.00754517 -0.03027584
+v 0.00658787 0.00754517 -0.02996563
+v 0.00670869 0.00775720 -0.02984656
+v 0.00626711 0.00812187 -0.02982149
+v 0.00525549 0.00812187 -0.03010350
+v 0.00514827 0.00804572 -0.03014423
+v 0.00613208 0.00754517 -0.03007843
+v 0.00657840 0.00754517 -0.02996876
+v 0.00644154 0.00786383 -0.02990296
+v 0.00577741 0.00812187 -0.02998443
+v 0.00548262 0.00812187 -0.03005650
+f 1 2 5
+f 1 5 6
+f 1 6 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 19
+f 2 19 20
+f 2 20 14
+f 2 14 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 15
+f 5 15 10
+f 5 10 6
+f 7 11 12
+f 8 12 13
+f 9 14 15
+f 10 15 14
+f 10 14 16
+f 11 17 18
+f 11 18 12
+f 12 18 13
+f 13 18 19
+f 14 20 16
+f 16 20 18
+f 16 18 17
+f 18 20 19
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_337.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_337.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a70a4e99b06641e35ecbfbbba4fc03be0e3e6fe
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_337.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.00612901 0.00561617 0.00414609
+v -0.00612901 0.00561617 0.00700055
+v -0.00612901 0.00690511 0.00414609
+v 0.00747955 0.00561617 0.00414609
+v -0.00612901 0.00690511 0.00700055
+v 0.00747955 0.00561617 0.00700055
+v 0.00747955 0.00690511 0.00414609
+v 0.00747955 0.00690397 0.00700055
+v 0.00747955 0.00690511 0.00657501
+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 9
+f 3 9 7
+f 4 7 9
+f 4 9 8
+f 4 8 6
+f 5 8 9
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_338.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_338.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d7bae55e7b6fa6a70d20e623f6d6aa0134e247d
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_338.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.00603455 -0.00601574 0.00572605
+v 0.00387698 -0.00601574 0.00572960
+v 0.00603455 -0.00688556 0.00572605
+v 0.00603455 -0.00601574 -0.02902296
+v 0.00387698 -0.00688556 0.00572960
+v 0.00285717 -0.00601574 0.00572960
+v 0.00603455 -0.00688556 -0.03025499
+v 0.00603455 -0.00601753 -0.03031890
+v 0.00603189 -0.00601574 -0.03031890
+v 0.00285717 -0.00688556 0.00572960
+v -0.00302494 -0.00601574 0.00572605
+v 0.00524531 -0.00688556 -0.03041832
+v 0.00603455 -0.00678475 -0.03028340
+v 0.00603455 -0.00642136 -0.03030115
+v 0.00524265 -0.00601574 -0.03049288
+v -0.00302494 -0.00688556 0.00572605
+v -0.00302494 -0.00601574 -0.03053548
+v 0.00524265 -0.00672558 -0.03045737
+v 0.00374308 -0.00688556 -0.03050708
+v 0.00387698 -0.00672558 -0.03052129
+v 0.00374308 -0.00601574 -0.03052483
+v -0.00302494 -0.00688556 -0.03052129
+v -0.00225077 -0.00601574 -0.03054259
+v -0.00302494 -0.00672558 -0.03053194
+v 0.00224439 -0.00688556 -0.03052129
+v 0.00224439 -0.00672558 -0.03053194
+v 0.00285717 -0.00630634 -0.03053194
+v 0.00285717 -0.00601574 -0.03053194
+v -0.00209115 -0.00688556 -0.03053194
+v -0.00225077 -0.00672558 -0.03053548
+v -0.00059158 -0.00688556 -0.03053194
+f 1 2 5
+f 1 5 3
+f 1 3 7
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+f 1 13 14
+f 1 14 8
+f 1 8 4
+f 1 4 9
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+f 1 15 21
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+f 1 28 23
+f 1 23 17
+f 1 17 11
+f 1 11 6
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+f 3 31 25
+f 3 25 19
+f 3 19 12
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+f 4 8 9
+f 6 11 16
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+f 7 12 13
+f 8 14 15
+f 8 15 9
+f 11 17 24
+f 11 24 22
+f 11 22 16
+f 12 18 13
+f 12 19 18
+f 13 18 15
+f 13 15 14
+f 15 20 21
+f 15 18 20
+f 17 23 24
+f 18 19 20
+f 19 25 20
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 21 27 28
+f 22 24 29
+f 23 30 24
+f 23 28 27
+f 23 27 26
+f 23 26 30
+f 24 30 29
+f 25 31 26
+f 26 31 30
+f 29 30 31
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_339.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_339.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e48b74a64307128e45a5e1ee841933df20af6f3
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_339.obj
@@ -0,0 +1,243 @@
+# https://github.com/mikedh/trimesh
+v -0.01184791 0.00076834 0.01408469
+v -0.01165090 0.00226803 0.01408469
+v -0.01164694 0.00226803 0.01358206
+v -0.01184197 0.00076834 0.01358206
+v -0.01184494 -0.00072676 0.01408469
+v -0.01149449 0.00285048 0.01358206
+v -0.01125690 0.00376542 0.01408469
+v -0.01183900 -0.00072676 0.01358206
+v -0.01172614 -0.00164170 0.01358206
+v -0.01179346 -0.00113951 0.01408469
+v -0.01125195 0.00376542 0.01358206
+v -0.01074904 0.00504039 0.01408469
+v -0.01074706 0.00503809 0.01358206
+v -0.01164991 -0.00222644 0.01358206
+v -0.01165387 -0.00222644 0.01408469
+v -0.01058075 0.00537977 0.01408469
+v -0.01037484 0.00578794 0.01358206
+v -0.01145489 -0.00298546 0.01358206
+v -0.01145687 -0.00298546 0.01373896
+v -0.01145984 -0.00298546 0.01408469
+v -0.01037583 0.00579023 0.01408469
+v -0.00973829 0.00676480 0.01408469
+v -0.00973433 0.00676480 0.01358206
+v -0.01126383 -0.00372613 0.01358206
+v -0.01126779 -0.00372613 0.01408469
+v -0.00910570 0.00764305 0.01358206
+v -0.00948881 0.00710876 0.01358206
+v -0.00910669 0.00764535 0.01408469
+v -0.01095397 -0.00450808 0.01358206
+v -0.01103910 -0.00430628 0.01408469
+v -0.00837510 0.00839519 0.01408469
+v -0.00837312 0.00839290 0.01358206
+v -0.01075399 -0.00501026 0.01358206
+v -0.01075696 -0.00501256 0.01408469
+v -0.00762569 0.00912210 0.01408469
+v -0.00762371 0.00911981 0.01358206
+v -0.01038177 -0.00575781 0.01358206
+v -0.01038375 -0.00576240 0.01408469
+v -0.00674957 0.00974582 0.01408469
+v -0.00674957 0.00974124 0.01358206
+v -0.00975413 -0.00672550 0.01358206
+v -0.00975908 -0.00672550 0.01408469
+v -0.00576653 0.01038560 0.01408469
+v -0.00576158 0.01038331 0.01358206
+v -0.00911857 -0.00761752 0.01358206
+v -0.00912253 -0.00762210 0.01408469
+v -0.00501713 0.01076396 0.01408469
+v -0.00501218 0.01076167 0.01358206
+v -0.00838500 -0.00836736 0.01358206
+v -0.00838698 -0.00837195 0.01408469
+v -0.00467163 0.01090155 0.01408469
+v -0.00424693 0.01106665 0.01358206
+v -0.00818107 -0.00857145 0.01408469
+v -0.00792664 -0.00880993 0.01358206
+v -0.00375195 0.01125927 0.01408469
+v -0.00375195 0.01125927 0.01358206
+v -0.00763757 -0.00908969 0.01408469
+v -0.00763460 -0.00908739 0.01358206
+v -0.00333913 0.01136934 0.01408469
+v -0.00283722 0.01150005 0.01358206
+v -0.00674957 -0.00972946 0.01358206
+v -0.00674957 -0.00972946 0.01408469
+v -0.00307679 0.01143813 0.01408469
+v -0.00225313 0.01165368 0.01358206
+v -0.00579128 -0.01036236 0.01358206
+v -0.00622588 -0.01007801 0.01408469
+v -0.00225313 0.01165368 0.01408469
+v -0.00173439 0.01172477 0.01408469
+v -0.00173439 0.01172018 0.01358206
+v -0.00504188 -0.01073154 0.01358206
+v -0.00504386 -0.01073384 0.01408469
+v -0.00579326 -0.01036236 0.01408469
+v -0.00173439 -0.01170153 0.01408469
+v -0.00173439 -0.01169465 0.01358206
+v -0.00453897 -0.01093104 0.01358206
+v -0.00410635 -0.01110532 0.01408469
+v -0.00225313 -0.01163732 0.01408469
+v -0.00225313 -0.01163044 0.01358206
+v -0.00375195 -0.01123832 0.01358206
+v -0.00375195 -0.01124291 0.01408469
+v -0.00292829 -0.01146075 0.01408469
+v -0.00316786 -0.01139196 0.01358206
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 5
+f 1 5 10
+f 1 10 15
+f 1 15 20
+f 1 20 25
+f 1 25 30
+f 1 30 34
+f 1 34 38
+f 1 38 42
+f 1 42 46
+f 1 46 50
+f 1 50 53
+f 1 53 57
+f 1 57 62
+f 1 62 66
+f 1 66 72
+f 1 72 71
+f 1 71 76
+f 1 76 80
+f 1 80 81
+f 1 81 77
+f 1 77 73
+f 1 73 68
+f 1 68 67
+f 1 67 63
+f 1 63 59
+f 1 59 55
+f 1 55 51
+f 1 51 47
+f 1 47 43
+f 1 43 39
+f 1 39 35
+f 1 35 31
+f 1 31 28
+f 1 28 22
+f 1 22 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 11
+f 3 11 13
+f 3 13 17
+f 3 17 23
+f 3 23 27
+f 3 27 26
+f 3 26 32
+f 3 32 36
+f 3 36 40
+f 3 40 44
+f 3 44 48
+f 3 48 52
+f 3 52 56
+f 3 56 60
+f 3 60 64
+f 3 64 69
+f 3 69 74
+f 3 74 78
+f 3 78 82
+f 3 82 79
+f 3 79 75
+f 3 75 70
+f 3 70 65
+f 3 65 61
+f 3 61 58
+f 3 58 54
+f 3 54 49
+f 3 49 45
+f 3 45 41
+f 3 41 37
+f 3 37 33
+f 3 33 29
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+f 3 18 14
+f 3 14 9
+f 3 9 8
+f 3 8 4
+f 5 9 10
+f 5 8 9
+f 6 7 11
+f 7 12 13
+f 7 13 11
+f 9 14 15
+f 9 15 10
+f 12 16 13
+f 13 16 17
+f 14 18 19
+f 14 19 20
+f 14 20 15
+f 16 21 17
+f 17 21 22
+f 17 22 23
+f 18 24 19
+f 19 24 20
+f 20 24 25
+f 22 26 27
+f 22 27 23
+f 22 28 26
+f 24 29 30
+f 24 30 25
+f 26 28 31
+f 26 31 32
+f 29 33 30
+f 30 33 34
+f 31 35 36
+f 31 36 32
+f 33 37 38
+f 33 38 34
+f 35 39 36
+f 36 39 40
+f 37 41 38
+f 38 41 42
+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 46 49 50
+f 47 51 52
+f 47 52 48
+f 49 53 50
+f 49 54 53
+f 51 55 56
+f 51 56 52
+f 53 54 57
+f 54 58 57
+f 55 59 56
+f 56 59 60
+f 57 58 61
+f 57 61 62
+f 59 63 64
+f 59 64 60
+f 61 65 66
+f 61 66 62
+f 63 67 64
+f 64 67 68
+f 64 68 69
+f 65 70 71
+f 65 71 72
+f 65 72 66
+f 68 73 74
+f 68 74 69
+f 70 75 71
+f 71 75 76
+f 73 77 78
+f 73 78 74
+f 75 79 76
+f 76 79 80
+f 77 81 82
+f 77 82 78
+f 79 82 81
+f 79 81 80
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_34.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55e34b9ed2bfc123df1827123e6859617c6689c8
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_34.obj
@@ -0,0 +1,195 @@
+# https://github.com/mikedh/trimesh
+v 0.01035835 -0.00550670 0.01616903
+v 0.00980430 -0.00550670 0.01702784
+v 0.00937563 -0.00639880 0.01702784
+v 0.00925835 -0.00672623 0.01695907
+v 0.00899952 -0.00748627 0.01675538
+v 0.00949897 -0.00689892 0.01616903
+v -0.01029901 -0.00550670 0.01616903
+v -0.00971262 -0.00550670 0.01702784
+v 0.00916129 -0.00672444 0.01702784
+v 0.00848188 -0.00812442 0.01616903
+v 0.00904805 -0.00754543 0.01616903
+v 0.00811184 -0.00792664 0.01702784
+v 0.00794603 -0.00809514 0.01702784
+v 0.00750724 -0.00898724 0.01676009
+v -0.01024846 -0.00560231 0.01616903
+v -0.00900692 -0.00748866 0.01675790
+v -0.00926574 -0.00672623 0.01696017
+v -0.00932438 -0.00649798 0.01702784
+v -0.01013927 -0.00550670 0.01641492
+v 0.00814217 -0.00846560 0.01616903
+v 0.00674088 -0.00915334 0.01702784
+v 0.00674088 -0.00924357 0.01696361
+v 0.00472287 -0.01058260 0.01687030
+v 0.00549934 -0.01035913 0.01616903
+v 0.00691478 -0.00948437 0.01616903
+v 0.00756386 -0.00903504 0.01616903
+v -0.00958320 -0.00672623 0.01616903
+v -0.00905747 -0.00754722 0.01616903
+v -0.00751262 -0.00898604 0.01675908
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+v -0.00075085 -0.01112096 0.01702784
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+f 29 44 45
+f 29 45 46
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+f 44 52 53
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+f 58 62 63
+f 59 64 65
+f 59 65 60
+f 62 66 64
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+f 64 66 65
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_340.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_340.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9a09de15b29bb04f687513d6817e98c77536308
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_340.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00669596 -0.00515995 -0.01515214
+v -0.00669596 -0.00601566 -0.01515214
+v -0.00669596 -0.00515995 -0.03019189
+v -0.00765572 -0.00515995 -0.01515214
+v -0.00765572 -0.00601566 -0.01515214
+v -0.00669596 -0.00601566 -0.03031637
+v -0.00669596 -0.00516238 -0.03047384
+v -0.00674895 -0.00515995 -0.03047085
+v -0.00765572 -0.00515995 -0.03024438
+v -0.00765572 -0.00601566 -0.03007190
+v -0.00680955 -0.00601566 -0.03029387
+v -0.00669596 -0.00527956 -0.03046785
+v -0.00669596 -0.00522671 -0.03047085
+v -0.00674895 -0.00522671 -0.03046785
+v -0.00681556 -0.00515995 -0.03046185
+v -0.00707805 -0.00515995 -0.03039436
+v -0.00707805 -0.00523081 -0.03038236
+v -0.00765572 -0.00523793 -0.03022938
+v -0.00765572 -0.00597671 -0.03008090
+v -0.00762087 -0.00601566 -0.03008240
+v -0.00707805 -0.00601566 -0.03022488
+v -0.00669596 -0.00525460 -0.03046935
+v -0.00765572 -0.00558169 -0.03016039
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+f 14 17 16
+f 14 16 15
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+f 17 21 18
+f 18 21 23
+f 19 23 20
+f 20 23 21
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_341.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_341.obj
new file mode 100644
index 0000000000000000000000000000000000000000..532762f5bf6261ff7a48d5b8ce262acdddad93df
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_341.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.00670869 0.00812170 0.00700004
+v 0.00670869 0.00754517 0.00700004
+v 0.00670869 0.00812187 0.00697324
+v 0.00514827 0.00812187 0.00688975
+v 0.00514827 0.00812114 0.00700004
+v 0.00514827 0.00754517 0.00700004
+v 0.00670869 0.00754517 0.00173556
+v 0.00670869 0.00812187 0.00197675
+v 0.00514827 0.00812187 0.00173556
+v 0.00514827 0.00754517 0.00173556
+v 0.00670869 0.00812159 0.00173556
+v 0.00581407 0.00812187 0.00173556
+f 1 2 7
+f 1 7 11
+f 1 11 8
+f 1 8 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 2
+f 2 6 10
+f 2 10 7
+f 3 8 12
+f 3 12 9
+f 3 9 4
+f 4 9 10
+f 4 10 6
+f 4 6 5
+f 7 10 9
+f 7 9 12
+f 7 12 11
+f 8 11 12
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_35.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26ba6e1418084cf654a5485bf8e0187be0f97900
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_35.obj
@@ -0,0 +1,144 @@
+# https://github.com/mikedh/trimesh
+v 0.00590350 -0.00915130 0.00700055
+v 0.00662839 -0.00866069 0.00700055
+v 0.00677634 -0.00857802 0.00774229
+v 0.00590350 -0.00894463 0.00774229
+v 0.00590350 0.00920783 0.00700055
+v 0.00773508 -0.00772081 0.00700055
+v 0.00778274 -0.00776394 0.00774229
+v 0.00590350 0.00896522 0.00774229
+v 0.00677336 0.00860760 0.00774229
+v 0.00610359 0.00909281 0.00700055
+v 0.00867942 -0.00660481 0.00700055
+v 0.00859651 -0.00675757 0.00774229
+v 0.00724851 0.00822661 0.00774229
+v 0.00663285 0.00868128 0.00700055
+v 0.00893065 -0.00623641 0.00700055
+v 0.00960688 -0.00528215 0.00774229
+v 0.00777778 0.00779890 0.00774229
+v 0.00773012 0.00775218 0.00700055
+v 0.00942168 -0.00551038 0.00700055
+v 0.00955921 -0.00525340 0.00700055
+v 0.01000557 -0.00446268 0.00774229
+v 0.00805830 0.00745386 0.00774229
+v 0.00866353 0.00665056 0.00700055
+v 0.01025332 -0.00377259 0.00700055
+v 0.01027318 -0.00372407 0.00700055
+v 0.01005075 -0.00432610 0.00774229
+v 0.00820675 0.00727056 0.00774229
+v 0.00859005 0.00679612 0.00774229
+v 0.00907215 0.00612761 0.00700055
+v 0.01024438 -0.00373845 0.00774229
+v 0.01069222 -0.00226303 0.00700055
+v 0.01075478 -0.00218576 0.00774229
+v 0.00960142 0.00531891 0.00774229
+v 0.00941771 0.00553277 0.00700055
+v 0.01070811 -0.00218576 0.00700055
+v 0.01097523 -0.00072831 0.00774229
+v 0.01023991 0.00377701 0.00774229
+v 0.01024835 0.00380935 0.00700055
+v 0.00951205 0.00535665 0.00700055
+v 0.01091168 -0.00072831 0.00700055
+v 0.01091217 0.00076867 0.00700055
+v 0.01097523 0.00002826 0.00774229
+v 0.01075280 0.00221713 0.00774229
+v 0.01051299 0.00303301 0.00700055
+v 0.01026623 0.00376443 0.00700055
+v 0.01097423 0.00076867 0.00774229
+v 0.01070563 0.00221892 0.00700055
+v 0.01086252 0.00151626 0.00774229
+v 0.01069073 0.00229081 0.00700055
+f 1 2 3
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+f 41 47 46
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+f 43 47 49
+f 43 49 44
+f 46 47 48
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_36.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0417873d3f2f69e0518b13d49eb1007add18c3f5
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_36.obj
@@ -0,0 +1,114 @@
+# https://github.com/mikedh/trimesh
+v 0.01069915 -0.00262068 0.00843135
+v 0.01054634 -0.00321951 0.00843135
+v 0.01024281 -0.00373985 0.00774243
+v 0.01044795 -0.00262068 0.00774243
+v -0.01068632 -0.00262068 0.00843135
+v 0.01038306 -0.00372811 0.00843135
+v 0.01005022 -0.00432755 0.00774243
+v -0.01042256 -0.00262068 0.00774243
+v -0.01024253 -0.00373800 0.00774243
+v -0.01038279 -0.00372811 0.00843135
+v 0.01031189 -0.00393204 0.00843135
+v 0.01000417 -0.00446475 0.00774243
+v -0.00960616 -0.00528295 0.00774243
+v -0.00973385 -0.00523166 0.00843135
+v 0.00976762 -0.00515071 0.00843135
+v 0.00998533 -0.00450553 0.00774243
+v -0.00860136 -0.00675870 0.00774243
+v -0.00868928 -0.00677044 0.00843135
+v 0.00972994 -0.00523228 0.00843135
+v 0.00960644 -0.00528419 0.00774243
+v -0.00821828 -0.00723578 0.00774243
+v -0.00778915 -0.00776601 0.00774243
+v -0.00783102 -0.00780803 0.00843135
+v 0.00913334 -0.00618336 0.00843135
+v 0.00859536 -0.00675993 0.00774243
+v -0.00725535 -0.00819736 0.00774243
+v -0.00678854 -0.00867012 0.00843135
+v 0.00868746 -0.00676920 0.00843135
+v 0.00778105 -0.00776601 0.00774243
+v -0.00678016 -0.00857989 0.00774243
+v -0.00638243 -0.00893400 0.00843135
+v 0.00782710 -0.00780803 0.00843135
+v 0.00678253 -0.00866888 0.00843135
+v 0.00726400 -0.00818562 0.00774243
+v -0.00591980 -0.00893400 0.00774243
+v 0.00643504 -0.00893400 0.00843135
+v 0.00677416 -0.00857989 0.00774243
+v 0.00591380 -0.00893400 0.00774243
+v 0.00603312 -0.00888765 0.00774243
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+f 1 4 8
+f 1 8 5
+f 1 5 10
+f 1 10 14
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+f 1 18 23
+f 1 23 27
+f 1 27 31
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+f 1 33 32
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+f 1 19 15
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+f 3 22 21
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+f 3 13 9
+f 3 9 8
+f 3 8 4
+f 5 8 9
+f 5 9 10
+f 6 11 12
+f 6 12 7
+f 9 13 10
+f 10 13 14
+f 11 15 12
+f 12 15 19
+f 12 19 16
+f 13 17 18
+f 13 18 14
+f 16 19 20
+f 17 21 18
+f 18 21 22
+f 18 22 23
+f 19 24 20
+f 20 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 28 32 29
+f 29 32 33
+f 29 33 34
+f 30 35 31
+f 31 35 38
+f 31 38 36
+f 33 36 37
+f 33 37 34
+f 36 39 37
+f 36 38 39
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_37.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa57e335eb2df42099eeaac4d555bcf6f686814d
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_37.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.00133856 0.00727635 -0.03051782
+v -0.00181513 0.00727635 -0.03051540
+v -0.00133856 0.00774252 -0.03050082
+v -0.00133856 0.00727635 -0.00571273
+v -0.00181513 0.00812187 -0.03047654
+v -0.00133856 0.00812187 -0.03048625
+v -0.00181513 0.00727635 -0.00570787
+v -0.00133856 0.00772216 -0.00570787
+v -0.00181513 0.00812187 -0.00570787
+v -0.00133856 0.00812187 -0.00570787
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 8
+f 1 8 4
+f 1 4 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 9
+f 2 9 5
+f 4 8 7
+f 5 9 10
+f 5 10 6
+f 7 8 10
+f 7 10 9
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_38.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..972525803faa6b8655b6c39ecda6a943f212dc74
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_38.obj
@@ -0,0 +1,180 @@
+# https://github.com/mikedh/trimesh
+v -0.00901411 0.00290970 0.00700055
+v -0.01051520 0.00290970 0.00700055
+v -0.00901411 0.00197372 0.00700055
+v -0.00901411 0.00290970 -0.03014503
+v -0.01063963 0.00290970 0.00672356
+v -0.01069870 0.00228516 0.00700055
+v -0.01074614 0.00197372 0.00700055
+v -0.00901411 0.00197372 -0.03023250
+v -0.00901411 0.00226849 -0.03022521
+v -0.00948204 0.00290970 -0.03000654
+v -0.01064253 0.00290970 0.00671263
+v -0.01071274 0.00221891 0.00700055
+v -0.01109545 0.00226849 0.00550263
+v -0.01113491 0.00197372 0.00550263
+v -0.00963890 0.00197372 -0.03004298
+v -0.00958661 0.00226849 -0.03005027
+v -0.01036585 0.00197372 -0.02958741
+v -0.01033607 0.00226849 -0.02955461
+v -0.01023150 0.00290970 -0.02940883
+v -0.01079286 0.00290970 0.00614043
+v -0.01092358 0.00290970 0.00546254
+v -0.01115573 0.00290970 0.00400106
+v -0.01132978 0.00226849 0.00400106
+v -0.01136803 0.00197372 0.00400106
+v -0.01074566 0.00197372 -0.02901886
+v -0.01083765 0.00226849 -0.02880383
+v -0.01046292 0.00290970 -0.02908810
+v -0.01127095 0.00290970 0.00250313
+v -0.01144186 0.00226849 0.00250313
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+v -0.01084031 0.00197372 -0.02885850
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diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_39.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29deb5f760cf7248a9f6f3bbfa1260b0d8efc819
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_39.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
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+f 9 10 11
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_40.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac3794ae273b6905b6b2f20889619bd3f049228f
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_40.obj
@@ -0,0 +1,216 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_41.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57fea0af2c5e8eba27c1a68bd530e2a9252674d1
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_41.obj
@@ -0,0 +1,237 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_42.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0ce4666443594f4834264e2385bc1971163af22
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_42.obj
@@ -0,0 +1,258 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_44.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b74a70577b3bb86fc696ec58b2124ce498198675
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_44.obj
@@ -0,0 +1,186 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_45.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8ad924dd7e8f93a21de5e246da1043abf73e818
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_45.obj
@@ -0,0 +1,270 @@
+# https://github.com/mikedh/trimesh
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+v 0.00418535 -0.01086565 0.00011074
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_46.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df1090adf21b8f06705775367c5cdb6c413ddd09
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_46.obj
@@ -0,0 +1,300 @@
+# https://github.com/mikedh/trimesh
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+v -0.00529166 -0.00424556 -0.03053134
+v -0.00662499 -0.00308080 -0.03052751
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+v 0.01021105 -0.00302299 -0.02938819
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+v -0.01085381 -0.00424556 -0.01398532
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_47.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..625975ea79d1e0374d89cb5eaa265fdc3bc11300
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_47.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v 0.01085688 -0.00424568 0.00100556
+v 0.01085410 -0.00424568 0.00173344
+v 0.01064322 -0.00479311 0.00100556
+v 0.01085688 -0.00424568 -0.02297442
+v 0.01063975 -0.00478667 0.00250156
+v 0.01084854 -0.00424568 0.00250156
+v 0.01045388 -0.00515995 0.00100556
+v 0.01045423 -0.00515995 0.00027036
+v 0.01045597 -0.00515995 -0.00572830
+v 0.01064322 -0.00479311 -0.02297442
+v 0.01045075 -0.00515995 0.00176270
+v 0.01061682 -0.00474112 -0.02447408
+v 0.01080963 -0.00424568 -0.02447408
+v 0.01057895 -0.00466281 0.00400122
+v 0.01032048 -0.00515995 0.00400122
+v 0.01044554 -0.00515995 0.00250156
+v 0.01078809 -0.00424568 0.00333186
+v 0.01045597 -0.00515995 -0.02297442
+v 0.01042887 -0.00515995 -0.02376449
+v 0.01040351 -0.00515995 -0.02447408
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+v 0.01073459 -0.00424568 0.00400122
+v 0.01051120 -0.00452248 0.00486810
+v 0.01028052 -0.00515995 0.00424629
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+v 0.01024092 -0.00515995 -0.02746975
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+v 0.01065607 -0.00424568 0.00456451
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_48.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a97bd8a17915571e0b303af995def9b68d7d3113
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_48.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.00676360 0.00812187 0.00628539
+v -0.00676360 0.00812187 0.00700055
+v -0.00676360 0.00844260 0.00628539
+v 0.00052730 0.00812187 0.00628539
+v -0.00676360 0.00844260 0.00700055
+v 0.00052730 0.00812187 0.00700055
+v 0.00052730 0.00844260 0.00628539
+v 0.00052730 0.00844260 0.00700055
+f 1 2 5
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+f 1 7 4
+f 1 4 6
+f 1 6 2
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+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_49.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ca6a822485a454019f352e2818aec7cdf7bb7f0
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_49.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.00374055 -0.00471245 0.01552163
+v 0.00424296 -0.00471245 0.01552163
+v -0.00374055 -0.00471245 0.01616896
+v -0.00374055 0.01119838 0.01552163
+v 0.00424296 -0.00471245 0.01616896
+v 0.00424296 0.01100139 0.01552163
+v -0.00374055 0.01093035 0.01616896
+v -0.00374055 0.01116609 0.01599607
+v -0.00327558 0.01131948 0.01552163
+v 0.00424296 0.01090936 0.01616896
+v 0.00374360 0.01119838 0.01552163
+v 0.00424296 0.01097394 0.01599607
+v -0.00250505 0.01141959 0.01616896
+v -0.00374055 0.01110312 0.01616782
+v -0.00225107 0.01154876 0.01599607
+v -0.00225107 0.01158267 0.01552163
+v 0.00424296 0.01093681 0.01609551
+v 0.00374360 0.01110150 0.01616896
+v 0.00374360 0.01116609 0.01599607
+v 0.00224474 0.01159074 0.01552163
+v -0.00225107 0.01146319 0.01616896
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_5.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e709ea9480c47967870875c04c23f2526c25f2c5
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_5.obj
@@ -0,0 +1,258 @@
+# https://github.com/mikedh/trimesh
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+v 0.00897953 0.00750127 -0.01997527
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+v 0.00832707 0.00812175 -0.01997885
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_51.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58f49dd4a6594c7c9e7e3a8bc18acdbeb02b426e
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_51.obj
@@ -0,0 +1,159 @@
+# https://github.com/mikedh/trimesh
+v -0.00703494 -0.00677584 0.02776314
+v -0.00691214 -0.00690109 0.02776314
+v -0.00700734 -0.00677584 0.02798848
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+v -0.00664033 -0.00716556 0.02776314
+v -0.00661274 -0.00716556 0.02798848
+v -0.00689834 -0.00688637 0.02798848
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_52.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56d78baa8893a32deec5f14ef28f6b056c6b2005
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_52.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.00533064 -0.00528651 0.01763877
+v 0.00533064 -0.00929470 0.01763877
+v 0.00537088 -0.00981564 0.01702784
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+v -0.00931670 -0.00528651 0.01763877
+v 0.00533064 -0.00961343 0.01738656
+v 0.00502217 -0.00954203 0.01763877
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+v -0.00890242 -0.00594454 0.01763877
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+v -0.00932266 -0.00649804 0.01702784
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+v -0.00403984 -0.00989732 0.01763877
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_53.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83fa7997521566109bb913ca4fc7ea9e5a805980
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_53.obj
@@ -0,0 +1,252 @@
+# https://github.com/mikedh/trimesh
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+v -0.00844496 0.00690511 0.00700055
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+v -0.00866811 0.00561617 -0.02973962
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+v -0.00906925 0.00561617 -0.02940788
+v -0.00951736 0.00561617 -0.02879489
+v -0.00838557 0.00689136 -0.02912662
+v -0.00838557 0.00685249 -0.02915908
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+v -0.01013967 0.00561617 -0.02447506
+v -0.01019222 0.00561617 -0.02297502
+v -0.00939139 0.00690511 -0.02293535
+v -0.00937051 0.00690511 -0.00086745
+v -0.01022335 0.00561617 0.00100399
+v -0.00937393 0.00690511 -0.00236028
+v -0.00937699 0.00690511 -0.00385311
+v -0.00950692 0.00671761 -0.00049605
+v -0.01019258 0.00561617 -0.02289929
+v -0.00948587 0.00676543 -0.02147858
+v -0.00939175 0.00690511 -0.02284521
+v -0.00950710 0.00672114 -0.00199248
+v -0.00950674 0.00672467 -0.00349252
+v -0.00950224 0.00674246 -0.01098912
+v -0.00950098 0.00674625 -0.01248195
+v -0.00949900 0.00675016 -0.01398199
+v -0.01022407 0.00561617 -0.00199248
+v -0.00938725 0.00690511 -0.00982082
+v -0.01019636 0.00561617 -0.02147858
+v -0.00939517 0.00690511 -0.02147858
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+v -0.01021580 0.00561617 -0.01398199
+v -0.01021850 0.00561617 -0.01248195
+v -0.00949055 0.00676240 -0.01847850
+v -0.00939229 0.00690511 -0.01279926
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+v -0.00939625 0.00690511 -0.01727414
+v -0.00939679 0.00690511 -0.01865880
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+v -0.00939660 0.00690511 -0.01985234
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+v -0.01022048 0.00561617 -0.00948908
+v -0.01022209 0.00561617 -0.00649260
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_54.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d3d045607603059ff2c213e6214f79d2cd0838a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_54.obj
@@ -0,0 +1,252 @@
+# https://github.com/mikedh/trimesh
+v 0.00074430 0.01164802 0.01616903
+v -0.00075066 0.01164802 0.01616903
+v 0.00074430 0.01116545 0.01702784
+v 0.00224372 0.01104146 0.01702784
+v 0.00224372 0.01146962 0.01616903
+v -0.00097379 0.01163107 0.01616903
+v -0.00075066 0.01116545 0.01702784
+v 0.00363158 0.01079973 0.01702784
+v 0.00374314 0.01078546 0.01701758
+v 0.00470929 0.01061331 0.01685887
+v 0.00374314 0.01110212 0.01616903
+v -0.00224786 0.01146338 0.01616903
+v -0.00208274 0.01106198 0.01702784
+v 0.00372529 0.01077832 0.01702784
+v 0.00374314 0.01077208 0.01702784
+v 0.00487440 0.01069359 0.01616903
+v 0.00453525 0.01045185 0.01702784
+v 0.00496811 0.01021191 0.01702784
+v 0.00673752 0.00915935 0.01702784
+v 0.00674198 0.00927263 0.01694848
+v 0.00749393 0.00901752 0.01674983
+v -0.00250222 0.01141967 0.01616903
+v -0.00374951 0.01078635 0.01701935
+v -0.00224786 0.01103968 0.01702784
+v 0.00560180 0.01025918 0.01616903
+v 0.00725964 0.00878025 0.01702784
+v 0.00754525 0.00906123 0.01616903
+v 0.00674198 0.00957770 0.01616903
+v 0.00803390 0.00802027 0.01702784
+v 0.00899558 0.00752343 0.01675370
+v 0.00904244 0.00757784 0.01616903
+v -0.00394140 0.01105395 0.01616903
+v -0.00471789 0.01061509 0.01686223
+v -0.00374951 0.01077476 0.01702784
+v -0.00365580 0.01079795 0.01702784
+v 0.00876353 0.00729240 0.01702784
+v 0.00956009 0.00676612 0.01616903
+v 0.00914285 0.00676344 0.01702784
+v 0.00924772 0.00676612 0.01695294
+v 0.01058872 0.00473415 0.01686400
+v 0.01067351 0.00490720 0.01616903
+v 0.01024064 0.00563685 0.01616903
+v -0.00488300 0.01069804 0.01616903
+v -0.00548545 0.01038852 0.01616903
+v -0.00750253 0.00901841 0.01675135
+v -0.00674612 0.00927174 0.01694983
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+v 0.01043922 0.00458251 0.01702784
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+v 0.01108406 0.00376812 0.01616903
+v -0.00692016 0.00950098 0.01616903
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+v -0.00900418 0.00752432 0.01675421
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+v -0.00674166 0.00916024 0.01702784
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+v -0.00948837 0.00693917 0.01616903
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_55.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbeb2ea56823fe88dc558f32f4c5deff6e4c4869
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_55.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.01162452 0.00069614 0.01092140
+v 0.01162779 -0.00015233 0.01092140
+v 0.01156564 0.00029842 0.01047087
+v 0.01156400 0.00069614 0.01047087
+v -0.00508013 0.00069614 0.01092140
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+v 0.01156400 -0.00072997 0.01047087
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+v -0.00508013 0.00069614 0.01047087
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+v 0.01150513 -0.00120061 0.01047087
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+v 0.01098505 -0.00372755 0.01047087
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+f 17 20 21
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+f 19 22 20
+f 20 22 21
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_56.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a17ec8be63c0ce87fe1f11456e56b4e288b21b8b
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_56.obj
@@ -0,0 +1,228 @@
+# https://github.com/mikedh/trimesh
+v 0.00885802 -0.00758429 -0.00774818
+v 0.00885802 -0.00758429 -0.00949261
+v 0.00885695 -0.00758429 0.00099603
+v 0.00822944 -0.00821381 0.00099603
+v 0.00822944 -0.00821381 -0.02297433
+v 0.00885695 -0.00758429 -0.02297433
+v 0.00885588 -0.00758429 0.00124576
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+v 0.00811165 -0.00833123 -0.02297433
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+v 0.00880020 -0.00758429 -0.02446903
+v 0.00884946 -0.00758429 0.00250175
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+v 0.00799065 -0.00833123 0.00364389
+v 0.00810416 -0.00833123 0.00250175
+v 0.00805704 -0.00833123 -0.02446903
+v 0.00797030 -0.00833123 -0.02597108
+v 0.00815770 -0.00814610 -0.02597108
+v 0.00870382 -0.00758429 -0.02597108
+v 0.00882162 -0.00758429 0.00278086
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+v 0.00868562 -0.00758429 0.00400012
+v 0.00799172 -0.00798284 0.00549850
+v 0.00785893 -0.00833123 -0.02746945
+v 0.00810201 -0.00809368 -0.02746945
+v 0.00858603 -0.00758429 -0.02746945
+v 0.00775934 -0.00833123 0.00492192
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_57.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e52571068290cd661ab57cdb85dfc4c7baf5df9e
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_57.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_58.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5f0699c8bda6c97bf9da82400d3383bdcb8d838
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_58.obj
@@ -0,0 +1,228 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_59.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2803ff0b48ab8433e8598c24ac947d57c7be9623
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_59.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.00887488 0.00410510 0.01975384
+v 0.00884623 0.00410510 0.02029509
+v 0.00899710 0.00384165 0.01975384
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+f 44 48 49
+f 44 49 50
+f 45 51 52
+f 45 52 53
+f 45 53 46
+f 48 53 52
+f 48 52 51
+f 48 51 50
+f 48 50 49
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_61.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..440fe09775a6111b4972ff48f075601d9d66860c
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_61.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.00782715 0.00516115 0.00700055
+v -0.00950990 0.00516115 0.00700055
+v -0.00782715 0.00393785 0.00700055
+v -0.00782715 0.00516115 -0.03017826
+v -0.00950990 0.00393785 0.00700055
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+v -0.00830191 0.00516115 -0.03006854
+v -0.00950990 0.00393785 -0.02969547
+v -0.00849926 0.00516115 -0.02999539
+v -0.00950990 0.00503671 -0.02920536
+v -0.00930695 0.00393785 -0.02992223
+v -0.00913365 0.00478305 -0.02981983
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+f 4 7 8
+f 4 8 9
+f 6 11 12
+f 8 13 9
+f 9 13 11
+f 10 12 14
+f 10 14 13
+f 11 13 14
+f 11 14 12
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_62.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c7e8456d51f1bb04fc907ab0be839fad929fde7
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_62.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
+v 0.00840971 -0.00821262 0.01206504
+v 0.00758794 -0.00905918 0.01206504
+v 0.00757970 -0.00905158 0.01186880
+v 0.00832407 -0.00821262 0.01140283
+v -0.00841430 -0.00821262 0.01206504
+v 0.00681887 -0.00957873 0.01206504
+v 0.00752207 -0.00900283 0.01139522
+v 0.00831254 -0.00822333 0.01139522
+v 0.00687157 -0.00947088 0.01142118
+v 0.00686663 -0.00946984 0.01139522
+v 0.00832242 -0.00821262 0.01139522
+v -0.00832537 -0.00821262 0.01140879
+v -0.00758430 -0.00904950 0.01187811
+v -0.00771769 -0.00893508 0.01206504
+v 0.00569738 -0.01031571 0.01206504
+v 0.00564468 -0.01028599 0.01149908
+v 0.00562821 -0.01027769 0.01139522
+v -0.00831878 -0.00821262 0.01139522
+v -0.00830231 -0.00823163 0.01139522
+v -0.00825455 -0.00828072 0.01139522
+v -0.00691074 -0.00943908 0.01139522
+v -0.00687122 -0.00946811 0.01139522
+v -0.00687616 -0.00946915 0.01142676
+v -0.00744596 -0.00916288 0.01206504
+v -0.00759253 -0.00905607 0.01206504
+v 0.00494807 -0.01069354 0.01206504
+v 0.00489373 -0.01066865 0.01149908
+v 0.00487890 -0.01066139 0.01139522
+v -0.00571679 -0.01022549 0.01139522
+v -0.00564927 -0.01028564 0.01149908
+v -0.00643481 -0.00983246 0.01206504
+v -0.00682511 -0.00957458 0.01206504
+v 0.00374424 -0.01116435 0.01206504
+v 0.00374424 -0.01111596 0.01149908
+v 0.00374424 -0.01110144 0.01139522
+v -0.00563445 -0.01027734 0.01139522
+v -0.00570197 -0.01031468 0.01206504
+v -0.00629153 -0.00992683 0.01206504
+v -0.00558175 -0.01030500 0.01139522
+v -0.00488514 -0.01066104 0.01139522
+v -0.00489996 -0.01066830 0.01149908
+v -0.00561633 -0.01035858 0.01206504
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+v -0.00523427 -0.01055285 0.01206504
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+v 0.00074536 -0.01167802 0.01139522
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+v -0.00225022 -0.01150761 0.01149908
+v -0.00225022 -0.01155289 0.01206504
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+v -0.00225022 -0.01149378 0.01139522
+v -0.00168535 -0.01162479 0.01206504
+v -0.00075160 -0.01174232 0.01206504
+v -0.00085535 -0.01166973 0.01139522
+v -0.00075160 -0.01168252 0.01139522
+f 1 2 3
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+f 1 4 11
+f 1 11 18
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+f 60 65 61
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_63.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df12a91b64da65733708cbaa4d4073eafe3c9cef
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_63.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v 0.00833561 -0.00836657 0.01264878
+v 0.00833561 -0.00832396 0.01232937
+v 0.00907930 -0.00757495 0.01206504
+v 0.00835702 -0.00834526 0.01264878
+v 0.00833561 0.00837709 0.01264878
+v 0.00833561 -0.00828790 0.01206504
+v 0.00959595 -0.00679972 0.01206504
+v 0.00969384 -0.00675219 0.01264878
+v 0.00910174 -0.00760281 0.01264878
+v 0.00858271 0.00814272 0.01264878
+v 0.00881452 0.00786409 0.01215075
+v 0.00833561 0.00830333 0.01206504
+v 0.01032945 -0.00567539 0.01206504
+v 0.00988044 -0.00646701 0.01264878
+v 0.00881452 0.00790834 0.01264878
+v 0.00881452 0.00788704 0.01237034
+v 0.00895184 0.00772314 0.01206504
+v 0.00881452 0.00785262 0.01206504
+v 0.01035936 -0.00573112 0.01264878
+v 0.01070843 -0.00492475 0.01206504
+v 0.00908984 0.00762808 0.01264878
+v 0.00906877 0.00760350 0.01206504
+v 0.01073426 -0.00498047 0.01264878
+v 0.01117443 -0.00372666 0.01206504
+v 0.01122406 -0.00372666 0.01264878
+v 0.00951879 0.00702658 0.01264878
+v 0.00916768 0.00746582 0.01206504
+v 0.01137395 -0.00296618 0.01206504
+v 0.01161698 -0.00222701 0.01264878
+v 0.00967242 0.00679221 0.01264878
+v 0.00983524 0.00644475 0.01206504
+v 0.01156735 -0.00222701 0.01206504
+v 0.01180800 -0.00072736 0.01264878
+v 0.01016765 0.00603173 0.01264878
+v 0.01034916 0.00575147 0.01264878
+v 0.01031993 0.00569574 0.01206504
+v 0.01175668 -0.00072736 0.01206504
+v 0.01175464 0.00002984 0.01206504
+v 0.01180664 -0.00037826 0.01264878
+v 0.01043889 0.00557610 0.01264878
+v 0.01051571 0.00531550 0.01206504
+v 0.01175396 0.00020193 0.01206504
+v 0.01175158 0.00076902 0.01206504
+v 0.01180154 0.00076902 0.01264878
+v 0.01072849 0.00500082 0.01264878
+v 0.01070265 0.00494510 0.01206504
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+v 0.01165573 0.00152786 0.01206504
+v 0.01175770 0.00111812 0.01264878
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+v 0.01163397 0.00169995 0.01206504
+v 0.01156225 0.00226703 0.01206504
+v 0.01161188 0.00226703 0.01264878
+v 0.01121930 0.00376668 0.01264878
+v 0.01116865 0.00376668 0.01206504
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+f 1 3 4
+f 1 4 9
+f 1 9 8
+f 1 8 14
+f 1 14 19
+f 1 19 23
+f 1 23 25
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+f 1 29 33
+f 1 33 39
+f 1 39 44
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+f 1 54 55
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+f 53 55 54
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_64.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fde125be5946d5a77c1da0adf9d2ba3231279bb
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_64.obj
@@ -0,0 +1,204 @@
+# https://github.com/mikedh/trimesh
+v -0.00075167 0.01116616 0.01702784
+v -0.00208313 0.01106186 0.01702784
+v -0.00225174 0.01097600 0.01715752
+v -0.00075167 0.01106935 0.01719902
+v 0.00074453 0.01107050 0.01719747
+v 0.00074453 0.01116559 0.01702784
+v -0.00225174 0.01103996 0.01702784
+v -0.00365879 0.01079852 0.01702784
+v -0.00225174 0.01041762 0.01763883
+v -0.00168388 0.01047121 0.01763883
+v -0.00090284 0.01053805 0.01763883
+v -0.00075167 0.01055073 0.01763883
+v -0.00013342 0.01055073 0.01763883
+v 0.00074453 0.01055015 0.01763883
+v 0.00224461 0.01042684 0.01763883
+v 0.00224461 0.01097773 0.01715674
+v 0.00224461 0.01104227 0.01702784
+v -0.00374988 0.01077547 0.01702784
+v -0.00378283 0.00995201 0.01763883
+v 0.00269618 0.01032138 0.01763883
+v 0.00363228 0.01080025 0.01702784
+v -0.00495343 0.01024878 0.01702784
+v -0.00421115 0.00974859 0.01763883
+v 0.00375632 0.00992953 0.01763883
+v 0.00374275 0.01077201 0.01702784
+v 0.00372531 0.01077835 0.01702784
+v -0.00523058 0.00981717 0.01722235
+v -0.00524027 0.00922421 0.01763883
+v -0.00631397 0.00942820 0.01702784
+v 0.00390749 0.00986845 0.01763883
+v 0.00453736 0.01045219 0.01702784
+v -0.00674422 0.00916082 0.01702784
+v -0.00671321 0.00828896 0.01763883
+v 0.00523507 0.00916024 0.01763883
+v 0.00496956 0.01021247 0.01702784
+v -0.00792451 0.00813337 0.01702784
+v -0.00679849 0.00821520 0.01763883
+v 0.00670608 0.00828665 0.01763883
+v 0.00663437 0.00922133 0.01702784
+v -0.00811251 0.00794379 0.01702784
+v -0.00819391 0.00681549 0.01763883
+v 0.00674290 0.00825957 0.01763883
+v 0.00726037 0.00878050 0.01702784
+v 0.00673709 0.00915967 0.01702784
+v -0.00914744 0.00676190 0.01702784
+v -0.00826949 0.00672790 0.01763883
+v 0.00736503 0.00767756 0.01763883
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+v -0.00976957 0.00527979 0.01718760
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+v 0.00921977 0.00527979 0.01763883
+v 0.00879146 0.00596265 0.01763883
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+v 0.00939226 0.00636602 0.01702784
+v 0.00978182 0.00527979 0.01723090
+v 0.00900465 0.00562958 0.01763883
+v 0.00889805 0.00580245 0.01763883
+v 0.00894650 0.00572408 0.01763883
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_65.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67466c1096a692a164bbc272b02abcb79fd9e20a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_65.obj
@@ -0,0 +1,153 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_66.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9093a0f23611dec8f48332e572a94eff588fbf92
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_66.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_67.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0e19888cf8c2c1ef74a9e8aed6a17438d44bd2f
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_67.obj
@@ -0,0 +1,504 @@
+# https://github.com/mikedh/trimesh
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+f 90 107 91
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+f 161 166 169
+f 161 169 163
+f 161 163 162
+f 165 169 166
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_68.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc6bbf07feb9cdaa06526d18331e1486bcf743a1
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_68.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.00747955 0.00690515 0.00414609
+v 0.00223394 0.00690515 0.00414609
+v 0.00747955 0.00600313 0.00414609
+v 0.00747955 0.00690515 -0.02987732
+v 0.00223394 0.00600313 0.00414609
+v 0.00223394 0.00690515 -0.02674014
+v 0.00747955 0.00600313 -0.03012177
+v 0.00747955 0.00663108 -0.02997578
+v 0.00686082 0.00688502 -0.03010480
+v 0.00683514 0.00690515 -0.03010480
+v 0.00223394 0.00600313 -0.02674014
+v 0.00223445 0.00690515 -0.03052920
+v 0.00223445 0.00677712 -0.03053599
+v 0.00223445 0.00600913 -0.03053938
+v 0.00679612 0.00600313 -0.03029832
+v 0.00747955 0.00619817 -0.03008103
+v 0.00747955 0.00662031 -0.02997917
+v 0.00747955 0.00628691 -0.03006066
+v 0.00600538 0.00600313 -0.03046129
+v 0.00524287 0.00676547 -0.03046129
+v 0.00524390 0.00690515 -0.03042395
+v 0.00223445 0.00600313 -0.03053938
+v 0.00224575 0.00690515 -0.03052920
+v 0.00374457 0.00676547 -0.03052920
+v 0.00450707 0.00600313 -0.03053259
+v 0.00224575 0.00600313 -0.03053938
+v 0.00524287 0.00600313 -0.03049864
+v 0.00473916 0.00600313 -0.03052241
+v 0.00360490 0.00690515 -0.03052241
+v 0.00510321 0.00690515 -0.03045111
+f 1 2 5
+f 1 5 3
+f 1 3 7
+f 1 7 16
+f 1 16 18
+f 1 18 17
+f 1 17 8
+f 1 8 4
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+f 1 10 21
+f 1 21 30
+f 1 30 29
+f 1 29 23
+f 1 23 12
+f 1 12 6
+f 1 6 2
+f 2 6 11
+f 2 11 5
+f 3 5 11
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+f 3 26 25
+f 3 25 28
+f 3 28 27
+f 3 27 19
+f 3 19 15
+f 3 15 7
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+f 6 12 13
+f 6 13 14
+f 6 14 22
+f 6 22 11
+f 7 15 9
+f 7 9 16
+f 8 17 9
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+f 9 18 16
+f 9 15 19
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+f 10 20 21
+f 12 23 13
+f 13 23 24
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+f 13 26 14
+f 14 26 22
+f 19 27 20
+f 20 27 28
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+f 20 24 29
+f 20 29 30
+f 20 30 21
+f 23 29 24
+f 24 28 25
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_69.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd471391872d5c5eb8ab7b8982e9daa424cc23ab
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_69.obj
@@ -0,0 +1,123 @@
+# https://github.com/mikedh/trimesh
+v 0.00800474 0.00844275 -0.00609169
+v 0.00770553 0.00874631 -0.00698070
+v 0.00770663 0.00874631 -0.00548435
+v 0.00770663 0.00874631 -0.00398506
+v 0.00770221 0.00874631 0.00051279
+v 0.00799591 0.00844275 -0.00009455
+v -0.00187277 0.00844272 0.00164826
+v -0.00187277 0.00844272 -0.02832279
+v 0.00800364 0.00844275 -0.00758511
+v 0.00799039 0.00844275 -0.01802437
+v 0.00798818 0.00844275 -0.01952072
+v 0.00798377 0.00844275 -0.02101414
+v 0.00770111 0.00874631 -0.00847119
+v -0.00187277 0.00874633 -0.02832279
+v -0.00187277 0.00874633 0.00164826
+v 0.00770111 0.00874631 0.00100278
+v 0.00799260 0.00844275 0.00100278
+v 0.00798818 0.00844275 0.00165120
+v -0.00327391 0.00844272 0.00164826
+v -0.00327391 0.00844272 -0.02832279
+v 0.00734337 0.00844275 -0.02832279
+v 0.00755316 0.00844275 -0.02800298
+v 0.00775300 0.00844275 -0.02746606
+v 0.00784133 0.00844275 -0.02596970
+v 0.00791421 0.00844275 -0.02447335
+v 0.00793518 0.00844275 -0.02397163
+v 0.00797493 0.00844275 -0.02297407
+v 0.00765253 0.00874631 -0.02297407
+v 0.00766909 0.00874631 -0.01891044
+v 0.00763597 0.00874631 -0.02338483
+v 0.00759070 0.00874631 -0.02447335
+v 0.00752003 0.00874631 -0.02596970
+v 0.00743391 0.00874631 -0.02746606
+v 0.00737650 0.00874631 -0.02762156
+v 0.00734889 0.00874631 -0.02766264
+v 0.00697018 0.00874628 -0.02832279
+v -0.00327391 0.00874633 -0.02832279
+v -0.00327391 0.00874633 0.00164826
+v 0.00769780 0.00874631 0.00165120
+v 0.00573356 0.00844275 0.00165120
+v 0.00573356 0.00874628 0.00165120
+v 0.00734889 0.00874631 0.00165120
+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
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+f 17 39 18
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+f 18 41 40
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+f 19 38 37
+f 19 37 20
+f 21 36 22
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+f 23 33 24
+f 23 34 33
+f 24 32 25
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+f 25 31 26
+f 25 32 31
+f 26 31 30
+f 26 30 28
+f 26 28 27
+f 34 36 35
+f 38 41 42
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_7.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1732bab5ed4aaaae1274e4d17d95c8d53df267f1
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_7.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.00797602 -0.00704867 0.01763889
+v 0.00752128 -0.00704867 0.01794143
+v 0.00717748 -0.00713531 0.01832390
+v 0.00652272 -0.00799564 0.01832390
+v 0.00684151 -0.00819476 0.01763889
+v -0.00798840 -0.00704867 0.01763889
+v -0.00750710 -0.00704867 0.01794143
+v -0.00716018 -0.00713531 0.01832390
+v 0.00672899 -0.00829398 0.01763889
+v 0.00541008 -0.00865924 0.01832390
+v 0.00502097 -0.00954234 0.01763889
+v -0.00753991 -0.00752063 0.01763889
+v -0.00686796 -0.00762528 0.01832390
+v 0.00378020 -0.00959161 0.01832390
+v 0.00374270 -0.01007784 0.01763889
+v -0.00677420 -0.00824403 0.01763889
+v -0.00650541 -0.00797390 0.01832390
+v -0.00677888 -0.00771125 0.01832390
+v 0.00224408 -0.00995993 0.01832390
+v 0.00224252 -0.01043019 0.01763889
+v -0.00672575 -0.00827936 0.01763889
+v -0.00580689 -0.00891238 0.01763889
+v -0.00613349 -0.00821073 0.01832390
+v 0.00074390 -0.01004997 0.01832390
+v 0.00166588 -0.01047334 0.01763889
+v -0.00571157 -0.00897252 0.01763889
+v -0.00601160 -0.00828820 0.01832390
+v -0.00020465 -0.01004590 0.01832390
+v 0.00013914 -0.01051752 0.01763889
+v 0.00074390 -0.01051955 0.01763889
+v -0.00563343 -0.00902145 0.01763889
+v -0.00524589 -0.00926338 0.01763889
+v -0.00404418 -0.00936463 0.01832390
+v -0.00075160 -0.01004250 0.01832390
+v -0.00075160 -0.01051106 0.01763889
+v -0.00404105 -0.00989707 0.01763889
+v -0.00400511 -0.00938502 0.01832390
+v -0.00168140 -0.01001226 0.01832390
+v -0.00225178 -0.01042510 0.01763889
+v -0.00382540 -0.00997760 0.01763889
+v -0.00373320 -0.00952603 0.01832390
+v -0.00225021 -0.00997148 0.01832390
+v -0.00271746 -0.01032214 0.01763889
+v -0.00318470 -0.00971495 0.01832390
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+f 1 30 29
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+f 29 34 35
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+f 34 38 35
+f 35 38 39
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+f 39 42 43
+f 40 43 44
+f 40 44 41
+f 42 44 43
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_70.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c5191333708ab6a4acd301c9786c04a9235efae
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_70.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.00344106 -0.00716563 0.03082811
+v -0.00375109 -0.00716563 0.03081130
+v -0.00344106 -0.00792219 0.03058199
+v -0.00344106 -0.00716563 0.02073019
+v -0.00507811 -0.00716563 0.03053059
+v -0.00376064 -0.00792219 0.03054838
+v -0.00375109 -0.00792219 0.03055036
+v -0.00374616 -0.00792219 0.03055135
+v -0.00344106 -0.00792219 0.02073019
+v -0.00679908 -0.00716563 0.02073019
+v -0.00565867 -0.00716563 0.03007096
+v -0.00480856 -0.00766622 0.03040308
+v -0.00507580 -0.00792219 0.02941464
+v -0.00589498 -0.00792219 0.02073019
+v -0.00680237 -0.00716563 0.02499037
+v -0.00623891 -0.00770637 0.02073019
+v -0.00623957 -0.00770703 0.02199243
+v -0.00624056 -0.00770762 0.02349189
+v -0.00601511 -0.00716563 0.02973193
+v -0.00580777 -0.00731850 0.02984856
+v -0.00528479 -0.00781479 0.02940377
+v -0.00527459 -0.00792219 0.02898862
+v -0.00589663 -0.00792219 0.02199243
+v -0.00624122 -0.00770785 0.02499037
+v -0.00680303 -0.00716563 0.02611324
+v -0.00630540 -0.00716563 0.02905583
+v -0.00603716 -0.00751336 0.02884925
+v -0.00566460 -0.00792219 0.02798733
+v -0.00589762 -0.00792219 0.02349189
+v -0.00589794 -0.00792219 0.02499037
+v -0.00624155 -0.00770777 0.02648885
+v -0.00680303 -0.00716563 0.02648885
+v -0.00661312 -0.00716563 0.02798733
+v -0.00614873 -0.00762001 0.02798733
+v -0.00579230 -0.00792219 0.02716791
+v -0.00589729 -0.00792219 0.02648885
+f 1 2 3
+f 1 3 9
+f 1 9 4
+f 1 4 10
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+f 1 15 25
+f 1 25 32
+f 1 32 33
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+f 1 26 19
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+f 6 12 13
+f 10 16 17
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+f 13 21 22
+f 14 23 17
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+f 15 24 25
+f 15 18 24
+f 17 23 18
+f 18 23 24
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+f 19 27 20
+f 20 27 21
+f 21 27 22
+f 22 27 28
+f 23 29 24
+f 24 30 31
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+f 24 29 30
+f 25 31 32
+f 26 33 27
+f 27 33 34
+f 27 34 28
+f 28 34 35
+f 30 36 31
+f 31 36 35
+f 31 35 34
+f 31 34 32
+f 32 34 33
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_71.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89a8ebaba9aac18b769b86227967a655f7841ce9
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_71.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.00258746 -0.01151713 0.01264878
+v 0.00258746 -0.01146634 0.01206504
+v 0.00298361 -0.01136293 0.01206504
+v 0.00374497 -0.01121418 0.01264878
+v 0.00258746 0.00701529 0.01264878
+v 0.00258746 0.00701529 0.01206504
+v 0.00374497 -0.01116339 0.01206504
+v 0.00436564 -0.01092030 0.01206504
+v 0.00495031 -0.01068992 0.01206504
+v 0.00500658 -0.01071532 0.01264878
+v 0.00833561 0.00701529 0.01264878
+v 0.00833561 0.00701529 0.01206504
+v 0.00569872 -0.01031259 0.01206504
+v 0.00575443 -0.01034343 0.01264878
+v 0.00833561 -0.00836248 0.01264878
+v 0.00833561 -0.00828266 0.01206504
+v 0.00681852 -0.00957609 0.01206504
+v 0.00603185 -0.01016021 0.01264878
+v 0.00761421 -0.00907722 0.01264878
+v 0.00758832 -0.00905727 0.01206504
+v 0.00833561 -0.00832076 0.01232937
+v 0.00833561 -0.00828629 0.01208190
+v 0.00831704 -0.00830262 0.01206504
+v 0.00677069 -0.00967223 0.01264878
+f 1 2 3
+f 1 3 4
+f 1 4 10
+f 1 10 14
+f 1 14 18
+f 1 18 24
+f 1 24 19
+f 1 19 15
+f 1 15 11
+f 1 11 5
+f 1 5 6
+f 1 6 2
+f 2 6 12
+f 2 12 16
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+f 4 8 9
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+f 9 13 14
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+f 11 22 16
+f 11 16 12
+f 13 17 14
+f 14 17 18
+f 15 19 20
+f 15 20 21
+f 16 22 23
+f 17 20 24
+f 17 24 18
+f 19 24 20
+f 20 23 22
+f 20 22 21
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_72.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c5c521459a5b96f96c0598a7ee8488851f15793
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_72.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.01005722 0.00345743 -0.01444736
+v 0.00686515 0.00345743 -0.01444736
+v 0.01005722 0.00292060 -0.01444736
+v 0.01005722 0.00345743 -0.02937754
+v 0.00686515 0.00292060 -0.01444736
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+v 0.00947599 0.00292060 -0.03000895
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+f 16 21 20
+f 16 20 17
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_73.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3babab7bf525bbc6b3e79d5b22216e447083242b
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_73.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.00807529 -0.00074635 0.00700055
+v -0.01090772 -0.00074635 0.00700055
+v -0.00807529 -0.00127228 0.00700055
+v -0.00807529 -0.00074635 -0.01255043
+v -0.01091190 -0.00074635 0.00698524
+v -0.01083479 -0.00127228 0.00700055
+v -0.00807529 -0.00127228 -0.01255043
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+v -0.01163179 -0.00074635 -0.01101177
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+v -0.01122631 -0.00127228 0.00550207
+v -0.01152536 -0.00074635 0.00400360
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+v -0.01163807 -0.00074635 -0.00651443
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+v -0.01156654 -0.00127228 -0.00852771
+v -0.01163947 -0.00074635 -0.00501596
+v -0.01154909 -0.00127228 0.00250321
+v -0.01155397 -0.00127228 0.00196927
+v -0.01163423 -0.00074635 0.00100474
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+v -0.01156828 -0.00127228 -0.00553267
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+f 30 33 34
+f 32 34 33
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_74.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebaa1d28ecc95ea6de6d6e764e25bf82513d583e
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_74.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00897187 0.00393773 -0.01644200
+v 0.00664100 0.00393773 -0.01644200
+v 0.00897187 0.00345748 -0.01644200
+v 0.00897187 0.00393773 -0.03005848
+v 0.00664100 0.00345748 -0.01644200
+v 0.00664100 0.00393773 -0.03052892
+v 0.00897187 0.00345748 -0.03012609
+v 0.00897187 0.00382557 -0.03007918
+v 0.00824808 0.00393773 -0.03032060
+v 0.00664100 0.00345748 -0.03053582
+v 0.00674254 0.00393773 -0.03052340
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+v 0.00664100 0.00386905 -0.03053168
+v 0.00851733 0.00345748 -0.03029163
+v 0.00897187 0.00357106 -0.03011367
+v 0.00897187 0.00376746 -0.03008884
+v 0.00824123 0.00376746 -0.03035372
+v 0.00807101 0.00393773 -0.03036613
+v 0.00664100 0.00377903 -0.03053306
+v 0.00674254 0.00345748 -0.03053444
+v 0.00705241 0.00345748 -0.03051789
+v 0.00824123 0.00345748 -0.03037579
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+f 14 22 17
+f 14 17 15
+f 15 17 16
+f 17 22 18
+f 18 22 21
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_75.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f05eb34e2d97f8df44f4c3d4c2fc7873c8c02537
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_75.obj
@@ -0,0 +1,273 @@
+# https://github.com/mikedh/trimesh
+v -0.00302501 -0.00601574 0.00700055
+v -0.00912480 -0.00601574 0.00700055
+v -0.00302501 -0.00688556 0.00700055
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+v -0.00922346 -0.00601574 0.00673596
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+v -0.00907989 -0.00609365 0.00700055
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+v -0.00370201 -0.00601574 -0.03053789
+v -0.00955345 -0.00601574 0.00547549
+v -0.00867846 -0.00661191 0.00700055
+v -0.00930987 -0.00642119 0.00549754
+v -0.00896559 -0.00688556 0.00549754
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+v -0.00370201 -0.00673639 -0.03053422
+v -0.00446202 -0.00601574 -0.03053054
+v -0.00981064 -0.00601574 0.00400188
+v -0.00944051 -0.00661753 0.00400188
+v -0.00925068 -0.00688556 0.00400188
+v -0.00509139 -0.00688556 -0.03044602
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+v -0.00595890 -0.00601574 -0.03046072
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+v -0.00680804 -0.00601574 -0.03028433
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+v -0.00952488 -0.00672558 -0.01697775
+v -0.00953576 -0.00601574 -0.02824112
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+f 86 90 87
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_77.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ac0bc8552268916d269643cb5bda0cb134dbf08
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_77.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.00737944 0.00874643 0.00482981
+v -0.00769035 0.00844275 0.00489696
+v -0.00728030 0.00883846 0.00482981
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+v -0.00753715 0.00844275 0.00550317
+v 0.00753096 0.00844275 0.00550317
+v -0.00720971 0.00874634 0.00550317
+v -0.00719920 0.00874643 0.00553228
+v -0.00621839 0.00916586 0.00663571
+v -0.00637610 0.00935718 0.00549850
+v -0.00639562 0.00935718 0.00544092
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+v -0.00656685 0.00935718 0.00482981
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+v 0.00654865 0.00935718 0.00482981
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+v 0.00643450 0.00932388 0.00550317
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+v -0.00660290 0.00874634 0.00689728
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+v 0.00571354 0.00935718 0.00689112
+v 0.00610256 0.00909352 0.00700034
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+f 28 46 44
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+f 38 40 45
+f 38 45 46
+f 38 46 47
+f 38 47 41
+f 44 46 45
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_78.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5dc4bca95a348563956e5f2e489089eaeb2e3cc
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_78.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.00075903 0.00844260 0.00328326
+v -0.00255857 0.00844260 0.00328326
+v -0.00075903 0.00812190 0.00328326
+v -0.00075903 0.00844260 -0.03044284
+v -0.00255857 0.00844260 -0.03037009
+v -0.00255857 0.00812190 0.00328326
+v -0.00075903 0.00812190 -0.03049576
+v -0.00075903 0.00827012 -0.03049576
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+v -0.00255857 0.00812190 -0.03044284
+v -0.00225169 0.00812190 -0.03046599
+v -0.00075903 0.00812247 -0.03050237
+v -0.00255857 0.00815430 -0.03044284
+v -0.00255857 0.00826459 -0.03043623
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+f 10 12 11
+f 12 18 13
+f 14 17 15
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_8.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45b25f4946adf244b55b34e7ad001fa1b9593867
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_8.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.00855328 -0.00332746 0.02034182
+v 0.00921106 -0.00332746 0.02034266
+v 0.00855328 -0.00332746 0.02073015
+v 0.00855328 -0.00215932 0.02034063
+v 0.00958351 -0.00222822 0.02034063
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+v 0.00855328 0.00465225 0.02073015
+v 0.00855328 0.00467104 0.02034063
+v 0.00957346 -0.00222743 0.02073015
+v 0.00950710 -0.00242395 0.02073015
+v 0.00970619 -0.00072889 0.02034063
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+v 0.00883048 0.00411594 0.02073015
+v 0.00877946 0.00423338 0.02034063
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+v 0.00947651 0.00239034 0.02034063
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+f 23 26 28
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_80.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5afcf0245fdfd9a8b04a5bfb1a373777a7c4d917
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_80.obj
@@ -0,0 +1,201 @@
+# https://github.com/mikedh/trimesh
+v -0.00070950 0.00874640 -0.03035412
+v -0.00065496 0.00935727 -0.03017237
+v 0.00044439 0.00874640 -0.03035365
+v -0.00224946 0.00874640 -0.03031404
+v -0.00224946 0.00935727 -0.03012624
+v 0.00064819 0.00935727 -0.03017144
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+v -0.00374923 0.00874640 -0.03017703
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+v -0.00501076 0.00874640 -0.02993749
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+v -0.00379085 0.00935727 -0.02994542
+v 0.00224268 0.00935727 -0.03012810
+v 0.00224268 0.00874640 -0.03031451
+v -0.00566520 0.00874640 -0.02967699
+v -0.00576853 0.00885523 -0.02958192
+v -0.00490455 0.00935727 -0.02949058
+v 0.00251537 0.00935727 -0.03010806
+v 0.00320138 0.00874640 -0.03024414
+v -0.00602113 0.00874640 -0.02948079
+v -0.00658516 0.00874640 -0.02896863
+v -0.00634404 0.00925538 -0.02858276
+v -0.00607136 0.00935727 -0.02865593
+v -0.00539539 0.00935727 -0.02918300
+v 0.00255699 0.00935727 -0.03010293
+v 0.00374245 0.00874640 -0.03017656
+v -0.00665979 0.00874640 -0.02890059
+v -0.00645886 0.00933652 -0.02800210
+v -0.00712335 0.00874640 -0.02800210
+v -0.00666122 0.00933706 -0.02747596
+v -0.00648756 0.00935727 -0.02785484
+v 0.00374245 0.00935727 -0.02995427
+v 0.00375250 0.00935727 -0.02995287
+v 0.00463944 0.00874640 -0.03001066
+v -0.00663395 0.00935727 -0.02747596
+v -0.00666122 0.00935727 -0.02559416
+v -0.00666122 0.00935727 -0.02714928
+v -0.00666122 0.00874640 -0.02559416
+v 0.00377833 0.00935727 -0.02994775
+v 0.00500541 0.00874640 -0.02993563
+v 0.00675921 0.00935727 -0.02559416
+v 0.00753852 0.00874640 -0.02559416
+v 0.00454759 0.00935727 -0.02969563
+v 0.00476574 0.00915307 -0.02982518
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+v 0.00736343 0.00890958 -0.02559416
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+v 0.00751986 0.00874640 -0.02597676
+v 0.00744093 0.00883806 -0.02559416
+v 0.00490065 0.00935727 -0.02948499
+v 0.00539292 0.00935727 -0.02918720
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+v 0.00603588 0.00874640 -0.02947800
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+v 0.00645352 0.00933293 -0.02800210
+v 0.00648796 0.00935727 -0.02782548
+v 0.00621958 0.00935727 -0.02845834
+v 0.00641477 0.00935727 -0.02800210
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_81.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09fa86c00cb7afeb59a697de6f0e014a0edb3ffe
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_81.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.00231662 -0.00515995 -0.03054200
+v -0.00225062 -0.00466712 -0.03054200
+v -0.00225062 -0.00515995 -0.03054200
+v -0.00444920 -0.00515995 -0.03053964
+v -0.00075165 -0.00466712 -0.03054200
+v -0.00374959 -0.00466712 -0.03053964
+v 0.00374232 -0.00515995 -0.03053610
+v -0.00531602 -0.00515995 -0.03053610
+v -0.00553456 -0.00494074 -0.03053492
+v -0.00503735 -0.00466712 -0.03053610
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+v 0.00374232 -0.00466712 -0.03053610
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+v 0.00524275 -0.00515995 -0.03053019
+v -0.00674752 -0.00515995 -0.03046997
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+v -0.00681499 -0.00515995 -0.03046170
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+f 27 31 34
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+f 30 32 34
+f 30 34 33
+f 31 33 34
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_85.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42649979f72bb82f889338c64109f0490efdbe7b
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_85.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.01096413 0.00393773 -0.00973496
+v 0.01076399 0.00445281 -0.01037702
+v 0.01096312 0.00393773 -0.00824124
+v 0.01096413 0.00393773 -0.01122868
+v 0.01076701 0.00445281 -0.01495466
+v 0.01076232 0.00445281 -0.00897645
+v 0.01096144 0.00393773 -0.00674419
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+v 0.01076701 0.00445281 -0.01645171
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+v 0.01076500 0.00445281 -0.01795873
+v 0.01075427 0.00445281 -0.00438884
+v 0.01095440 0.00393773 -0.00224972
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+v 0.01095608 0.00393773 -0.01872056
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+v 0.01094736 0.00393773 0.00100053
+v 0.01094234 0.00393773 -0.02297217
+v 0.01089607 0.00393773 -0.02446922
+v 0.01070130 0.00445281 -0.02446922
+v 0.01072645 0.00445281 0.00249758
+v 0.01093027 0.00393773 0.00249758
+v 0.01083473 0.00393773 -0.02625570
+v 0.01060811 0.00445281 -0.02711733
+v 0.01063694 0.00445281 0.00399463
+v 0.01082903 0.00393773 0.00399463
+v 0.01077740 0.00393773 -0.02747330
+v 0.01059235 0.00445281 -0.02747330
+v 0.01060543 0.00445281 -0.02719052
+v 0.01053033 0.00445281 0.00492279
+v 0.01064465 0.00393773 0.00530537
+v 0.01076466 0.00393773 -0.02764296
+v 0.01054341 0.00445281 -0.02813200
+v 0.01046798 0.00445281 0.00527543
+v 0.01046027 0.00443280 0.00536525
+v 0.01058464 0.00408072 0.00536525
+v 0.01063426 0.00393773 0.00536525
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+v 0.00753972 0.00393773 0.00536858
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+v 0.00796312 0.00445281 -0.02861770
+v 0.00753972 0.00445281 -0.02861770
+v 0.00753972 0.00393773 -0.02861770
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+f 53 57 58
+f 53 58 54
+f 55 58 57
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_86.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f49fd8a0d01f5ebc9eb5b1f466d266ab49f5b819
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_86.obj
@@ -0,0 +1,66 @@
+# https://github.com/mikedh/trimesh
+v -0.00158180 -0.01171579 0.01358201
+v -0.00158180 -0.01171359 0.01319545
+v -0.00075221 -0.01182060 0.01358201
+v -0.00158180 -0.00433576 0.01358201
+v -0.00075221 -0.01181840 0.01319545
+v -0.00158180 -0.00433576 0.01319545
+v 0.00074684 -0.01182207 0.01319545
+v 0.00074684 -0.01182353 0.01358201
+v 0.00445458 -0.00433576 0.01358201
+v 0.00445458 -0.00433576 0.01319545
+v 0.00094419 -0.01179788 0.01319545
+v 0.00133062 -0.01175244 0.01358201
+v 0.00445458 -0.01096819 0.01358201
+v 0.00445458 -0.01096599 0.01319545
+v 0.00125322 -0.01175977 0.01319545
+v 0.00224470 -0.01163736 0.01319545
+v 0.00224470 -0.01163956 0.01358201
+v 0.00374376 -0.01124964 0.01358201
+v 0.00445458 -0.01096672 0.01331799
+v 0.00374376 -0.01124597 0.01319545
+v 0.00244206 -0.01158606 0.01319545
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+v 0.00275168 -0.01150544 0.01319545
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+f 18 23 20
+f 21 23 22
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_87.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cd8414ac985fa6a3f18a0a8ce72108d6884a48a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_87.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
+v -0.00842203 -0.00688565 0.00700055
+v -0.00844555 -0.00688565 0.00700055
+v -0.00842203 -0.00691382 0.00700055
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+v -0.00875456 -0.00717075 0.00550089
+v -0.00842203 -0.00753205 0.00550089
+v -0.00842203 -0.00755222 -0.02802097
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+v -0.00896568 -0.00688565 0.00550089
+v -0.00891037 -0.00736709 0.00400123
+v -0.00869731 -0.00758429 0.00400123
+v -0.00842203 -0.00758429 0.00525388
+v -0.00842203 -0.00758429 -0.02793628
+v -0.00885798 -0.00730719 -0.02747404
+v -0.00916738 -0.00688565 -0.02747404
+v -0.00925097 -0.00688565 0.00400123
+v -0.00898444 -0.00746017 0.00250156
+v -0.00885788 -0.00758429 0.00250156
+v -0.00858970 -0.00758429 -0.02747404
+v -0.00867398 -0.00758429 -0.02641898
+v -0.00891241 -0.00737469 -0.02597437
+v -0.00920917 -0.00688565 -0.02687064
+v -0.00937296 -0.00688565 0.00250156
+v -0.00898950 -0.00746585 0.00100543
+v -0.00886897 -0.00758429 0.00100543
+v -0.00885993 -0.00758429 0.00225103
+v -0.00887169 -0.00758429 -0.02378310
+v -0.00899718 -0.00747494 -0.02364902
+v -0.00930103 -0.00688565 -0.02549448
+v -0.00937821 -0.00688565 0.00100543
+v -0.00899125 -0.00746783 -0.00049423
+v -0.00888150 -0.00758429 -0.00371939
+v -0.00887373 -0.00758429 -0.00073065
+v -0.00886974 -0.00758429 0.00076548
+v -0.00938132 -0.00688565 -0.00015901
+v -0.00939697 -0.00688565 -0.00635526
+v -0.00940066 -0.00688565 -0.00798901
+v -0.00941029 -0.00688565 -0.01248447
+v -0.00888102 -0.00758429 -0.02353963
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+v -0.00900495 -0.00748404 -0.01548027
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+v -0.00941495 -0.00688565 -0.01697993
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_88.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..426fb4166646573cbd6d7d61ec31f58f6803ea92
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_88.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v -0.00507112 -0.01021287 0.00941181
+v -0.00507112 -0.01012295 0.00918037
+v -0.00478761 -0.01025783 0.00897201
+v -0.00457179 -0.01050618 0.00918958
+v -0.00480865 -0.01041198 0.00941181
+v -0.00507112 0.01016943 0.00941181
+v -0.00507112 -0.01004159 0.00897201
+v -0.00388841 -0.01062608 0.00897201
+v -0.00460316 -0.01052331 0.00941181
+v -0.00375082 -0.01066248 0.00897201
+v -0.00307459 -0.01094723 0.00941181
+v -0.00434665 -0.01061752 0.00941181
+v -0.00458906 0.01055481 0.00941181
+v -0.00456107 0.01054196 0.00919845
+v -0.00478622 0.01028290 0.00897201
+v -0.00507112 0.01001528 0.00898359
+v -0.00507112 0.01001100 0.00897201
+v -0.00368967 -0.01067746 0.00897201
+v -0.00304302 -0.01095365 0.00941181
+v -0.00375082 0.01078604 0.00941181
+v -0.00437782 0.01047559 0.00897201
+v -0.00464585 0.01034927 0.00897201
+v -0.00383203 0.01066400 0.00897201
+v -0.00304302 -0.01080807 0.00897201
+v -0.00304302 0.01091878 0.00941181
+v -0.00375082 0.01068327 0.00897201
+v -0.00304302 0.01080316 0.00897201
+v -0.00304660 0.01080316 0.00897201
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_89.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d6ee3735432ec5aabad8eebc48ef74d65e6c7d2
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_89.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.00995756 -0.00601574 -0.00739034
+v 0.00995718 -0.00601574 -0.00649525
+v 0.00951058 -0.00671264 -0.00649525
+v 0.00951096 -0.00671264 -0.00799316
+v 0.00995756 -0.00601574 -0.02297226
+v 0.00995334 -0.00601574 0.00100160
+v 0.00950943 -0.00671238 -0.00349943
+v 0.00938808 -0.00688556 -0.00649525
+v 0.00938501 -0.00688556 0.00100160
+v 0.00938846 -0.00688556 -0.00799316
+v 0.00951096 -0.00671264 -0.02297226
+v 0.00948562 -0.00668020 -0.02447017
+v 0.00990419 -0.00601574 -0.02447017
+v 0.00950712 -0.00671221 0.00100160
+v 0.00994950 -0.00601574 0.00160807
+v 0.00937541 -0.00688556 0.00250317
+v 0.00938846 -0.00688556 -0.02297226
+v 0.00934008 -0.00688556 -0.02447017
+v 0.00944683 -0.00662494 -0.02596808
+v 0.00982546 -0.00601574 -0.02596808
+v 0.00949983 -0.00670761 0.00250317
+v 0.00994259 -0.00601574 0.00250317
+v 0.00943954 -0.00661472 0.00399742
+v 0.00929054 -0.00688556 0.00351517
+v 0.00925944 -0.00688556 -0.02596808
+v 0.00939845 -0.00655521 -0.02746964
+v 0.00973023 -0.00601574 -0.02746964
+v 0.00988959 -0.00601574 0.00316809
+v 0.00981318 -0.00601574 0.00399742
+v 0.00931051 -0.00642230 0.00549899
+v 0.00910852 -0.00688556 0.00476099
+v 0.00924446 -0.00688556 0.00399742
+v 0.00915768 -0.00688556 -0.02746964
+v 0.00923947 -0.00633120 -0.02859490
+v 0.00935928 -0.00601574 -0.02868258
+v 0.00966418 -0.00601574 0.00489252
+v 0.00895876 -0.00688556 0.00549899
+v 0.00955512 -0.00601574 0.00547341
+v 0.00915384 -0.00620391 0.00664617
+v 0.00835933 -0.00688556 -0.02913926
+v 0.00874180 -0.00601574 -0.02949365
+v 0.00901828 -0.00601574 -0.02915753
+v 0.00886314 -0.00688556 0.00583510
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+v 0.00867959 -0.00660791 0.00700055
+v 0.00844343 -0.00688556 0.00700055
+v 0.00835165 -0.00688556 -0.02914657
+v 0.00784975 -0.00642826 -0.02990283
+v 0.00800950 -0.00601574 -0.02995398
+v 0.00603494 -0.00601574 0.00700055
+v 0.00603494 -0.00688556 0.00700055
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+v 0.00712321 -0.00688556 -0.02993572
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+v 0.00680180 -0.00601574 -0.03028279
+v 0.00603494 -0.00601574 -0.02902235
+v 0.00603494 -0.00688556 -0.03025356
+v 0.00603494 -0.00678475 -0.03028279
+v 0.00603494 -0.00601753 -0.03032298
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+f 1 42 41
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_90.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad8db5722e216363e0723f74abd095639f7dd60a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_90.obj
@@ -0,0 +1,204 @@
+# https://github.com/mikedh/trimesh
+v -0.00698540 -0.00758429 0.00699695
+v -0.00785947 -0.00758429 0.00699695
+v -0.00698540 -0.00833101 0.00699695
+v -0.00698540 -0.00758429 -0.02980637
+v -0.00774381 -0.00772227 0.00699695
+v -0.00837382 -0.00758429 0.00550161
+v -0.00698577 -0.00833123 0.00699695
+v -0.00698540 -0.00833123 0.00668707
+v -0.00698540 -0.00761756 -0.02979556
+v -0.00707050 -0.00758429 -0.02977755
+v -0.00702026 -0.00833123 0.00699695
+v -0.00800493 -0.00798522 0.00550161
+v -0.00763228 -0.00833123 0.00550161
+v -0.00869717 -0.00758429 0.00400267
+v -0.00698540 -0.00833123 -0.02903528
+v -0.00698540 -0.00794902 -0.02947487
+v -0.00736423 -0.00758429 -0.02960459
+v -0.00816070 -0.00813110 0.00400267
+v -0.00795263 -0.00833123 0.00400267
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+v -0.00761091 -0.00833123 -0.02809844
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\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_92.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b5b0dc6d8a1d0175e7a35b01cb3f47ce1b712f0
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_92.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00223362 0.00690515 0.00414516
+v -0.00353690 0.00690515 0.00414516
+v 0.00223362 0.00600313 0.00414516
+v 0.00223362 0.00690515 -0.01272424
+v -0.00353690 0.00600313 0.00414516
+v -0.00353690 0.00690515 -0.01272424
+v 0.00223362 0.00600313 -0.01272424
+v -0.00353690 0.00600313 -0.01272424
+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_94.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e53756aadc45df9d848eb2ac840b32dd71400b08
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_94.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.00897187 0.00345748 -0.03012745
+v 0.00897187 0.00345748 -0.02921492
+v 0.00897187 0.00357106 -0.03011369
+v 0.00939424 0.00345748 -0.02997462
+v 0.00897187 0.00393773 -0.02921492
+v 0.01019805 0.00345748 -0.02921492
+v 0.00897187 0.00376746 -0.03008985
+v 0.00934683 0.00376746 -0.02995416
+v 0.00954919 0.00345748 -0.02987118
+v 0.00897187 0.00393773 -0.03005867
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+v 0.01014356 0.00345748 -0.02929469
+v 0.01010515 0.00376746 -0.02921492
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+v 0.00921852 0.00393773 -0.02996944
+v 0.00922944 0.00393773 -0.02996542
+v 0.00931214 0.00393773 -0.02993380
+v 0.00993748 0.00393773 -0.02932729
+v 0.01007971 0.00382416 -0.02921492
+v 0.01009627 0.00376746 -0.02922743
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+f 5 16 15
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+f 8 17 9
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+f 10 15 14
+f 11 19 20
+f 11 20 18
+f 12 20 13
+f 12 18 20
+f 13 20 19
\ No newline at end of file
diff --git a/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_97.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1688d9563349d7276c9a0609787ba32a14498bb3
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_97.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.00447762 -0.00601566 0.00548739
+v 0.00447762 -0.00515995 0.00548739
+v 0.00613175 -0.00601566 0.00548739
+v 0.00447762 -0.00601566 0.00700049
+v 0.00447762 -0.00515995 0.00700049
+v 0.00613175 -0.00515995 0.00548739
+v 0.00613175 -0.00601566 0.00700049
+v 0.00613175 -0.00515995 0.00700049
+f 1 2 6
+f 1 6 3
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+f 1 7 4
+f 1 4 5
+f 1 5 2
+f 2 5 8
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+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_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_99.obj b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bddcad206f594ec997a7b4d36fad6c0b63bda32a
--- /dev/null
+++ b/new_bottle_of_essential_oil/new_bottle_of_essential_oil_4/collision/model_normalized_collision_99.obj
@@ -0,0 +1,222 @@
+# https://github.com/mikedh/trimesh
+v 0.00695729 0.00935727 -0.00451507
+v 0.00695729 0.00935727 -0.00499400
+v 0.00671764 0.00952896 -0.00499400
+v 0.00695626 0.00935727 -0.00301754
+v 0.00695667 0.00935727 -0.00601260
+v 0.00671640 0.00952919 -0.00649510
+v 0.00622514 0.00983580 -0.00499400
+v 0.00671764 0.00952779 -0.00349646
+v 0.00621916 0.00983580 -0.02147756
+v 0.00622081 0.00983580 -0.01847535
+v 0.00622597 0.00983580 -0.00799263
+v 0.00622638 0.00983580 -0.00649510
+v 0.00695255 0.00935727 -0.00002963
+v 0.00695585 0.00935727 -0.00649510
+v 0.00695379 0.00935727 -0.00751371
+v 0.00671331 0.00952919 -0.00799263
+v 0.00621793 0.00983580 -0.02297509
+v 0.00622123 0.00983580 -0.00349646
+v 0.00671764 0.00952226 0.00100328
+v 0.00671764 0.00952596 -0.00199536
+v 0.00695090 0.00935727 0.00100328
+v 0.00694905 0.00935727 -0.00901481
+v 0.00667869 0.00952891 -0.02297509
+v 0.00668199 0.00952919 -0.02147756
+v 0.00617404 0.00983580 -0.02382572
+v 0.00621607 0.00983580 -0.00199536
+v 0.00671187 0.00950910 0.00250438
+v 0.00693050 0.00935727 0.00250438
+v 0.00694740 0.00935727 0.00146790
+v 0.00620556 0.00983580 0.00100328
+v 0.00691072 0.00935727 -0.02102008
+v 0.00690578 0.00935727 -0.02252476
+v 0.00690351 0.00935727 -0.02297509
+v 0.00683242 0.00935727 -0.02447620
+v 0.00664345 0.00950076 -0.02447620
+v 0.00613303 0.00983580 -0.02447620
+v 0.00617589 0.00983580 0.00250438
+v 0.00662553 0.00944867 0.00400191
+v 0.00675514 0.00935727 0.00400191
+v 0.00673989 0.00935727 -0.02597373
+v 0.00660698 0.00945551 -0.02597373
+v 0.00607801 0.00983580 -0.02525534
+v 0.00598796 0.00983580 0.00400191
+v 0.00648581 0.00935727 0.00509915
+v 0.00662573 0.00935727 -0.02747126
+v 0.00655897 0.00940524 -0.02747126
+v 0.00594324 0.00983580 -0.02666710
+v 0.00557954 0.00983580 0.00543869
+v 0.00584454 0.00967732 0.00546013
+v 0.00637948 0.00935727 0.00549587
+v 0.00639020 0.00935727 0.00545656
+v 0.00649035 0.00935727 -0.02782152
+v 0.00584701 0.00983580 -0.02747126
+v 0.00584454 0.00983580 -0.02747841
+v 0.00522016 0.00983580 0.00615707
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+v 0.00573450 0.00935727 0.00684686
+v 0.00622226 0.00935727 -0.02845413
+v 0.00584454 0.00975541 -0.02779292
+v 0.00568030 0.00983580 -0.02786441
+v 0.00485233 0.00983580 0.00671820
+v 0.00485233 0.00975162 0.00700055
+v 0.00533288 0.00952704 0.00700055
+v 0.00550247 0.00943738 0.00700055
+v 0.00564239 0.00935727 0.00700055
+v 0.00606049 0.00935727 -0.02866142
+v 0.00503099 0.00983580 -0.02879366
+v 0.00584454 0.00969095 -0.02804311
+v 0.00485233 0.00983580 -0.02889731
+v 0.00485233 0.00935727 0.00700055
+v 0.00539428 0.00935727 -0.02918323
+v 0.00513443 0.00970262 -0.02890446
+v 0.00485233 0.00973695 -0.02902955
+v 0.00485233 0.00978605 -0.02896522
+v 0.00485233 0.00935727 -0.02951205
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+f 58 68 59
+f 59 68 60
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+f 62 70 65
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+f 71 75 72
+f 72 75 73
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_10.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4edfeaf43717c584042fcd1bdc88e7175bb93df
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v -0.02517668 0.00018793 0.10909252
+v -0.02517668 0.00358765 0.10909252
+v -0.01647887 0.00018793 0.10909252
+v -0.02631058 0.00018793 0.11996488
+v -0.02491866 0.00488795 0.10909252
+v -0.02627799 0.00309589 0.11996488
+v -0.01296444 0.01033742 0.10909252
+v -0.01643134 0.00018793 0.11047697
+v -0.02660798 0.00018793 0.12325297
+v -0.02429943 0.00726160 0.10909252
+v -0.02534371 0.00776281 0.11996488
+v -0.02683747 0.00309589 0.12615922
+v -0.01296444 0.02159808 0.10909252
+v -0.01296444 0.01022867 0.11057586
+v -0.01631863 0.00018793 0.11376780
+v -0.02683068 0.00018793 0.12615922
+v -0.02380920 0.00884798 0.10909252
+v -0.02563974 0.00871322 0.12615922
+v -0.02455337 0.01181268 0.12615922
+v -0.02655366 0.00018793 0.12945005
+v -0.02631466 0.00309589 0.13235631
+v -0.02539667 0.00804415 0.13235631
+v -0.01347504 0.02132619 0.10909252
+v -0.01296444 0.02434054 0.12858751
+v -0.01296444 0.01005608 0.11376780
+v -0.01620999 0.00018793 0.11996488
+v -0.02050933 0.01501143 0.10909252
+v -0.02424239 0.01114125 0.13235631
+v -0.01918259 0.01918423 0.13115864
+v -0.02206149 0.01548900 0.12615922
+v -0.02627663 0.00018793 0.13235631
+v -0.02526223 0.00018793 0.13607016
+v -0.02526087 0.00309589 0.13607016
+v -0.02498927 0.00676512 0.13572954
+v -0.01501769 0.02050345 0.10909252
+v -0.01811658 0.01811089 0.10909252
+v -0.01920024 0.01919369 0.12615922
+v -0.01296444 0.02434054 0.12880452
+v -0.01296444 0.00995678 0.11650650
+v -0.01296444 0.00986222 0.11996488
+v -0.01296444 0.00988586 0.12615922
+v -0.01621542 0.00018793 0.12287114
+v -0.01852262 0.01851753 0.13529278
+v -0.02098598 0.01606586 0.13287822
+v -0.01296444 0.02427671 0.12987033
+v -0.02168941 0.00018793 0.13715520
+v -0.02168941 0.00309589 0.13715246
+v -0.02190940 0.00901583 0.13679535
+v -0.01998923 0.01438492 0.13654813
+v -0.01296444 0.01042017 0.13235631
+v -0.01622221 0.00018793 0.12615922
+v -0.01296444 0.02167373 0.13530103
+v -0.01296444 0.02300477 0.13297162
+v -0.01439167 0.01998333 0.13654813
+v -0.01760191 0.00018793 0.13653990
+v -0.01296444 0.01245101 0.13670745
+v -0.01296444 0.01582944 0.13677613
+v -0.01296444 0.01863810 0.13682283
+v -0.01607148 0.01606586 0.13684480
+v -0.01296444 0.01089773 0.13432037
+v -0.01642998 0.00018793 0.13235631
+v -0.01296444 0.02049400 0.13661406
+v -0.01697996 0.00018793 0.13432037
+v -0.01296444 0.01171338 0.13582569
+f 1 2 5
+f 1 5 10
+f 1 10 17
+f 1 17 27
+f 1 27 36
+f 1 36 35
+f 1 35 23
+f 1 23 13
+f 1 13 7
+f 1 7 3
+f 1 3 8
+f 1 8 15
+f 1 15 26
+f 1 26 42
+f 1 42 51
+f 1 51 61
+f 1 61 63
+f 1 63 55
+f 1 55 46
+f 1 46 32
+f 1 32 31
+f 1 31 20
+f 1 20 16
+f 1 16 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 5
+f 3 7 8
+f 4 9 6
+f 5 6 11
+f 5 11 10
+f 6 9 12
+f 6 12 11
+f 7 13 24
+f 7 24 38
+f 7 38 45
+f 7 45 53
+f 7 53 52
+f 7 52 62
+f 7 62 58
+f 7 58 57
+f 7 57 56
+f 7 56 64
+f 7 64 60
+f 7 60 50
+f 7 50 41
+f 7 41 40
+f 7 40 39
+f 7 39 25
+f 7 25 14
+f 7 14 15
+f 7 15 8
+f 9 16 12
+f 10 11 17
+f 11 12 18
+f 11 18 19
+f 11 19 17
+f 12 16 20
+f 12 20 21
+f 12 21 22
+f 12 22 18
+f 13 23 24
+f 14 25 15
+f 15 25 26
+f 17 19 27
+f 18 22 19
+f 19 22 28
+f 19 28 29
+f 19 29 30
+f 19 30 27
+f 20 31 21
+f 21 31 32
+f 21 32 33
+f 21 33 34
+f 21 34 22
+f 22 34 28
+f 23 35 24
+f 24 35 36
+f 24 36 37
+f 24 37 38
+f 25 39 26
+f 26 39 40
+f 26 40 41
+f 26 41 42
+f 27 30 36
+f 28 34 43
+f 28 43 44
+f 28 44 29
+f 29 45 38
+f 29 38 37
+f 29 37 30
+f 29 44 43
+f 29 43 45
+f 30 37 36
+f 32 46 33
+f 33 46 47
+f 33 47 48
+f 33 48 34
+f 34 48 49
+f 34 49 43
+f 41 50 51
+f 41 51 42
+f 43 52 53
+f 43 53 45
+f 43 49 54
+f 43 54 52
+f 46 55 56
+f 46 56 57
+f 46 57 58
+f 46 58 47
+f 47 58 59
+f 47 59 48
+f 48 59 49
+f 49 59 54
+f 50 60 61
+f 50 61 51
+f 52 54 62
+f 54 59 62
+f 55 63 64
+f 55 64 56
+f 58 62 59
+f 60 64 61
+f 61 64 63
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_101.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3bf50a6e1e73a333b92b7f99809f569d1a5eb68
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_101.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.01287303 -0.01128681 0.10899804
+v -0.00925202 -0.01386690 0.10899804
+v -0.01287303 -0.01172329 0.10802743
+v -0.01287303 -0.02542216 0.10899804
+v -0.00925202 -0.02695065 0.10899804
+v -0.00925202 -0.02143941 0.10091303
+v -0.01287303 -0.01837778 0.10098909
+v -0.01287303 -0.02561478 0.10732700
+v -0.00925202 -0.02715569 0.10732700
+v -0.00925202 -0.02152484 0.10091065
+v -0.01287303 -0.02121417 0.10091065
+v -0.01287303 -0.02512858 0.10308800
+v -0.00925202 -0.02713704 0.10716774
+v -0.00925202 -0.02536469 0.10090432
+v -0.01287303 -0.02286537 0.10090748
+v -0.01287303 -0.02499189 0.10256901
+v -0.00925202 -0.02553400 0.10103664
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 15
+f 1 15 16
+f 1 16 12
+f 1 12 8
+f 1 8 4
+f 1 4 5
+f 1 5 2
+f 2 5 9
+f 2 9 13
+f 2 13 17
+f 2 17 14
+f 2 14 10
+f 2 10 6
+f 2 6 3
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 6 10 7
+f 7 10 11
+f 8 12 9
+f 9 12 13
+f 10 14 15
+f 10 15 11
+f 12 16 17
+f 12 17 13
+f 14 16 15
+f 14 17 16
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_103.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01af81fde11f5d486a543137ef32286a140b65ac
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_103.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.01816131 0.01005439 0.10983274
+v 0.01816131 0.01005439 0.10415981
+v 0.01299794 0.01005439 0.10983274
+v 0.01816131 0.00153838 0.10983274
+v 0.01299794 0.01005439 0.10972834
+v 0.01816131 0.00336562 0.10842103
+v 0.01299794 0.00841137 0.10983274
+v 0.01299794 0.00854475 0.10977221
+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 7
+f 2 7 8
+f 2 8 5
+f 3 5 8
+f 3 8 7
+f 4 7 6
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_105.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f367d9d59888b8473c28ec5f943e6f48c4e34930
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_105.obj
@@ -0,0 +1,177 @@
+# https://github.com/mikedh/trimesh
+v 0.02405265 -0.02732363 -0.02304469
+v 0.02405265 -0.02723793 -0.02533778
+v 0.02580850 -0.02575421 -0.02533778
+v 0.02585387 -0.02579706 -0.02304469
+v 0.02405265 0.02739731 -0.02304469
+v 0.02405265 0.02730089 -0.02533778
+v 0.02882486 -0.02219220 -0.02533778
+v 0.02889843 -0.02221899 -0.02304469
+v 0.02585387 0.02585467 -0.02304469
+v 0.02507894 0.02643851 -0.02533778
+v 0.02405265 0.02737588 -0.02358676
+v 0.02405265 0.02733839 -0.02451760
+v 0.02885428 -0.02215471 -0.02533778
+v 0.03104911 -0.01911228 -0.02533778
+v 0.03108835 -0.01917120 -0.02304469
+v 0.02586859 0.02583860 -0.02304469
+v 0.02580973 0.02581181 -0.02533778
+v 0.03303181 -0.01519139 -0.02533778
+v 0.03309679 -0.01521282 -0.02304469
+v 0.02765387 0.02374960 -0.02304469
+v 0.02583793 0.02577968 -0.02533778
+v 0.03475701 -0.01040813 -0.02533778
+v 0.03400538 -0.01270067 -0.02304469
+v 0.03310661 -0.01519139 -0.02304469
+v 0.02889843 0.02227659 -0.02304469
+v 0.02885428 0.02221767 -0.02533778
+v 0.02646327 0.02504585 -0.02533778
+v 0.03520579 -0.00916009 -0.02533778
+v 0.03528671 -0.00913331 -0.02304469
+v 0.02979720 0.02103391 -0.02304469
+v 0.03057949 0.01982872 -0.02533778
+v 0.03522663 -0.00910117 -0.02533778
+v 0.03529775 -0.00910117 -0.02304469
+v 0.03108835 0.01923416 -0.02304469
+v 0.03104911 0.01916988 -0.02533778
+v 0.03630443 -0.00262529 -0.02533778
+v 0.03633140 -0.00312344 -0.02304469
+v 0.03109938 0.01921274 -0.02304469
+v 0.03106873 0.01913239 -0.02533778
+v 0.03634244 -0.00218071 -0.02533778
+v 0.03645402 -0.00166650 -0.02304469
+v 0.03230592 0.01683985 -0.02304469
+v 0.03149175 0.01830215 -0.02533778
+v 0.03639026 -0.00160758 -0.02533778
+v 0.03657909 -0.00017742 -0.02304469
+v 0.03310661 0.01524900 -0.02304469
+v 0.03303181 0.01524900 -0.02533778
+v 0.03656682 -0.00004351 -0.02380494
+v 0.03639026 0.00166518 -0.02533778
+v 0.03657909 0.00023503 -0.02304469
+v 0.03311764 0.01522222 -0.02304469
+v 0.03522663 0.00915878 -0.02533778
+v 0.03656682 0.00010112 -0.02380494
+v 0.03630443 0.00268290 -0.02533778
+v 0.03633140 0.00318640 -0.02304469
+v 0.03529653 0.00915878 -0.02304469
+v 0.03530143 0.00913200 -0.02304469
+v 0.03543876 0.00799644 -0.02533778
+v 0.03588017 0.00595030 -0.02304469
+v 0.03540688 0.00855351 -0.02304469
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 15
+f 1 15 19
+f 1 19 24
+f 1 24 23
+f 1 23 29
+f 1 29 33
+f 1 33 37
+f 1 37 41
+f 1 41 45
+f 1 45 50
+f 1 50 55
+f 1 55 59
+f 1 59 60
+f 1 60 57
+f 1 57 56
+f 1 56 51
+f 1 51 46
+f 1 46 42
+f 1 42 38
+f 1 38 34
+f 1 34 30
+f 1 30 25
+f 1 25 20
+f 1 20 16
+f 1 16 9
+f 1 9 5
+f 1 5 11
+f 1 11 12
+f 1 12 6
+f 1 6 2
+f 2 6 10
+f 2 10 17
+f 2 17 21
+f 2 21 27
+f 2 27 26
+f 2 26 31
+f 2 31 35
+f 2 35 39
+f 2 39 43
+f 2 43 47
+f 2 47 52
+f 2 52 58
+f 2 58 54
+f 2 54 49
+f 2 49 44
+f 2 44 40
+f 2 40 36
+f 2 36 32
+f 2 32 28
+f 2 28 22
+f 2 22 18
+f 2 18 14
+f 2 14 13
+f 2 13 7
+f 2 7 3
+f 3 7 8
+f 3 8 4
+f 5 9 10
+f 5 10 11
+f 6 12 10
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 9 16 17
+f 9 17 10
+f 10 12 11
+f 14 18 19
+f 14 19 15
+f 16 20 21
+f 16 21 17
+f 18 22 23
+f 18 23 24
+f 18 24 19
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 22 28 23
+f 23 28 29
+f 25 30 26
+f 26 30 31
+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 34 38 39
+f 34 39 35
+f 36 40 37
+f 37 40 41
+f 38 42 43
+f 38 43 39
+f 40 44 45
+f 40 45 41
+f 42 46 47
+f 42 47 43
+f 44 48 45
+f 44 49 53
+f 44 53 48
+f 45 48 53
+f 45 53 50
+f 46 51 47
+f 47 51 52
+f 49 54 55
+f 49 55 50
+f 49 50 53
+f 51 56 52
+f 52 56 57
+f 52 57 58
+f 54 58 55
+f 55 58 59
+f 57 60 58
+f 58 60 59
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_109.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_109.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe14ef72ecaa00e61bbefa02acba965edf045e45
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_109.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.02508740 -0.00931240 -0.11467671
+v 0.02508740 -0.00001812 -0.11435653
+v 0.02508740 -0.01292824 -0.11443891
+v 0.02154314 -0.01292824 -0.11442393
+v 0.02508740 -0.00001812 -0.10065427
+v 0.00190680 -0.01292951 -0.10997697
+v 0.00190680 -0.00001812 -0.10825998
+v 0.02508740 -0.01292824 -0.09848415
+v 0.01770392 -0.01292951 -0.11298218
+v 0.02508740 -0.00812818 -0.09848415
+v 0.01549159 -0.00001812 -0.09779698
+v 0.00190680 -0.01292951 -0.09716786
+v 0.00190680 -0.00001812 -0.09554822
+v 0.00929709 -0.00001812 -0.09629719
+v 0.00929709 -0.00310315 -0.09630468
+v 0.00310032 -0.00310315 -0.09555010
+v 0.00310032 -0.00929850 -0.09628595
+v 0.00310032 -0.01292951 -0.09716224
+v 0.01770392 -0.01292951 -0.09850475
+v 0.01238073 -0.00001812 -0.09704053
+v 0.00190680 -0.00929850 -0.09628970
+v 0.00190680 -0.00061213 -0.09554822
+v 0.00310032 -0.00001812 -0.09554822
+v 0.00618623 -0.00001812 -0.09591709
+v 0.00190680 -0.00310315 -0.09555010
+f 1 2 5
+f 1 5 10
+f 1 10 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 13
+f 2 13 23
+f 2 23 24
+f 2 24 14
+f 2 14 20
+f 2 20 11
+f 2 11 5
+f 3 8 19
+f 3 19 9
+f 3 9 4
+f 4 9 6
+f 5 11 10
+f 6 9 19
+f 6 19 18
+f 6 18 12
+f 6 12 21
+f 6 21 25
+f 6 25 22
+f 6 22 13
+f 6 13 7
+f 8 14 15
+f 8 15 16
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 10 14
+f 10 11 20
+f 10 20 14
+f 12 18 21
+f 13 22 23
+f 14 24 15
+f 15 24 16
+f 16 24 23
+f 16 23 22
+f 16 22 25
+f 16 25 17
+f 17 25 21
+f 17 21 18
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_111.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1023974096b6625763510b39a244f5f408abc1d1
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_111.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v 0.02788496 -0.01293006 -0.11515236
+v 0.03251841 -0.01293006 -0.11357609
+v 0.02788496 -0.01549724 -0.11497096
+v 0.02168988 -0.01832350 -0.11507839
+v 0.02168988 -0.01549724 -0.11494278
+v 0.02154230 -0.01293006 -0.11442498
+v 0.03204476 -0.01549724 -0.11329431
+v 0.03547694 -0.01293006 -0.10939680
+v 0.02780602 -0.01832350 -0.11429818
+v 0.01214499 -0.01852506 -0.11298609
+v 0.00190680 -0.01852506 -0.11167049
+v 0.00190680 -0.01293060 -0.10997799
+v 0.01214499 -0.01293006 -0.11135524
+v 0.03137892 -0.01832350 -0.11278004
+v 0.03680863 -0.01293006 -0.10678319
+v 0.03503419 -0.01492541 -0.10876981
+v 0.01214499 -0.01852506 -0.09850384
+v 0.03314306 -0.01832350 -0.10912733
+v 0.03406975 -0.01832350 -0.10333655
+v 0.00190680 -0.01852506 -0.09879973
+v 0.00190680 -0.01293060 -0.09716710
+v 0.01214499 -0.01293006 -0.09847214
+v 0.03696994 -0.01293006 -0.10550985
+v 0.00920362 -0.01852506 -0.09848799
+v 0.03339704 -0.01832350 -0.09845805
+v 0.03588537 -0.01492541 -0.10358311
+v 0.03380547 -0.01754682 -0.09845805
+v 0.00190680 -0.01640811 -0.09808820
+v 0.00190680 -0.01549779 -0.09778704
+v 0.00310120 -0.01293060 -0.09716006
+v 0.01802088 -0.01293006 -0.09845805
+v 0.03655464 -0.01293006 -0.10251055
+v 0.00310120 -0.01549779 -0.09778000
+v 0.03518521 -0.01479780 -0.09845805
+v 0.03494839 -0.01536688 -0.09845805
+v 0.03539114 -0.01429663 -0.09845805
+v 0.03587508 -0.01293006 -0.09845805
+v 0.03621143 -0.01293006 -0.10018578
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 13
+f 1 13 22
+f 1 22 31
+f 1 31 37
+f 1 37 38
+f 1 38 32
+f 1 32 23
+f 1 23 15
+f 1 15 8
+f 1 8 2
+f 2 7 3
+f 2 8 7
+f 3 7 9
+f 3 9 4
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 5 11 6
+f 6 11 12
+f 6 12 13
+f 7 14 9
+f 7 8 14
+f 8 15 16
+f 8 16 14
+f 9 14 10
+f 10 17 24
+f 10 24 20
+f 10 20 11
+f 10 14 18
+f 10 18 19
+f 10 19 17
+f 11 20 28
+f 11 28 29
+f 11 29 21
+f 11 21 12
+f 12 21 22
+f 12 22 13
+f 14 16 18
+f 15 23 19
+f 15 19 18
+f 15 18 16
+f 17 19 25
+f 17 25 24
+f 19 23 26
+f 19 26 27
+f 19 27 25
+f 20 24 28
+f 21 29 33
+f 21 33 30
+f 21 30 22
+f 22 30 31
+f 23 32 26
+f 24 30 33
+f 24 33 29
+f 24 29 28
+f 24 25 30
+f 25 27 30
+f 26 32 34
+f 26 34 35
+f 26 35 27
+f 27 35 30
+f 30 35 34
+f 30 34 36
+f 30 36 37
+f 30 37 31
+f 32 38 34
+f 34 38 36
+f 36 38 37
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_113.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_113.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b75095d80a2d8a1b5137f1770486c9ddc23e1b73
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_113.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.01561425 -0.02404608 0.10732819
+v -0.01561425 -0.02383589 0.10582203
+v -0.01561425 -0.02320199 0.11341640
+v -0.01677988 -0.02329919 0.10732819
+v -0.01930266 -0.01930471 0.10123792
+v -0.01831782 -0.01831606 0.09815791
+v -0.01561425 -0.02097295 0.10090550
+v -0.01561425 -0.02066473 0.11745879
+v -0.01897410 -0.01897239 0.11705045
+v -0.01615331 -0.02284059 0.11341640
+v -0.01979467 -0.01979654 0.11341640
+v -0.02025035 -0.02025514 0.10732819
+v -0.02329568 -0.01674169 0.10732819
+v -0.02383887 -0.01555864 0.10589590
+v -0.02097846 -0.01555864 0.10097732
+v -0.01831782 -0.01793140 0.09815791
+v -0.01800990 -0.01831606 0.09815791
+v -0.01800990 -0.01793140 0.09815791
+v -0.01561425 -0.01605795 0.10104709
+v -0.01561425 -0.01560931 0.11910653
+v -0.01561425 -0.01555864 0.11912089
+v -0.02068705 -0.01555864 0.11745469
+v -0.02320735 -0.01555864 0.11341640
+v -0.02283917 -0.01611195 0.11341640
+v -0.02404690 -0.01555864 0.10732819
+v -0.02093471 -0.01555864 0.10097732
+v -0.01614341 -0.01555864 0.10104914
+v -0.01610626 -0.01555864 0.10105119
+v -0.01599564 -0.01555864 0.10117841
+v -0.01561425 -0.01595576 0.10117841
+v -0.01561425 -0.01555864 0.10171809
+f 1 2 7
+f 1 7 19
+f 1 19 30
+f 1 30 31
+f 1 31 21
+f 1 21 20
+f 1 20 8
+f 1 8 3
+f 1 3 4
+f 1 4 2
+f 2 5 6
+f 2 6 7
+f 2 4 5
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 11
+f 4 11 12
+f 4 12 5
+f 5 12 13
+f 5 13 14
+f 5 14 6
+f 6 15 16
+f 6 16 18
+f 6 18 17
+f 6 17 7
+f 6 14 15
+f 7 17 18
+f 7 18 19
+f 8 20 9
+f 9 20 21
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 9 24 11
+f 9 11 10
+f 11 13 12
+f 11 24 13
+f 13 25 14
+f 13 24 23
+f 13 23 25
+f 14 25 23
+f 14 23 22
+f 14 22 21
+f 14 21 31
+f 14 31 29
+f 14 29 28
+f 14 28 27
+f 14 27 26
+f 14 26 15
+f 15 26 18
+f 15 18 16
+f 18 26 27
+f 18 27 28
+f 18 28 19
+f 19 28 29
+f 19 29 30
+f 29 31 30
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_126.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_126.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f2e2a74886385a903d320b4235852c821bb8bb3
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_126.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.00302155 -0.02846484 0.10732740
+v -0.00028843 -0.02842233 0.10732740
+v -0.00135097 -0.02828439 0.10899804
+v -0.00302155 -0.02829101 0.10899804
+v -0.00910988 -0.02721491 0.10732740
+v -0.00893703 -0.02558139 0.10090385
+v -0.00302155 -0.02660364 0.10123883
+v -0.00028843 -0.02657340 0.10123883
+v -0.00028843 -0.02826739 0.10899804
+v -0.00743930 -0.02738402 0.10899804
+v -0.00925202 -0.02715539 0.10732740
+v -0.00925202 -0.02713649 0.10716794
+v -0.00925202 -0.02713177 0.10714868
+v -0.00910988 -0.02701084 0.10899804
+v -0.00925202 -0.02553415 0.10103656
+v -0.00679177 -0.02449206 0.09810303
+v -0.00302155 -0.02458276 0.09806557
+v -0.00028843 -0.02458276 0.09806451
+v -0.00028843 -0.01883947 0.10899804
+v -0.00925202 -0.02695131 0.10899804
+v -0.00925202 -0.02536504 0.10090385
+v -0.00679177 -0.02414722 0.09810303
+v -0.00302155 -0.02409715 0.09806557
+v -0.00028843 -0.02409715 0.09806451
+v -0.00343305 -0.01881396 0.10768058
+v -0.00294609 -0.01881396 0.10798239
+v -0.00158348 -0.01881396 0.10899804
+v -0.00028843 -0.01897836 0.10860099
+v -0.00925202 -0.01881396 0.10413596
+v -0.00925202 -0.01881396 0.10899804
+v -0.00925202 -0.02152641 0.10091026
+v -0.00925202 -0.02144044 0.10091240
+v -0.00028843 -0.02310986 0.09981434
+v -0.00028843 -0.01931564 0.10764527
+v -0.00028843 -0.02057030 0.10498145
+v -0.00028843 -0.02233987 0.10123883
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 9 3
+f 2 8 18
+f 2 18 24
+f 2 24 33
+f 2 33 36
+f 2 36 35
+f 2 35 34
+f 2 34 28
+f 2 28 19
+f 2 19 9
+f 3 9 19
+f 3 19 27
+f 3 27 30
+f 3 30 20
+f 3 20 14
+f 3 14 10
+f 3 10 4
+f 4 10 5
+f 5 11 12
+f 5 12 13
+f 5 13 6
+f 5 10 14
+f 5 14 20
+f 5 20 11
+f 6 15 16
+f 6 16 7
+f 6 13 15
+f 7 16 17
+f 7 17 18
+f 7 18 8
+f 11 20 30
+f 11 30 29
+f 11 29 32
+f 11 32 31
+f 11 31 21
+f 11 21 15
+f 11 15 13
+f 11 13 12
+f 15 21 16
+f 16 21 22
+f 16 22 23
+f 16 23 17
+f 17 23 24
+f 17 24 18
+f 19 25 26
+f 19 26 27
+f 19 28 29
+f 19 29 25
+f 21 31 22
+f 22 31 32
+f 22 32 23
+f 23 32 24
+f 24 32 29
+f 24 29 33
+f 25 29 30
+f 25 30 27
+f 25 27 26
+f 28 34 29
+f 29 35 36
+f 29 36 33
+f 29 34 35
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_13.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d729da844613ac6db63be90fbabbaa5f6f946eb
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.00017546 -0.03906872 0.04563445
+v 0.00309915 -0.03906740 0.04558807
+v 0.00309915 -0.03906740 0.04563445
+v 0.00017546 -0.02967765 0.04563445
+v 0.00006697 -0.03782534 0.00537500
+v 0.00006697 -0.03722952 -0.02089568
+v 0.00052758 -0.03722952 -0.02089568
+v 0.00910748 -0.03810268 0.04558807
+v 0.00309915 -0.03868522 0.03319483
+v 0.00618912 -0.03718440 -0.00706462
+v 0.00910748 -0.03810268 0.04563445
+v 0.00006697 -0.02851786 0.00537500
+v 0.00910748 -0.02834137 0.04563445
+v 0.00914927 -0.02593687 -0.03399392
+v 0.00006697 -0.03593040 -0.04913296
+v 0.00309915 -0.03593040 -0.04913296
+v 0.00876602 -0.03781207 0.03319483
+v 0.00910748 -0.03779880 0.03541189
+v 0.00914927 -0.03677702 0.00389078
+v 0.00914927 -0.03682081 0.00537500
+v 0.00645766 -0.03724943 -0.00292735
+v 0.00678666 -0.03733037 0.00221176
+v 0.00752292 -0.03526558 -0.04913296
+v 0.00914927 -0.03501611 -0.04913296
+v 0.00883182 -0.03659257 -0.00458782
+v 0.00006697 -0.02842630 0.00221176
+v 0.00914927 -0.02715770 0.00537500
+v 0.00914927 -0.02551224 -0.04913296
+v 0.00006697 -0.02697590 -0.04913296
+v 0.00006697 -0.02789683 -0.01636882
+v 0.00006697 -0.02807199 -0.01018147
+v 0.00914927 -0.03657532 -0.00253775
+f 1 2 3
+f 1 3 11
+f 1 11 13
+f 1 13 4
+f 1 4 12
+f 1 12 5
+f 1 5 6
+f 1 6 7
+f 1 7 2
+f 2 8 11
+f 2 11 3
+f 2 7 9
+f 2 9 10
+f 2 10 8
+f 4 13 14
+f 4 14 12
+f 5 12 26
+f 5 26 31
+f 5 31 30
+f 5 30 29
+f 5 29 15
+f 5 15 6
+f 6 15 16
+f 6 16 7
+f 7 16 10
+f 7 10 9
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 8 20 11
+f 8 10 21
+f 8 21 22
+f 8 22 17
+f 10 16 23
+f 10 23 24
+f 10 24 25
+f 10 25 21
+f 11 20 27
+f 11 27 13
+f 12 14 26
+f 13 27 14
+f 14 28 29
+f 14 29 30
+f 14 30 31
+f 14 31 26
+f 14 27 20
+f 14 20 19
+f 14 19 32
+f 14 32 24
+f 14 24 28
+f 15 29 28
+f 15 28 24
+f 15 24 23
+f 15 23 16
+f 17 22 18
+f 18 22 25
+f 18 25 32
+f 18 32 19
+f 21 25 22
+f 24 32 25
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_135.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_135.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b1a6ef2c25a025cb5bda6b65e5dc28b2d3ecb91
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_135.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.00166292 0.03639636 -0.02533778
+v 0.00161374 0.03639636 -0.02533778
+v 0.00268097 0.03631116 -0.02533778
+v 0.00253835 0.03628628 -0.02657143
+v -0.00161746 0.03639612 -0.02533778
+v -0.00249043 0.03628628 -0.02657143
+v 0.00724253 0.03556762 -0.02533778
+v 0.00799008 0.03544557 -0.02533778
+v 0.00909174 0.03520758 -0.02657143
+v -0.00218796 0.03634848 -0.02533778
+v -0.00911021 0.03519561 -0.02657143
+v -0.00263305 0.03631116 -0.02533778
+v 0.00915813 0.03523363 -0.02533778
+v 0.00915813 0.03519584 -0.02657143
+v -0.00918399 0.03516909 -0.02657143
+v -0.01035942 0.03478558 -0.02533778
+v -0.00911021 0.03523340 -0.02533778
+v 0.01258114 0.03399862 -0.02533778
+v 0.01252212 0.03399862 -0.02602761
+v 0.01247540 0.03399862 -0.02657143
+v -0.01242748 0.03399862 -0.02657143
+v -0.01254060 0.03399862 -0.02533778
+f 1 2 5
+f 1 5 10
+f 1 10 12
+f 1 12 17
+f 1 17 16
+f 1 16 22
+f 1 22 18
+f 1 18 13
+f 1 13 8
+f 1 8 7
+f 1 7 3
+f 1 3 4
+f 1 4 6
+f 1 6 2
+f 2 6 5
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 4 9 14
+f 4 14 20
+f 4 20 21
+f 4 21 15
+f 4 15 11
+f 4 11 6
+f 5 6 10
+f 6 11 12
+f 6 12 10
+f 8 13 14
+f 8 14 9
+f 11 15 16
+f 11 16 17
+f 11 17 12
+f 13 18 14
+f 14 18 19
+f 14 19 20
+f 15 21 22
+f 15 22 16
+f 18 22 21
+f 18 21 20
+f 18 20 19
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_143.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_143.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d56769348522f331f3f2410599db254ca8d78adc
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_143.obj
@@ -0,0 +1,183 @@
+# https://github.com/mikedh/trimesh
+v -0.03465774 -0.00300640 -0.07768656
+v -0.03465774 0.00306941 -0.07768656
+v -0.03458115 -0.00300640 -0.08012084
+v -0.03356150 -0.00909386 -0.07768656
+v -0.03458115 0.00306941 -0.08012084
+v -0.03356150 0.00915686 -0.07768656
+v -0.03434180 0.00440795 -0.08012084
+v -0.03348491 -0.00909386 -0.08012084
+v -0.03322640 -0.00982132 -0.08012084
+v -0.03200091 -0.01322006 -0.08012084
+v -0.03282429 -0.01113659 -0.07768656
+v -0.03179986 0.01382429 -0.08012084
+v -0.03348491 0.00915686 -0.08012084
+v -0.03157486 0.01462742 -0.07768656
+v -0.03153656 -0.01448876 -0.08012084
+v -0.03157486 -0.01457024 -0.07768656
+v -0.03153656 0.01454012 -0.08012084
+v -0.03009086 0.01767115 -0.07768656
+v -0.03121583 -0.01515803 -0.08012084
+v -0.03066053 -0.01645001 -0.07768656
+v -0.03004778 0.01758967 -0.08012084
+v -0.02745318 0.02133758 -0.07768656
+v -0.02736222 0.02133758 -0.08012084
+v -0.03004778 -0.01753249 -0.08012084
+v -0.03009086 -0.01761396 -0.07768656
+v -0.02473890 0.02478869 -0.07768656
+v -0.02505006 0.02428819 -0.08012084
+v -0.02793189 -0.02048892 -0.08012084
+v -0.02905685 -0.01905726 -0.07768656
+v -0.02469103 0.02474213 -0.08012084
+v -0.02128741 0.02750651 -0.07768656
+v -0.02736222 -0.02127458 -0.08012084
+v -0.02745318 -0.02127458 -0.07768656
+v -0.02205334 0.02681396 -0.08012084
+v -0.02128741 0.02741340 -0.08012084
+v -0.01762528 0.03014286 -0.07768656
+v -0.02694096 -0.02181582 -0.08012084
+v -0.02644310 -0.02257238 -0.07768656
+v -0.01754390 0.03010212 -0.08012084
+v -0.01457590 0.03163271 -0.07768656
+v -0.02529420 -0.02391674 -0.08012084
+v -0.02469103 -0.02468495 -0.08012084
+v -0.02473890 -0.02473151 -0.07768656
+v -0.01449931 0.03158616 -0.08012084
+v -0.01032018 0.03309929 -0.08012084
+v -0.00910905 0.03361142 -0.07768656
+v -0.02462401 -0.02474315 -0.08012084
+v -0.02472932 -0.02474315 -0.07768656
+v -0.00910905 0.03353577 -0.08012084
+v -0.00302466 0.03470554 -0.07768656
+v -0.00435547 0.03439709 -0.08012084
+v 0.01424716 -0.02474315 -0.08012084
+v 0.01424716 -0.02474315 -0.07768656
+v 0.00306452 0.03471135 -0.07768656
+v -0.00302466 0.03463570 -0.08012084
+v 0.01424716 0.03169673 -0.08012084
+v 0.01424716 0.03176657 -0.07768656
+v 0.00915370 0.03361142 -0.07768656
+v 0.00306452 0.03463570 -0.08012084
+v 0.01333283 0.03203427 -0.08012084
+v 0.01424716 0.03170837 -0.07990258
+v 0.00915370 0.03353577 -0.08012084
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 4
+f 1 4 11
+f 1 11 16
+f 1 16 20
+f 1 20 25
+f 1 25 29
+f 1 29 33
+f 1 33 38
+f 1 38 43
+f 1 43 48
+f 1 48 53
+f 1 53 57
+f 1 57 58
+f 1 58 54
+f 1 54 50
+f 1 50 46
+f 1 46 40
+f 1 40 36
+f 1 36 31
+f 1 31 26
+f 1 26 22
+f 1 22 18
+f 1 18 14
+f 1 14 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 17
+f 3 17 21
+f 3 21 23
+f 3 23 27
+f 3 27 30
+f 3 30 34
+f 3 34 35
+f 3 35 39
+f 3 39 44
+f 3 44 45
+f 3 45 49
+f 3 49 51
+f 3 51 55
+f 3 55 59
+f 3 59 62
+f 3 62 60
+f 3 60 56
+f 3 56 52
+f 3 52 47
+f 3 47 42
+f 3 42 41
+f 3 41 37
+f 3 37 32
+f 3 32 28
+f 3 28 24
+f 3 24 19
+f 3 19 15
+f 3 15 10
+f 3 10 9
+f 3 9 8
+f 4 9 10
+f 4 10 11
+f 4 8 9
+f 6 12 13
+f 6 13 7
+f 6 14 12
+f 10 15 16
+f 10 16 11
+f 12 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 21
+f 19 24 25
+f 19 25 20
+f 22 26 27
+f 22 27 23
+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 31 36 35
+f 32 37 38
+f 32 38 33
+f 35 36 39
+f 36 40 39
+f 37 41 38
+f 38 41 42
+f 38 42 43
+f 39 40 44
+f 40 45 44
+f 40 46 45
+f 42 47 48
+f 42 48 43
+f 45 46 49
+f 46 50 51
+f 46 51 49
+f 47 52 53
+f 47 53 48
+f 50 54 55
+f 50 55 51
+f 52 56 61
+f 52 61 57
+f 52 57 53
+f 54 58 62
+f 54 62 59
+f 54 59 55
+f 56 60 61
+f 57 61 60
+f 57 60 58
+f 58 60 62
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_147.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_147.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d28b4b99f81df31c0c00a2526b5e33cf5f1aa838
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_147.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.00017543 -0.02589007 0.11894287
+v 0.00017543 -0.02601677 0.11996441
+v 0.00017543 -0.01623119 0.11894287
+v 0.00317583 -0.02582520 0.11894287
+v 0.00017543 -0.02634924 0.12323940
+v 0.00017543 -0.01621395 0.11996441
+v 0.00319050 -0.01619267 0.11894287
+v 0.00716730 -0.02513694 0.11894287
+v 0.00309831 -0.02654690 0.12616141
+v 0.00017543 -0.02647290 0.12616141
+v 0.00017543 -0.01622612 0.12616141
+v 0.00368498 -0.01619267 0.13235840
+v 0.00363050 -0.01619267 0.13175403
+v 0.00317793 -0.01619267 0.12616141
+v 0.00314860 -0.01619267 0.11995550
+v 0.02028989 -0.01619267 0.11894287
+v 0.01015513 -0.02397431 0.11894287
+v 0.01252906 -0.02487035 0.12897109
+v 0.00914731 -0.02547651 0.12660889
+v 0.00309831 -0.02641310 0.13235840
+v 0.01252906 -0.02487035 0.12951484
+v 0.00901950 -0.02543799 0.13189131
+v 0.00017543 -0.02640195 0.12943461
+v 0.00017543 -0.01632343 0.12908340
+v 0.00539890 -0.01619267 0.13485788
+v 0.00017543 -0.01643290 0.13235840
+v 0.02150304 -0.01619267 0.12647696
+v 0.01961102 -0.01718096 0.11894287
+v 0.01594223 -0.02048235 0.11894287
+v 0.01717424 -0.01961570 0.11894287
+v 0.01857387 -0.01857977 0.11894287
+v 0.01917311 -0.01917984 0.12616141
+v 0.01932397 -0.01932985 0.13119780
+v 0.00309831 -0.02528898 0.13607017
+v 0.00017543 -0.02527986 0.13607017
+v 0.00017543 -0.02623065 0.13235840
+v 0.00677129 -0.02501835 0.13573145
+v 0.01552527 -0.02172607 0.13242258
+v 0.01089895 -0.02412432 0.13364736
+v 0.00783568 -0.01619267 0.13666029
+v 0.00017543 -0.01760567 0.13654083
+v 0.02158056 -0.01619267 0.12790320
+v 0.02130399 -0.01619267 0.13221043
+v 0.02101484 -0.01619267 0.13306617
+v 0.01852149 -0.01852605 0.13532854
+v 0.00309831 -0.02169364 0.13715590
+v 0.00017543 -0.02169364 0.13715411
+v 0.00901950 -0.02191258 0.13679755
+v 0.01438964 -0.01999378 0.13654975
+v 0.00917036 -0.01619267 0.13675299
+v 0.01934912 -0.01619267 0.13601848
+v 0.01592756 -0.01619267 0.13684392
+v 0.01601975 -0.01619267 0.13683499
+f 1 2 5
+f 1 5 10
+f 1 10 23
+f 1 23 36
+f 1 36 35
+f 1 35 47
+f 1 47 41
+f 1 41 26
+f 1 26 24
+f 1 24 11
+f 1 11 6
+f 1 6 3
+f 1 3 7
+f 1 7 16
+f 1 16 28
+f 1 28 31
+f 1 31 30
+f 1 30 29
+f 1 29 17
+f 1 17 8
+f 1 8 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 8 9
+f 4 9 5
+f 5 9 10
+f 6 11 12
+f 6 12 13
+f 6 13 14
+f 6 14 15
+f 6 15 7
+f 7 15 14
+f 7 14 13
+f 7 13 12
+f 7 12 25
+f 7 25 40
+f 7 40 50
+f 7 50 52
+f 7 52 53
+f 7 53 51
+f 7 51 44
+f 7 44 43
+f 7 43 42
+f 7 42 27
+f 7 27 16
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 9 20 10
+f 9 19 21
+f 9 21 22
+f 9 22 20
+f 10 20 23
+f 11 24 12
+f 12 24 26
+f 12 26 25
+f 16 27 28
+f 17 29 18
+f 18 21 19
+f 18 29 30
+f 18 30 31
+f 18 31 32
+f 18 32 33
+f 18 33 21
+f 20 34 35
+f 20 35 36
+f 20 36 23
+f 20 22 37
+f 20 37 34
+f 21 38 39
+f 21 39 22
+f 21 33 38
+f 22 39 37
+f 25 26 40
+f 26 41 40
+f 27 42 32
+f 27 32 31
+f 27 31 28
+f 32 42 33
+f 33 42 43
+f 33 43 44
+f 33 44 45
+f 33 45 38
+f 34 46 47
+f 34 47 35
+f 34 37 48
+f 34 48 46
+f 37 39 45
+f 37 45 49
+f 37 49 48
+f 38 45 39
+f 40 41 50
+f 41 47 50
+f 44 51 45
+f 45 51 49
+f 46 48 52
+f 46 52 47
+f 47 52 50
+f 48 49 52
+f 49 51 53
+f 49 53 52
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_149.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_149.obj
new file mode 100644
index 0000000000000000000000000000000000000000..322b5ffd843db7f2d95d8dcfa0a6d221db376af3
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_149.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v -0.03450469 0.00172359 -0.08279851
+v -0.03450359 0.00307220 -0.08279851
+v -0.03441048 0.00307220 -0.08589895
+v -0.03441048 -0.00301162 -0.08589895
+v -0.03450359 -0.00301162 -0.08279851
+v -0.03364811 0.00781747 -0.08279851
+v -0.03411474 0.00471266 -0.08589895
+v -0.03432614 -0.00347961 -0.08589895
+v -0.03426042 -0.00436023 -0.08279851
+v -0.03340384 0.00916104 -0.08279851
+v -0.03330855 0.00916104 -0.08589895
+v -0.03330855 -0.00910047 -0.08589895
+v -0.03340384 -0.00910047 -0.08279851
+v -0.03149901 0.01445985 -0.08279851
+v -0.03144971 0.01435921 -0.08589895
+v -0.03316725 -0.00949801 -0.08589895
+v -0.03299856 -0.01023773 -0.08279851
+v -0.03000164 0.01750428 -0.08279851
+v -0.02994687 0.01740364 -0.08589895
+v -0.03196892 -0.01285946 -0.08589895
+v -0.03149791 -0.01440431 -0.08279851
+v -0.02726433 0.02133874 -0.08279851
+v -0.02736619 0.02103682 -0.08589895
+v -0.03144971 -0.01429864 -0.08589895
+v -0.03033463 -0.01677444 -0.08279851
+v -0.02464202 0.02469013 -0.08279851
+v -0.02477566 0.02438317 -0.08589895
+v -0.02714931 0.02133874 -0.08589895
+v -0.03093051 -0.01535538 -0.08589895
+v -0.03000164 -0.01744874 -0.08279851
+v -0.02458178 0.02462974 -0.08589895
+v -0.02331444 0.02573177 -0.08279851
+v -0.02994687 -0.01734306 -0.08589895
+v -0.02972999 -0.01765002 -0.08589895
+v -0.02788102 -0.02026169 -0.08589895
+v -0.02937619 -0.01832936 -0.08279851
+v -0.02331444 0.02561604 -0.08589895
+v -0.02331444 -0.02567623 -0.08279851
+v -0.02714931 -0.02128320 -0.08589895
+v -0.02726542 -0.02128320 -0.08279851
+v -0.02331444 -0.02556553 -0.08589895
+v -0.02464202 -0.02463459 -0.08279851
+v -0.02458178 -0.02457420 -0.08589895
+v -0.02367043 -0.02528876 -0.08589895
+v -0.02331444 -0.02559069 -0.08523485
+v -0.02529596 -0.02366339 -0.08589895
+v -0.02670459 -0.02200279 -0.08279851
+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 21
+f 1 21 25
+f 1 25 30
+f 1 30 36
+f 1 36 40
+f 1 40 47
+f 1 47 42
+f 1 42 38
+f 1 38 32
+f 1 32 26
+f 1 26 22
+f 1 22 18
+f 1 18 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 15
+f 3 15 19
+f 3 19 23
+f 3 23 28
+f 3 28 27
+f 3 27 31
+f 3 31 37
+f 3 37 41
+f 3 41 44
+f 3 44 43
+f 3 43 46
+f 3 46 39
+f 3 39 35
+f 3 35 34
+f 3 34 33
+f 3 33 29
+f 3 29 24
+f 3 24 20
+f 3 20 16
+f 3 16 12
+f 3 12 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 6 10 11
+f 6 11 7
+f 8 12 13
+f 8 13 9
+f 10 14 15
+f 10 15 11
+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 28
+f 22 28 23
+f 24 29 25
+f 25 29 30
+f 26 31 27
+f 26 32 31
+f 29 33 30
+f 30 34 35
+f 30 35 36
+f 30 33 34
+f 31 32 37
+f 32 38 45
+f 32 45 41
+f 32 41 37
+f 35 39 40
+f 35 40 36
+f 38 42 43
+f 38 43 44
+f 38 44 45
+f 39 46 40
+f 40 46 47
+f 41 45 44
+f 42 47 46
+f 42 46 43
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_154.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_154.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65dbce32b0d15a015eb132ce471ad33f4c704ce0
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_154.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.00428321 -0.03483903 -0.06426293
+v 0.00428321 -0.03479807 -0.06558958
+v 0.00697203 -0.03436120 -0.06426293
+v 0.00428321 0.03489722 -0.06426293
+v 0.00428321 -0.03477759 -0.06618918
+v 0.00915949 -0.03391067 -0.06618918
+v 0.00915949 -0.03397211 -0.06426293
+v 0.00915949 0.03403030 -0.06426293
+v 0.00428321 0.03483579 -0.06618918
+v 0.01500994 -0.03175360 -0.06618918
+v 0.01507380 -0.03178090 -0.06426293
+v 0.01017850 0.03365486 -0.06426293
+v 0.01199504 0.03292445 -0.06618918
+v 0.00915949 0.03396886 -0.06618918
+v 0.01651263 -0.03103002 -0.06618918
+v 0.01811858 -0.03032010 -0.06426293
+v 0.01756560 -0.03058632 -0.06426293
+v 0.01507380 0.03183909 -0.06426293
+v 0.01500994 0.03181179 -0.06618918
+v 0.01805473 -0.03028597 -0.06618918
+v 0.01816342 -0.03029280 -0.06426293
+v 0.01562678 0.03157970 -0.06426293
+v 0.01655067 0.03107456 -0.06618918
+v 0.01816342 -0.03021088 -0.06618918
+v 0.01816342 0.03035099 -0.06426293
+v 0.01757783 0.03064451 -0.06426293
+v 0.01805473 0.03034416 -0.06618918
+v 0.01816342 0.03026907 -0.06618918
+v 0.01811858 0.03037829 -0.06426293
+f 1 2 3
+f 1 3 7
+f 1 7 11
+f 1 11 17
+f 1 17 16
+f 1 16 21
+f 1 21 25
+f 1 25 29
+f 1 29 26
+f 1 26 22
+f 1 22 18
+f 1 18 12
+f 1 12 8
+f 1 8 4
+f 1 4 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 4 8 14
+f 4 14 9
+f 5 9 14
+f 5 14 13
+f 5 13 19
+f 5 19 23
+f 5 23 27
+f 5 27 28
+f 5 28 24
+f 5 24 20
+f 5 20 15
+f 5 15 10
+f 5 10 6
+f 6 10 7
+f 7 10 11
+f 8 12 13
+f 8 13 14
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 12 18 19
+f 12 19 13
+f 15 20 16
+f 16 20 21
+f 18 22 19
+f 19 22 23
+f 20 24 21
+f 21 24 28
+f 21 28 25
+f 22 26 23
+f 23 26 27
+f 25 28 27
+f 25 27 29
+f 26 29 27
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_156.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_156.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35d38e824a97f55874b362060cb48f3972ba8d82
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_156.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.01167573 0.02622865 0.06026100
+v 0.00017543 0.02622865 0.06595690
+v 0.01167573 0.02691065 0.05587766
+v 0.01167573 0.02622865 0.07982837
+v 0.00017543 0.02927113 0.05587766
+v 0.00017543 0.02622865 0.08684292
+v 0.01167573 0.03734414 0.05587766
+v 0.01167573 0.03079423 0.07245309
+v 0.00429779 0.02622865 0.08684292
+v 0.00017543 0.03882654 0.05587766
+v 0.00017543 0.02651230 0.08684292
+v 0.01162845 0.03735524 0.05587766
+v 0.00941642 0.03770672 0.05756916
+v 0.01167573 0.03729481 0.05626567
+v 0.01167573 0.03222482 0.06978550
+v 0.00309891 0.02651230 0.08684292
+v 0.00941642 0.03594931 0.06401077
+v 0.00743178 0.03747980 0.06182214
+v 0.00017543 0.03868595 0.05799354
+v 0.00309891 0.03882654 0.05587766
+v 0.00017543 0.03638342 0.06558405
+v 0.00938040 0.03782389 0.05587766
+v 0.00309891 0.03868595 0.05799354
+v 0.01156316 0.03692730 0.05935159
+v 0.01167573 0.03696183 0.05885445
+v 0.01167573 0.03499476 0.06424722
+v 0.00309891 0.03638342 0.06558405
+v 0.00309891 0.03775359 0.06248601
+v 0.00017543 0.03824690 0.06011246
+v 0.00017543 0.03775359 0.06248601
+v 0.01167573 0.03689030 0.05929096
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 25
+f 1 25 31
+f 1 31 26
+f 1 26 15
+f 1 15 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 21
+f 2 21 30
+f 2 30 29
+f 2 29 19
+f 2 19 10
+f 2 10 5
+f 3 5 10
+f 3 10 20
+f 3 20 22
+f 3 22 12
+f 3 12 7
+f 4 8 9
+f 6 9 16
+f 6 16 11
+f 7 12 13
+f 7 13 14
+f 8 15 9
+f 9 15 17
+f 9 17 18
+f 9 18 16
+f 10 19 23
+f 10 23 20
+f 11 16 27
+f 11 27 21
+f 12 22 13
+f 13 22 20
+f 13 20 23
+f 13 23 18
+f 13 18 24
+f 13 24 14
+f 14 24 25
+f 15 26 17
+f 16 18 27
+f 17 26 24
+f 17 24 18
+f 18 28 27
+f 18 23 28
+f 19 29 23
+f 21 27 28
+f 21 28 30
+f 23 29 28
+f 24 26 31
+f 24 31 25
+f 28 29 30
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_16.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8182d012381900630247da2dc842b66d13ab67c7
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,156 @@
+# https://github.com/mikedh/trimesh
+v 0.02470337 0.01121402 -0.04913296
+v 0.01925594 0.01923493 -0.04913296
+v 0.03428931 0.01121402 -0.04913296
+v 0.02633329 0.01121402 0.00537760
+v 0.01925594 0.02104089 0.00537760
+v 0.01925594 0.02087938 0.00075146
+v 0.01925594 0.02067593 -0.00525132
+v 0.01925594 0.02047456 -0.01126477
+v 0.01925594 0.03082582 -0.04913296
+v 0.03276529 0.01549086 -0.04913296
+v 0.03435054 0.01121402 -0.04736147
+v 0.03616083 0.01121402 0.00537760
+v 0.01925594 0.03264017 0.00537760
+v 0.02104472 0.02950438 -0.04913296
+v 0.01925594 0.03089294 -0.04736147
+v 0.02339281 0.02994066 0.00537760
+v 0.03232182 0.01641167 -0.04913296
+v 0.03387894 0.01549086 -0.01637647
+v 0.03408909 0.01549086 -0.01018160
+v 0.03429924 0.01549086 -0.00398140
+v 0.03557505 0.01283121 0.00537760
+v 0.02029512 0.03210530 0.00537760
+v 0.01925594 0.03254368 0.00221347
+v 0.02214513 0.02900727 -0.04116127
+v 0.02193001 0.02884576 -0.04913296
+v 0.02281034 0.02950438 -0.01637647
+v 0.01925594 0.03092020 -0.04664114
+v 0.02187541 0.03100410 0.00537760
+v 0.02509554 0.02842206 0.00537760
+v 0.02578888 0.02578338 -0.04736147
+v 0.02575248 0.02574772 -0.04913296
+v 0.02303208 0.02796061 -0.04913296
+v 0.01925594 0.03112576 -0.04116127
+v 0.01925594 0.03136068 -0.03488103
+v 0.01925594 0.03141941 -0.03329630
+v 0.03114364 0.01882801 -0.04913296
+v 0.03449947 0.01549086 0.00221347
+v 0.03459379 0.01549086 0.00537760
+v 0.02004360 0.03193960 -0.00398140
+v 0.01954387 0.03161029 -0.02257133
+v 0.02684626 0.02684053 0.00537760
+v 0.02678338 0.02677760 0.00221347
+v 0.02603709 0.02603299 -0.03496640
+v 0.02842489 0.02509120 0.00537760
+v 0.02994230 0.02338802 0.00537760
+v 0.02987942 0.02330412 0.00221347
+v 0.02796487 0.02302724 -0.04913296
+v 0.03117508 0.01887625 -0.04736147
+v 0.02950875 0.02104089 -0.04913296
+v 0.03210836 0.02029208 0.00537760
+v 0.03150438 0.01937546 -0.02876620
+v 0.03100795 0.02187151 0.00537760
+v 0.02885016 0.02192814 -0.04913296
+f 1 2 9
+f 1 9 14
+f 1 14 25
+f 1 25 32
+f 1 32 31
+f 1 31 47
+f 1 47 53
+f 1 53 49
+f 1 49 36
+f 1 36 17
+f 1 17 10
+f 1 10 3
+f 1 3 11
+f 1 11 12
+f 1 12 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 7
+f 2 7 6
+f 2 6 5
+f 2 5 13
+f 2 13 23
+f 2 23 35
+f 2 35 34
+f 2 34 33
+f 2 33 27
+f 2 27 15
+f 2 15 9
+f 3 10 11
+f 4 12 21
+f 4 21 38
+f 4 38 50
+f 4 50 52
+f 4 52 45
+f 4 45 44
+f 4 44 41
+f 4 41 29
+f 4 29 16
+f 4 16 28
+f 4 28 22
+f 4 22 13
+f 4 13 5
+f 9 15 16
+f 9 16 14
+f 10 17 18
+f 10 18 12
+f 10 12 11
+f 12 18 19
+f 12 19 20
+f 12 20 21
+f 13 22 23
+f 14 24 25
+f 14 16 26
+f 14 26 24
+f 15 27 16
+f 16 29 30
+f 16 30 31
+f 16 31 32
+f 16 32 26
+f 16 27 33
+f 16 33 34
+f 16 34 35
+f 16 35 28
+f 17 36 20
+f 17 20 19
+f 17 19 18
+f 20 37 21
+f 20 36 37
+f 21 37 38
+f 22 28 39
+f 22 39 23
+f 23 39 40
+f 23 40 35
+f 24 32 25
+f 24 26 32
+f 28 35 40
+f 28 40 39
+f 29 41 42
+f 29 42 43
+f 29 43 30
+f 30 43 44
+f 30 44 45
+f 30 45 31
+f 31 45 46
+f 31 46 47
+f 36 48 37
+f 36 49 46
+f 36 46 45
+f 36 45 48
+f 37 50 38
+f 37 48 51
+f 37 51 50
+f 41 44 42
+f 42 44 43
+f 45 52 48
+f 46 49 53
+f 46 53 47
+f 48 52 51
+f 50 51 52
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_161.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_161.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d852798a019d6c1a64b5e99e69886def290946c
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_161.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.00017543 -0.03910772 0.05179406
+v 0.00017543 -0.03908883 0.04887223
+v 0.00309848 -0.03906772 0.04563565
+v 0.00309848 -0.03910661 0.05179406
+v 0.00309848 -0.03869654 0.05795246
+v 0.00017543 -0.03869654 0.05795246
+v 0.00017543 -0.03906772 0.04563565
+v 0.00313608 -0.03906216 0.04563565
+v 0.00910810 -0.03814198 0.05160715
+v 0.00910810 -0.03814309 0.05179406
+v 0.00910810 -0.03778191 0.05728200
+v 0.00910810 -0.03776191 0.05758105
+v 0.00365721 -0.03860652 0.05795246
+v 0.00017543 -0.02907136 0.05795246
+v 0.00017543 -0.02967703 0.04563565
+v 0.00910810 -0.03810309 0.04563565
+v 0.00910810 -0.03771412 0.05795246
+v 0.00910810 -0.02775444 0.05795246
+v 0.00910810 -0.02834122 0.04563565
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 14
+f 1 14 15
+f 1 15 7
+f 1 7 2
+f 2 7 3
+f 3 8 4
+f 3 7 15
+f 3 15 19
+f 3 19 16
+f 3 16 8
+f 4 9 10
+f 4 10 11
+f 4 11 5
+f 4 8 9
+f 5 11 12
+f 5 12 13
+f 5 13 17
+f 5 17 18
+f 5 18 14
+f 5 14 6
+f 8 16 9
+f 9 16 19
+f 9 19 18
+f 9 18 17
+f 9 17 12
+f 9 12 11
+f 9 11 10
+f 12 17 13
+f 14 18 19
+f 14 19 15
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_162.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_162.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c157c902317d7ceb9c04f035d8be5598d39ea24
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_162.obj
@@ -0,0 +1,198 @@
+# https://github.com/mikedh/trimesh
+v 0.03130487 -0.02370638 0.05179383
+v 0.03118971 -0.02370638 0.05323473
+v 0.03076168 -0.02451050 0.05179383
+v 0.03074864 -0.02447658 0.04559283
+v 0.03127445 -0.02370638 0.04715209
+v 0.03080079 -0.02370638 0.05794852
+v 0.02766335 -0.02767045 0.05179383
+v 0.02764814 -0.02765490 0.04559283
+v 0.03049661 -0.02415296 0.05794852
+v 0.02741565 -0.02738498 0.05794852
+v 0.02737872 -0.02742313 0.05794852
+v 0.03126358 -0.02370638 0.04559283
+v 0.02764379 -0.02765349 0.04542816
+v 0.02727660 -0.02728464 0.02700526
+v 0.02702890 -0.02703450 0.01461355
+v 0.02684205 -0.02684937 0.00538152
+v 0.03074430 -0.02447376 0.04542816
+v 0.01708425 -0.02370638 0.05794852
+v 0.02450417 -0.03076962 0.05179383
+v 0.02446724 -0.03075408 0.04559283
+v 0.02756340 -0.02773404 0.04543330
+v 0.02414784 -0.03050535 0.05794852
+v 0.03079427 -0.02370638 0.03320112
+v 0.02446506 -0.03075125 0.04542816
+v 0.02338955 -0.02994996 0.00538152
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\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_163.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_163.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32c2c86d9d5ce6fa89413c8b877d3e11be8a0fc0
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_163.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.03497174 -0.00852047 -0.03694241
+v 0.03486912 -0.00910501 -0.03694241
+v 0.03479386 -0.00910501 -0.03937753
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+v -0.03482026 -0.00910501 -0.03694241
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+v 0.03258400 -0.01519587 -0.03882452
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\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_164.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_164.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41a29b7730e887d2feab988a47b1c2a83d56e492
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_164.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.00017543 -0.03869682 0.05795428
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+v 0.00309845 -0.03869265 0.05799413
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\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_165.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_165.obj
new file mode 100644
index 0000000000000000000000000000000000000000..666422e4e9aabcecddbe0f9f98eaeea75cf08dd5
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_165.obj
@@ -0,0 +1,333 @@
+# https://github.com/mikedh/trimesh
+v -0.03680866 -0.00317203 -0.00536292
+v -0.03670911 -0.00331624 -0.00816285
+v -0.03659383 -0.00562370 -0.00536292
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+v -0.03670911 0.00336095 -0.00816285
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\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_166.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_166.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6c71c4580fa97ae9ffb8bcf20eef10d310c8bcb
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_166.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.02300780 -0.02765863 -0.03694241
+v 0.02190958 -0.02857443 -0.03694241
+v 0.02294929 -0.02765863 -0.03827486
+v -0.02297340 -0.02765863 -0.03694241
+v 0.02290428 -0.02765863 -0.03921925
+v 0.01886697 -0.03079840 -0.03694241
+v 0.01880396 -0.03075660 -0.03937753
+v 0.02184657 -0.02852699 -0.03937753
+v -0.02285187 -0.02765863 -0.03937753
+v -0.02213623 -0.02825201 -0.03937753
+v -0.02186167 -0.02857524 -0.03694241
+v 0.02289528 -0.02765863 -0.03937753
+v 0.01524375 -0.03259784 -0.03694241
+v 0.01524375 -0.03251744 -0.03937753
+v -0.02179866 -0.02852860 -0.03937753
+v -0.01975975 -0.03011417 -0.03694241
+v -0.02152411 -0.02873202 -0.03937753
+v 0.01103991 -0.03413276 -0.03694241
+v 0.01469464 -0.03272006 -0.03937753
+v -0.01875605 -0.03075660 -0.03937753
+v -0.01881907 -0.03079840 -0.03694241
+v 0.00915403 -0.03481619 -0.03694241
+v 0.00915403 -0.03475830 -0.03882452
+v 0.00915403 -0.03474061 -0.03937753
+v -0.01766683 -0.03137490 -0.03694241
+v -0.01520034 -0.03251664 -0.03937753
+v -0.01520034 -0.03253513 -0.03882452
+v -0.01520034 -0.03259704 -0.03694241
+v 0.00495019 -0.03554706 -0.03694241
+v 0.00860492 -0.03483710 -0.03937753
+v -0.00911062 -0.03474141 -0.03937753
+v -0.00911062 -0.03481619 -0.03694241
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+v -0.00302090 -0.03579953 -0.03937753
+v -0.00302090 -0.03587190 -0.03694241
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+f 1 25 28
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+f 31 35 32
+f 32 35 36
+f 33 36 35
+f 33 35 34
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_17.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cab36aee8a6bc7a910de12907252cba758679b7d
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.01564447 -0.02409967 0.10732886
+v 0.01564447 -0.02101237 0.10092877
+v 0.01937652 -0.01932759 0.10123904
+v 0.01685867 -0.02332674 0.10732886
+v 0.01564447 -0.02384589 0.10933950
+v 0.01564447 -0.02099457 0.10092049
+v 0.01803291 -0.01832757 0.09815277
+v 0.01837685 -0.01832757 0.09815277
+v 0.02033277 -0.02028218 0.10732886
+v 0.02194648 -0.01500341 0.10138385
+v 0.02451558 -0.01500341 0.10732886
+v 0.02337781 -0.01679684 0.10732886
+v 0.01987592 -0.01982358 0.11341661
+v 0.01622986 -0.02286903 0.11341661
+v 0.01564447 -0.02325906 0.11341661
+v 0.01564447 -0.01597760 0.10115631
+v 0.01803291 -0.01784404 0.09815277
+v 0.01837685 -0.01784404 0.09815277
+v 0.02109186 -0.01500341 0.10091428
+v 0.02414125 -0.01500341 0.11029724
+v 0.02369222 -0.01500341 0.11341661
+v 0.02291923 -0.01616638 0.11341661
+v 0.01904301 -0.01899098 0.11706347
+v 0.01564447 -0.02311480 0.11390893
+v 0.01564447 -0.01592417 0.10116045
+v 0.01590590 -0.01580217 0.10102805
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+v 0.02340821 -0.01500341 0.11439504
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+v 0.01764642 -0.01500341 0.11864384
+v 0.01564447 -0.01500341 0.11928510
+v 0.01564447 -0.01500341 0.10216783
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+f 25 27 26
+f 29 34 30
+f 30 34 35
+f 32 36 33
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_170.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_170.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a370d6bb82f72c0703ca5615be3e66256f9c8f9d
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_170.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.02323909 -0.01194057 0.08899794
+v -0.02108466 -0.01548279 0.08899794
+v -0.02047958 -0.01499043 0.10796449
+v -0.02059647 -0.01477823 0.10796449
+v -0.02070878 -0.01457019 0.10796449
+v -0.02210916 -0.01194057 0.10796449
+v -0.01307202 -0.01194057 0.08899794
+v -0.02107320 -0.01549944 0.08899794
+v -0.01874458 -0.01873793 0.08899794
+v -0.02032832 -0.01518876 0.10796449
+v -0.01186645 -0.01194057 0.10796449
+v -0.01196959 -0.01194057 0.09518026
+v 0.00017543 -0.01733435 0.08899794
+v -0.01873083 -0.01875041 0.08899794
+v -0.01808221 -0.01809023 0.10796449
+v 0.00017543 -0.01652161 0.10796449
+v 0.00017543 -0.01653548 0.10756719
+v 0.00017543 -0.01666585 0.10429223
+v 0.00017543 -0.01678374 0.10137001
+v 0.00017543 -0.01705142 0.09517655
+v 0.00017543 -0.01720120 0.09190345
+v 0.00017543 -0.02610948 0.08899794
+v -0.01549231 -0.02108046 0.08899794
+v -0.01498350 -0.02048407 0.10796449
+v -0.01518061 -0.02033290 0.10796449
+v 0.00017543 -0.02514417 0.10796449
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+v -0.00309976 -0.02610809 0.08899794
+v 0.00017543 -0.02548674 0.10137001
+v -0.01063797 -0.02403185 0.08899794
+v -0.01456407 -0.02071153 0.10796449
+v -0.00978537 -0.02373366 0.10137001
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+v -0.00755072 -0.02527038 0.08899794
+v -0.00879983 -0.02378636 0.10796449
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+f 31 32 38
+f 32 35 38
+f 34 38 35
+f 35 37 36
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_177.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_177.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52a0c0b3bd9adba6bb100a6f08cda790b50bdecf
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_177.obj
@@ -0,0 +1,357 @@
+# https://github.com/mikedh/trimesh
+v 0.00307509 0.03481512 -0.07420358
+v 0.00307509 0.03470521 -0.07768588
+v -0.00301323 0.03481512 -0.07420358
+v 0.00914299 0.03372209 -0.07420358
+v 0.00914299 0.03361218 -0.07768588
+v -0.02763895 0.02107591 -0.07768621
+v -0.00301323 0.03470521 -0.07768588
+v -0.00677928 0.03403352 -0.07768588
+v -0.00910156 0.03368546 -0.07536309
+v -0.00416416 0.03460751 -0.07420358
+v 0.01363773 0.03208560 -0.07420358
+v 0.01118605 0.03287942 -0.07768588
+v -0.02763895 -0.02101495 -0.07768621
+v -0.03009063 0.01767469 -0.07768621
+v -0.03015192 0.01778460 -0.07420358
+v -0.02763895 0.02125910 -0.07420358
+v -0.02744146 0.02133848 -0.07768588
+v -0.02473099 0.02478855 -0.07768588
+v -0.02157787 0.02727382 -0.07768588
+v -0.02127822 0.02750586 -0.07768588
+v -0.01761432 0.03014379 -0.07768588
+v -0.01457016 0.03162763 -0.07768588
+v -0.00910156 0.03361218 -0.07768588
+v 0.01461840 0.03162763 -0.07768588
+v 0.01650483 0.03071168 -0.07768588
+v 0.01765575 0.03014379 -0.07768588
+v 0.01910633 0.02910572 -0.07768588
+v 0.02132646 0.02750586 -0.07768588
+v 0.02261359 0.02649221 -0.07768588
+v 0.02476561 0.02478855 -0.07768588
+v 0.02648178 0.02262691 -0.07768588
+v 0.02748288 0.02133848 -0.07768588
+v 0.02909010 0.01912188 -0.07768588
+v 0.03012525 0.01768080 -0.07768588
+v 0.03054748 0.01683812 -0.07768588
+v 0.03160987 0.01463374 -0.07768588
+v 0.03173927 0.01430400 -0.07768588
+v 0.03286976 0.01120199 -0.07768588
+v 0.03360526 0.00916248 -0.07768588
+v 0.03469490 0.00308059 -0.07768588
+v -0.01468593 0.03168258 -0.07420358
+v -0.00910156 0.03371599 -0.07420358
+v 0.01472736 0.03168258 -0.07420358
+v -0.02112158 -0.02756703 -0.07768588
+v -0.02128503 -0.02744491 -0.07768588
+v -0.02257216 -0.02643736 -0.07768588
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+v -0.02745508 -0.02127752 -0.07768588
+v -0.02905548 -0.01906093 -0.07768621
+v 0.03469490 -0.00300742 -0.07768588
+v 0.03402750 -0.00678112 -0.07768588
+v 0.03360526 -0.00909542 -0.07768588
+v 0.03162349 -0.01456668 -0.07768588
+v 0.03013887 -0.01761373 -0.07768588
+v 0.02749651 -0.02127752 -0.07768588
+v 0.02477923 -0.02473370 -0.07768588
+v 0.02133327 -0.02744491 -0.07768588
+v 0.02116982 -0.02756703 -0.07768588
+v -0.03157525 0.01462763 -0.07768621
+v -0.03162973 0.01474365 -0.07420358
+v -0.02757766 0.02133848 -0.07420358
+v -0.02479909 0.02485572 -0.07420358
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+v -0.02159149 0.02727382 -0.07748234
+v -0.02127822 0.02763409 -0.07420358
+v -0.01772329 0.03020486 -0.07420358
+v -0.01768924 0.03018654 -0.07536309
+v 0.01562631 0.03125514 -0.07420358
+v 0.01777834 0.03020486 -0.07420358
+v 0.02031854 0.02836685 -0.07420358
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+v 0.03019335 0.01779681 -0.07420358
+v 0.03167116 0.01474976 -0.07420358
+v 0.03371423 0.00916248 -0.07420358
+v 0.03383000 0.00831981 -0.07536309
+v 0.03476981 0.00308059 -0.07536309
+v 0.03481067 -0.00300742 -0.07420358
+v -0.02129865 -0.02756703 -0.07420938
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+v 0.03020016 -0.01772975 -0.07420358
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+v 0.02178955 0.02727382 -0.07420358
+v 0.03480386 0.00308059 -0.07420358
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+v -0.02375713 -0.02562522 -0.07420358
+v -0.03120069 -0.01557422 -0.07420358
+v -0.03161612 -0.01465217 -0.07536309
+v -0.03066268 -0.01645353 -0.07768621
+v 0.02134689 -0.02756703 -0.07420358
+v -0.03397926 0.00683597 -0.07768621
+v -0.03476243 0.00307448 -0.07420358
+v -0.03162973 -0.01468880 -0.07420358
+v -0.03157525 -0.01457278 -0.07768621
+v -0.03203154 -0.01359577 -0.07420358
+v -0.03366599 -0.00910152 -0.07420358
+v -0.03363194 -0.00910152 -0.07536309
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+f 114 117 115
+f 115 117 119
+f 115 119 120
+f 115 120 118
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_178.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_178.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cb1a2f4a453a591bb0ba77a67c0ea6ae9d17bc2
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_178.obj
@@ -0,0 +1,207 @@
+# https://github.com/mikedh/trimesh
+v 0.01901715 -0.03103093 -0.02672241
+v 0.01901715 -0.03103093 -0.02657407
+v 0.01901715 -0.03095794 -0.02914419
+v 0.01913545 -0.03097011 -0.02664560
+v 0.01913714 -0.03097011 -0.02657155
+v 0.01901715 -0.03067817 -0.02657155
+v 0.01907123 -0.03092753 -0.02914419
+v 0.01901715 0.03101716 -0.02914419
+v 0.02218255 -0.02877452 -0.02657155
+v 0.01901715 0.03109015 -0.02657155
+v 0.02211664 -0.02871978 -0.02914419
+v 0.01901715 0.03109015 -0.02664560
+v 0.01913545 0.03102933 -0.02664560
+v 0.01907123 0.03098675 -0.02914419
+v 0.02222649 -0.02873803 -0.02657155
+v 0.01913714 0.03102933 -0.02657155
+v 0.02573495 -0.02567881 -0.02914419
+v 0.01917432 0.03100500 -0.02657155
+v 0.02218086 0.02883374 -0.02664560
+v 0.02086603 0.02969130 -0.02914419
+v 0.02578396 -0.02572746 -0.02664560
+v 0.02578565 -0.02572746 -0.02657155
+v 0.02877866 -0.02206004 -0.02914419
+v 0.02879219 -0.02216952 -0.02657155
+v 0.02218255 0.02883374 -0.02657155
+v 0.02578396 0.02578668 -0.02664560
+v 0.02573495 0.02573803 -0.02914419
+v 0.02361061 0.02753220 -0.02914419
+v 0.02211495 0.02878509 -0.02914419
+v 0.03098413 -0.01901299 -0.02914419
+v 0.02885471 -0.02209045 -0.02657155
+v 0.02882768 -0.02212695 -0.02657155
+v 0.02578565 0.02578668 -0.02657155
+v 0.02582283 0.02574411 -0.02657155
+v 0.02608141 0.02533054 -0.02914419
+v 0.03290567 -0.01519352 -0.02914419
+v 0.03298849 -0.01519352 -0.02664560
+v 0.03102638 -0.01907989 -0.02664560
+v 0.03102807 -0.01907989 -0.02657155
+v 0.02882936 0.02218617 -0.02657155
+v 0.02753144 0.02361543 -0.02914419
+v 0.03381321 -0.01269384 -0.02914419
+v 0.03486102 -0.00979274 -0.02914419
+v 0.03516184 -0.00917847 -0.02657155
+v 0.03299017 -0.01519352 -0.02657155
+v 0.03102807 0.01913911 -0.02657155
+v 0.03102638 0.01913911 -0.02664560
+v 0.02993632 0.02052579 -0.02914419
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+v 0.03510945 -0.00909940 -0.02914419
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+v 0.03554041 -0.00660580 -0.02914419
+v 0.03564519 -0.00597328 -0.02914419
+v 0.03628063 -0.00248224 -0.02657155
+v 0.03299017 0.01525274 -0.02657155
+v 0.03298849 0.01525274 -0.02664560
+v 0.03120552 0.01863431 -0.02914419
+v 0.03607952 -0.00333979 -0.02914419
+v 0.03618430 -0.00270119 -0.02914419
+v 0.03618430 0.00276041 -0.02914419
+v 0.03627894 0.00254146 -0.02657155
+v 0.03301722 0.01517976 -0.02657155
+v 0.03290567 0.01525274 -0.02914419
+v 0.03214010 0.01677931 -0.02914419
+v 0.03510945 0.00915862 -0.02914419
+v 0.03520071 0.00909780 -0.02657155
+v 0.03518719 0.00915862 -0.02657155
+v 0.03518550 0.00915862 -0.02664560
+f 1 2 6
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\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_184.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_184.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4db21c9e3807393e192c90be171fa24586bcb20
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_184.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v 0.01800210 -0.02370638 0.04556636
+v 0.01708259 -0.02370638 0.05795367
+v 0.01708454 -0.02370333 0.05795367
+v 0.02654842 -0.01330251 0.04556636
+v 0.03126283 -0.02370638 0.04556636
+v 0.03080113 -0.02370638 0.05795367
+v 0.02603412 -0.01329741 0.05795367
+v 0.02655037 -0.01329741 0.04559789
+v 0.02672570 -0.01329741 0.04556636
+v 0.03281157 -0.02138818 0.04556636
+v 0.03281936 -0.02137697 0.04559789
+v 0.03284274 -0.02141162 0.05179396
+v 0.03127452 -0.02370638 0.04715479
+v 0.03119270 -0.02370638 0.05323446
+v 0.03259533 -0.02107230 0.05795367
+v 0.03639023 -0.01329741 0.05795367
+v 0.03693570 -0.01329741 0.04556636
+v 0.03283690 -0.02134233 0.04556636
+v 0.03591879 -0.01566860 0.04559789
+v 0.03594217 -0.01572057 0.05179396
+v 0.03262650 -0.02101931 0.05795367
+v 0.03260702 -0.02105396 0.05795367
+v 0.03130374 -0.02370638 0.05179396
+v 0.03608438 -0.01420329 0.05795367
+v 0.03677206 -0.01329741 0.05598571
+v 0.03693765 -0.01329741 0.04559789
+v 0.03593438 -0.01562886 0.04556636
+v 0.03591879 -0.01566452 0.04556636
+v 0.03698246 -0.01329741 0.05179396
+v 0.03690453 -0.01329741 0.05436697
+v 0.03584866 -0.01493697 0.05756565
+v 0.03289534 -0.02050676 0.05795367
+v 0.03556814 -0.01530278 0.05795367
+f 1 2 3
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+f 20 32 21
+f 24 33 31
+f 24 31 25
+f 31 33 32
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_185.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_185.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cf45465f864251770f963d91bc1eab2e7d02fd4
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_185.obj
@@ -0,0 +1,120 @@
+# https://github.com/mikedh/trimesh
+v 0.02408545 -0.02690817 -0.03328702
+v 0.02408545 -0.02684488 -0.03478621
+v 0.02562486 -0.02556855 -0.03478621
+v 0.02565410 -0.02560019 -0.03328702
+v 0.02408545 0.02697182 -0.03328702
+v 0.02408545 0.02691381 -0.03478621
+v 0.02866975 -0.02191361 -0.03478621
+v 0.02869899 -0.02195053 -0.03328702
+v 0.02565527 0.02565858 -0.03328702
+v 0.02562603 0.02562693 -0.03478621
+v 0.03088645 -0.01886519 -0.03478621
+v 0.03091218 -0.01890739 -0.03328702
+v 0.02842410 0.02234646 -0.03328702
+v 0.02601205 0.02516809 -0.03478621
+v 0.03272063 -0.01519444 -0.03478621
+v 0.03276977 -0.01519444 -0.03328702
+v 0.02870016 0.02200892 -0.03328702
+v 0.02867092 0.02197200 -0.03478621
+v 0.02784624 0.02296880 -0.03478621
+v 0.02764504 0.02321141 -0.03478621
+v 0.03346928 -0.01314282 -0.03478621
+v 0.03297097 -0.01464066 -0.03328702
+v 0.02890136 0.02173466 -0.03328702
+v 0.02942074 0.02094883 -0.03478621
+v 0.03493617 -0.00910288 -0.03478621
+v 0.03498178 -0.00910288 -0.03328702
+v 0.03091335 0.01896577 -0.03328702
+v 0.03088762 0.01892886 -0.03478621
+v 0.03527891 -0.00713037 -0.03478621
+v 0.03507771 -0.00854910 -0.03328702
+v 0.03260951 0.01557454 -0.03328702
+v 0.03212522 0.01645531 -0.03478621
+v 0.03585677 -0.00378660 -0.03478621
+v 0.03603574 -0.00301131 -0.03328702
+v 0.03276977 0.01525282 -0.03328702
+v 0.03272063 0.01525282 -0.03478621
+v 0.03599012 -0.00301131 -0.03478621
+v 0.03599012 0.00306970 -0.03478621
+v 0.03603457 0.00306970 -0.03328702
+v 0.03498062 0.00916126 -0.03328702
+v 0.03493499 0.00916126 -0.03478621
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 12
+f 1 12 16
+f 1 16 22
+f 1 22 26
+f 1 26 30
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+f 1 34 39
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+f 1 40 35
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+f 1 31 27
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+f 9 13 14
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+f 11 15 16
+f 11 16 12
+f 13 17 18
+f 13 18 19
+f 13 19 20
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+f 15 21 16
+f 16 21 22
+f 17 23 18
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+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 32
+f 27 32 28
+f 29 33 34
+f 29 34 30
+f 31 35 32
+f 32 35 36
+f 33 37 34
+f 34 37 38
+f 34 38 39
+f 35 40 41
+f 35 41 36
+f 38 41 40
+f 38 40 39
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_187.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_187.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bc3a171736998d4f850844255ca131f04c1dc1a
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_187.obj
@@ -0,0 +1,222 @@
+# https://github.com/mikedh/trimesh
+v 0.00124523 0.03666870 -0.01738751
+v 0.00428944 0.03641318 -0.01738751
+v 0.00071673 0.03662413 -0.02034730
+v -0.00119999 0.03666870 -0.01738751
+v 0.00689674 0.03594078 -0.01738751
+v 0.00376093 0.03636862 -0.02034730
+v -0.00066444 0.03662413 -0.02034730
+v -0.00360999 0.03637753 -0.02034730
+v -0.00424420 0.03641318 -0.01738751
+v 0.00697425 0.03592593 -0.01738751
+v 0.00900372 0.03541788 -0.02034730
+v -0.00370864 0.03636862 -0.02034730
+v -0.00910647 0.03538520 -0.02034730
+v -0.00910647 0.03547730 -0.01738751
+v 0.00915171 0.03547730 -0.01738751
+v 0.00915171 0.03538520 -0.02034730
+v -0.00931787 0.03531092 -0.02034730
+v -0.01227751 0.03434830 -0.01738751
+v 0.01524716 0.03329951 -0.01738751
+v 0.01524716 0.03320147 -0.02034730
+v -0.01519487 0.03320147 -0.02034730
+v -0.01519487 0.03329951 -0.01738751
+v 0.01725549 0.03227450 -0.01738751
+v 0.01915107 0.03121383 -0.02034730
+v -0.01534286 0.03312719 -0.02034730
+v -0.01924677 0.03113955 -0.02034730
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\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_188.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_188.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3fb8c8fe86ff2e40e60991c4ab8df6a906d43c2
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_188.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v 0.02378362 -0.02584285 -0.06871097
+v 0.02133637 -0.02778546 -0.06871097
+v 0.02377897 -0.02584285 -0.06889452
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+v 0.02366265 -0.02584285 -0.07138954
+v -0.02372376 -0.02584285 -0.06908935
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+v 0.01483673 -0.03167337 -0.07138954
+v 0.01787951 -0.03019996 -0.07138954
+v -0.02362141 -0.02584285 -0.07138954
+v -0.02365398 -0.02584285 -0.07067263
+v -0.02250479 -0.02672707 -0.07138954
+v -0.02128582 -0.02776414 -0.06927317
+v -0.02099271 -0.02800230 -0.06871097
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+v 0.00915594 -0.03375195 -0.07138954
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\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_189.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_189.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da7f712cab191577bebf4ab2e057701103f55dd2
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_189.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.02508812 -0.00813028 -0.09848250
+v 0.02508812 -0.00911737 -0.09661543
+v 0.02508812 -0.01292904 -0.09848250
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+f 5 9 7
+f 5 7 10
+f 5 10 8
+f 5 8 11
+f 5 11 6
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_19.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ff8096f18cbb3818bbb6cd877dcc00362934ee3
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.01459940 0.03491494 0.00537760
+v -0.01459940 0.02464917 0.00537760
+v -0.01459940 0.03481961 0.00221347
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+v -0.01883394 0.03114022 -0.04913296
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+v -0.02020926 0.03204835 0.00221347
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\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_191.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_191.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25f0a0f9d4bd26d6eddf54d5d9aa80f0828a69a9
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_191.obj
@@ -0,0 +1,168 @@
+# https://github.com/mikedh/trimesh
+v 0.03091063 -0.01881017 -0.03478642
+v 0.03088644 -0.01887052 -0.03478642
+v 0.03085015 -0.01881352 -0.03694241
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+v -0.02440557 -0.02647173 -0.03694241
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+v -0.01621035 -0.03216676 -0.03478642
+v -0.01520032 -0.03266804 -0.03478642
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+f 3 22 21
+f 3 21 17
+f 3 17 13
+f 3 13 7
+f 5 9 10
+f 6 11 12
+f 6 12 8
+f 9 13 10
+f 10 13 14
+f 11 15 12
+f 12 15 16
+f 13 17 14
+f 14 17 18
+f 15 19 20
+f 15 20 16
+f 17 21 18
+f 18 21 22
+f 18 22 23
+f 19 24 20
+f 20 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 36
+f 30 36 37
+f 30 37 31
+f 30 38 34
+f 32 39 33
+f 33 39 40
+f 34 38 42
+f 34 42 43
+f 34 43 41
+f 39 44 45
+f 39 45 40
+f 41 43 46
+f 43 47 46
+f 44 48 49
+f 44 49 45
+f 46 47 50
+f 47 51 52
+f 47 52 50
+f 48 53 49
+f 49 53 54
+f 51 55 56
+f 51 56 52
+f 53 57 54
+f 54 57 55
+f 55 57 56
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_195.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_195.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7386907399fef2888fc5bea07cd23c6bd9f188a0
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_195.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.02537952 0.00743413 -0.08454620
+v -0.02537952 0.01001067 -0.09472191
+v -0.02164679 0.01487369 -0.09472191
+v -0.01763194 0.01938234 -0.08454620
+v -0.01764711 0.01938234 -0.08257890
+v -0.01768275 0.01938234 -0.07834910
+v -0.02537952 0.00752652 -0.07834910
+v -0.02537952 0.01938234 -0.09472191
+v -0.01886506 0.01938234 -0.09472191
+v -0.01780182 0.01938234 -0.07599127
+v -0.02537952 0.00766687 -0.07599127
+v -0.02537952 0.01938234 -0.07599127
+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 12
+f 1 12 8
+f 1 8 2
+f 2 8 9
+f 2 9 3
+f 3 9 4
+f 4 9 8
+f 4 8 12
+f 4 12 10
+f 4 10 6
+f 4 6 5
+f 6 10 11
+f 6 11 7
+f 10 12 11
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_20.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a616dda71e5b85a9df4d1a374a8382e248c01f7c
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.01296444 0.02159854 0.10909034
+v -0.01296444 0.02300804 0.08684583
+v -0.01501799 0.02050399 0.10909034
+v -0.01296444 0.01033591 0.10909034
+v -0.01539474 0.02164321 0.08684583
+v -0.01296444 0.01257191 0.08684583
+v -0.01753983 0.02009745 0.08684583
+v -0.01899376 0.01898727 0.08684583
+v -0.01811689 0.01811163 0.10909034
+v -0.01296444 0.01062853 0.10478952
+v -0.01647856 0.00018793 0.10909034
+v -0.01296444 0.01220110 0.08852914
+v -0.01733155 0.00018793 0.08897991
+v -0.01760085 0.00018793 0.08684583
+v -0.02010411 0.01753309 0.08684583
+v -0.02050872 0.01501117 0.10909034
+v -0.01296444 0.01115794 0.09869433
+v -0.02517697 0.00018793 0.10909034
+v -0.01653162 0.00018793 0.10756818
+v -0.01296444 0.01210282 0.08897991
+v -0.01719757 0.00018793 0.09188487
+v -0.02651682 0.00018793 0.08684583
+v -0.02164958 0.01538868 0.08684583
+v -0.02419662 0.01101497 0.08684583
+v -0.02380793 0.00884823 0.10909034
+v -0.02517697 0.00358548 0.10909034
+v -0.01666295 0.00018793 0.10427778
+v -0.01677970 0.00018793 0.10137064
+v -0.01692164 0.00018793 0.09808023
+v -0.01704767 0.00018793 0.09517528
+v -0.02651549 0.00309629 0.08684583
+v -0.02546616 0.00814012 0.08684583
+v -0.02485726 0.00638885 0.10599157
+v -0.02429877 0.00726226 0.10909034
+v -0.02491829 0.00488777 0.10909034
+v -0.02596761 0.00600912 0.08684583
+f 1 2 3
+f 1 3 9
+f 1 9 16
+f 1 16 25
+f 1 25 34
+f 1 34 35
+f 1 35 26
+f 1 26 18
+f 1 18 11
+f 1 11 4
+f 1 4 10
+f 1 10 17
+f 1 17 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 5 3
+f 2 6 14
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+f 2 22 31
+f 2 31 36
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+f 3 7 8
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+f 10 11 17
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+f 11 21 30
+f 11 30 29
+f 11 29 28
+f 11 28 27
+f 11 27 19
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+f 16 23 24
+f 16 24 25
+f 18 26 22
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+f 20 30 21
+f 22 26 31
+f 24 32 25
+f 25 32 33
+f 25 33 34
+f 26 35 33
+f 26 33 31
+f 31 33 36
+f 32 36 33
+f 33 35 34
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_202.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_202.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2fa4fdda73be712ab73bb9b168b00da383bbb9c
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_202.obj
@@ -0,0 +1,231 @@
+# https://github.com/mikedh/trimesh
+v 0.00295230 0.03610655 -0.03141773
+v 0.00305636 0.03604027 -0.03328687
+v -0.00301370 0.03604027 -0.03328687
+v -0.00290271 0.03610366 -0.03141773
+v 0.00915417 0.03504320 -0.03141773
+v 0.00305636 0.03605468 -0.03273469
+v 0.00915417 0.03500286 -0.03273469
+v 0.00915417 0.03498557 -0.03328687
+v -0.00301370 0.03605468 -0.03273469
+v -0.00854960 0.03508355 -0.03328687
+v -0.00910458 0.03504320 -0.03141773
+v -0.00433177 0.03586736 -0.03141773
+v 0.01524505 0.03283583 -0.03141773
+v 0.01524505 0.03277532 -0.03328687
+v -0.00910458 0.03498557 -0.03328687
+v -0.00910458 0.03500286 -0.03273469
+v -0.01042265 0.03456772 -0.03141773
+v 0.01816562 0.03137481 -0.03141773
+v 0.01895646 0.03091663 -0.03328687
+v -0.01464047 0.03297703 -0.03328687
+v -0.01519545 0.03283583 -0.03141773
+v 0.01900502 0.03094832 -0.03141773
+v 0.01966405 0.03047285 -0.03141773
+v 0.02201577 0.02871502 -0.03273469
+v 0.02172441 0.02890521 -0.03328687
+v -0.01519545 0.03277532 -0.03328687
+v -0.01891380 0.03091663 -0.03328687
+v -0.01895542 0.03094832 -0.03141773
+v 0.02204352 0.02874095 -0.03141773
+v 0.02200190 0.02870349 -0.03328687
+v 0.02233488 0.02842973 -0.03328687
+v -0.02195230 0.02870061 -0.03328687
+v -0.02200086 0.02873807 -0.03141773
+v 0.02490859 0.02635492 -0.03141773
+v 0.02564393 0.02566043 -0.03328687
+v -0.02560127 0.02565755 -0.03328687
+v -0.02561515 0.02566907 -0.03273469
+v -0.02563596 0.02569501 -0.03141773
+v 0.02567862 0.02569501 -0.03141773
+v 0.02565781 0.02567196 -0.03273469
+v 0.02841882 0.02234649 -0.03328687
+v -0.02864671 0.02201221 -0.03328687
+v -0.02868140 0.02206120 -0.03141773
+v 0.02634459 0.02491695 -0.03141773
+v 0.02869631 0.02201221 -0.03328687
+v 0.02873099 0.02206120 -0.03141773
+v -0.02928493 0.02114194 -0.03328687
+v -0.03088743 0.01901814 -0.03141773
+v 0.02934841 0.02114194 -0.03289533
+v 0.02889749 0.02173557 -0.03328687
+v 0.02940390 0.02114194 -0.03141773
+v -0.03085274 0.01896627 -0.03328687
+v -0.03086662 0.01898356 -0.03273469
+v -0.03277435 0.01525466 -0.03141773
+v 0.03091622 0.01898356 -0.03273469
+v 0.03090234 0.01896915 -0.03328687
+v 0.03093703 0.01901814 -0.03141773
+v -0.03101924 0.01864352 -0.03328687
+v -0.03273273 0.01525466 -0.03273469
+v -0.03450866 0.01048258 -0.03141773
+v 0.03136020 0.01817669 -0.03141773
+v 0.03282395 0.01525466 -0.03141773
+v 0.03278233 0.01525466 -0.03273469
+v 0.03260196 0.01557741 -0.03328687
+v -0.03271192 0.01525466 -0.03328687
+v -0.03291310 0.01470425 -0.03328687
+v -0.03492489 0.00916565 -0.03328687
+v -0.03498039 0.00916565 -0.03141773
+v 0.03502998 0.00916565 -0.03141773
+v 0.03497449 0.00916565 -0.03328687
+v 0.03276152 0.01525466 -0.03328687
+v -0.03502201 0.00861525 -0.03328687
+v -0.03541743 0.00667011 -0.03141773
+v 0.03545316 0.00667011 -0.03141773
+v 0.03545316 0.00667011 -0.03172309
+v 0.03540459 0.00667011 -0.03328687
+v -0.03536887 0.00667011 -0.03296120
+v -0.03535500 0.00667011 -0.03328687
+f 1 2 3
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+f 1 4 12
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+f 1 17 21
+f 1 21 28
+f 1 28 33
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+f 1 38 43
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+f 1 48 54
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+f 2 8 14
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+f 2 30 31
+f 2 31 35
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+f 2 50 56
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+f 49 56 50
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+f 53 59 54
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+f 55 62 63
+f 55 63 64
+f 55 64 56
+f 58 65 59
+f 59 66 67
+f 59 67 60
+f 59 65 66
+f 60 67 68
+f 62 69 70
+f 62 70 63
+f 63 70 71
+f 63 71 64
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+f 68 72 73
+f 69 74 75
+f 69 75 70
+f 70 75 76
+f 72 77 73
+f 72 78 77
+f 73 77 78
+f 73 78 76
+f 73 76 75
+f 73 75 74
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_203.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_203.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e01c674bd688dbe6d31afba1ce1294987d6dd2fe
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_203.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v -0.01669290 -0.03541215 0.05176958
+v -0.02141095 -0.03284550 0.05176958
+v -0.01669290 -0.03540793 0.05072512
+v -0.01669290 -0.02491355 0.05176958
+v -0.02449681 -0.03077657 0.05176958
+v -0.02447523 -0.03075126 0.04559367
+v -0.02137564 -0.03282230 0.04559367
+v -0.01669290 -0.03536575 0.04559367
+v -0.01669682 -0.02466257 0.05176958
+v -0.01669290 -0.02465414 0.04741012
+v -0.02452036 -0.03075548 0.05176958
+v -0.02764742 -0.02765525 0.04559367
+v -0.02690587 -0.02691077 0.00841560
+v -0.02684505 -0.02684961 0.00537760
+v -0.02509515 -0.02842925 0.00537760
+v -0.02430849 -0.03062894 0.03939506
+v -0.02029667 -0.03211157 0.00537760
+v -0.02037906 -0.03216640 0.00841560
+v -0.02120889 -0.03271474 0.03939506
+v -0.01669290 -0.03532779 0.04444931
+v -0.01669290 -0.02321158 0.00537760
+v -0.02631341 -0.01386871 0.05176958
+v -0.02766507 -0.02767001 0.05176958
+v -0.03076271 -0.02451073 0.05176958
+v -0.03074701 -0.02447698 0.04559367
+v -0.02842428 -0.02509914 0.00537760
+v -0.02339430 -0.02994562 0.00537760
+v -0.02364345 -0.03013332 0.01461422
+v -0.02187589 -0.03101067 0.00537760
+v -0.01669290 -0.03397592 0.00537760
+v -0.02514616 -0.01386871 0.00537760
+v -0.03673433 -0.01386871 0.05176958
+v -0.03284022 -0.02141260 0.05176958
+v -0.03281864 -0.02137675 0.04559367
+v -0.03210848 -0.02030116 0.00537760
+v -0.03100596 -0.02188080 0.00537760
+v -0.02994269 -0.02339928 0.00537760
+v -0.03519434 -0.01386871 0.00537760
+v -0.03668921 -0.01386871 0.04559367
+v -0.03591823 -0.01566558 0.04559367
+v -0.03593981 -0.01571830 0.05176958
+v -0.03347779 -0.02024211 0.05176958
+v -0.03343464 -0.02024211 0.04559367
+v -0.03459404 -0.01549897 0.00537760
+v -0.03662447 -0.01386871 0.04369549
+f 1 2 3
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+f 1 10 4
+f 1 4 9
+f 1 9 22
+f 1 22 32
+f 1 32 41
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+f 1 24 23
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+f 14 27 15
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+f 15 28 16
+f 16 28 29
+f 16 29 17
+f 17 30 20
+f 21 31 22
+f 22 31 38
+f 22 38 45
+f 22 45 39
+f 22 39 32
+f 24 33 25
+f 25 33 34
+f 25 34 35
+f 25 35 36
+f 25 36 37
+f 25 37 26
+f 27 29 28
+f 32 39 40
+f 32 40 41
+f 33 42 34
+f 34 42 41
+f 34 41 43
+f 34 43 35
+f 35 43 40
+f 35 40 44
+f 38 44 45
+f 39 45 40
+f 40 45 44
+f 40 43 41
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_207.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_207.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c556524e74f2e9ec9e011fa9a70b9bbcffee4916
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_207.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.02386135 0.00793984 -0.11425412
+v -0.02386135 0.00931237 -0.11435834
+v -0.02154635 0.01293465 -0.11442782
+v -0.02161765 0.00793984 -0.11366931
+v -0.02386135 0.00793984 -0.09949302
+v -0.02386135 0.01293465 -0.11443940
+v -0.01890687 0.01293465 -0.11335277
+v -0.01890687 0.00932508 -0.11274673
+v -0.01890687 0.00793984 -0.11235300
+v -0.02130093 0.00793984 -0.09869591
+v -0.02386135 0.00910945 -0.09728117
+v -0.02386135 0.01293465 -0.09472191
+v -0.01890687 0.01293465 -0.09795862
+v -0.01890687 0.00793984 -0.09868819
+v -0.02083192 0.00793984 -0.09869397
+v -0.02386135 0.01271559 -0.09472191
+v -0.02367946 0.01293465 -0.09472191
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 14
+f 1 14 15
+f 1 15 10
+f 1 10 5
+f 1 5 11
+f 1 11 16
+f 1 16 12
+f 1 12 6
+f 1 6 2
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+f 3 6 12
+f 3 12 17
+f 3 17 13
+f 3 13 7
+f 3 7 4
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 7 13 14
+f 7 14 9
+f 7 9 8
+f 10 15 11
+f 11 15 14
+f 11 14 16
+f 12 16 17
+f 13 17 14
+f 14 17 16
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_210.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_210.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f1427c05ad4e1f69303aebeaab2bce55a4324e7
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_210.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v 0.00742868 -0.03798954 0.05795367
+v 0.00742868 -0.03513936 0.05795367
+v 0.00923333 -0.03769379 0.05795367
+v 0.00742990 -0.03748703 0.06182132
+v 0.00742868 -0.03748703 0.06182132
+v 0.00929598 -0.02771423 0.05795367
+v 0.00742868 -0.02812252 0.05796695
+v 0.00988719 -0.03754329 0.05795367
+v 0.01156108 -0.03693348 0.05934399
+v 0.00941581 -0.03595594 0.06400863
+v 0.00927591 -0.03255875 0.07068348
+v 0.00742868 -0.03370380 0.06916033
+v 0.00932761 -0.02769984 0.05795367
+v 0.01364187 -0.02589132 0.05795810
+v 0.00742868 -0.02462065 0.06744015
+v 0.01364187 -0.03627393 0.05795367
+v 0.01364187 -0.03626608 0.05824369
+v 0.01364187 -0.03516945 0.06185895
+v 0.01364187 -0.03416967 0.06445362
+v 0.01364187 -0.03239779 0.06820615
+v 0.00742868 -0.03141502 0.07355709
+v 0.01364187 -0.03196202 0.06904964
+v 0.01132751 -0.03065601 0.07294828
+v 0.00930450 -0.02692906 0.08056846
+v 0.01364187 -0.03338580 0.05795367
+v 0.01364187 -0.02575392 0.05840087
+v 0.00782829 -0.02462065 0.06710585
+v 0.00742868 -0.02462065 0.08056846
+v 0.00742868 -0.03123704 0.07386483
+v 0.01364187 -0.03024903 0.07182363
+v 0.01293509 -0.02511662 0.08056846
+v 0.00742868 -0.02727322 0.08056846
+v 0.00907884 -0.02462065 0.06606090
+v 0.01364187 -0.02462065 0.06245227
+v 0.01364187 -0.02462065 0.08056846
+v 0.01364187 -0.02469786 0.08056846
+f 1 2 6
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+f 1 21 29
+f 1 29 32
+f 1 32 28
+f 1 28 15
+f 1 15 7
+f 1 7 2
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+f 4 12 5
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+f 7 14 13
+f 7 15 14
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+f 11 24 21
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+f 14 26 34
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+f 14 35 36
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+f 21 24 29
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+f 22 24 23
+f 24 31 36
+f 24 36 35
+f 24 35 28
+f 24 28 32
+f 24 32 29
+f 24 30 31
+f 26 27 33
+f 26 33 34
+f 30 36 31
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_212.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_212.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d9920e8c1e682315992ee91a40399db568c61e5
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_212.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.03883134 0.00018793 0.05588008
+v -0.03883241 0.00309568 0.05588008
+v -0.02927596 0.00018793 0.05588008
+v -0.03869038 0.00018793 0.05799269
+v -0.03869038 0.00309568 0.05799269
+v -0.03771113 0.00941255 0.05756617
+v -0.03811906 0.00756416 0.05588008
+v -0.02792403 0.00923926 0.05588008
+v -0.02792403 0.00018793 0.06159684
+v -0.03775812 0.00018793 0.06248478
+v -0.03775812 0.00309568 0.06248478
+v -0.03748368 0.00742669 0.06182381
+v -0.03735980 0.01162253 0.05588008
+v -0.03782860 0.00937674 0.05588008
+v -0.03693052 0.01155784 0.05934954
+v -0.02792403 0.01198990 0.05588008
+v -0.02792403 0.00018793 0.08135858
+v -0.03638803 0.00018793 0.06558261
+v -0.03638803 0.00309568 0.06558261
+v -0.03255649 0.00927046 0.07068330
+v -0.03595341 0.00941255 0.06400875
+v -0.03723700 0.01198990 0.05588008
+v -0.03486417 0.01198990 0.06428062
+v -0.03656530 0.01198990 0.05986834
+v -0.03679276 0.01198990 0.05912008
+v -0.02792403 0.01198990 0.07623544
+v -0.02792403 0.00309568 0.08135608
+v -0.03385396 0.00309568 0.07038399
+v -0.03385396 0.00018793 0.07038399
+v -0.03504251 0.00018793 0.06813420
+v -0.03126862 0.00719102 0.07391831
+v -0.03218486 0.01198990 0.06966316
+v -0.03378241 0.01198990 0.06656783
+v -0.03065246 0.01132217 0.07294805
+v -0.02991455 0.01198990 0.07354417
+v -0.02792403 0.00928663 0.07860246
+v -0.03053499 0.01198990 0.07262381
+f 1 2 7
+f 1 7 14
+f 1 14 13
+f 1 13 22
+f 1 22 16
+f 1 16 8
+f 1 8 3
+f 1 3 9
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+f 1 29 30
+f 1 30 18
+f 1 18 10
+f 1 10 4
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+f 5 12 6
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+f 8 27 17
+f 8 17 9
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+f 13 15 22
+f 15 21 23
+f 15 23 24
+f 15 24 25
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+f 16 22 25
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+f 16 24 23
+f 16 23 33
+f 16 33 32
+f 16 32 37
+f 16 37 35
+f 16 35 26
+f 17 27 28
+f 17 28 29
+f 18 30 19
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+f 19 28 31
+f 19 31 20
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+f 20 31 34
+f 20 34 32
+f 21 33 23
+f 26 35 36
+f 27 36 31
+f 27 31 28
+f 28 30 29
+f 31 36 34
+f 32 34 37
+f 34 36 37
+f 35 37 36
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_216.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_216.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dfc0528dfddb6ec7b7d25e677311ecb82667495
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_216.obj
@@ -0,0 +1,267 @@
+# https://github.com/mikedh/trimesh
+v 0.03603875 0.00631407 -0.01738751
+v 0.03640457 0.00429309 -0.01738751
+v 0.03636153 0.00376369 -0.02034730
+v 0.03589529 0.00631407 -0.02034730
+v -0.03594099 0.00631407 -0.01738751
+v 0.03653368 0.00278051 -0.01738751
+v 0.03666279 0.00124692 -0.01738751
+v 0.03660541 0.00082256 -0.02034730
+v -0.03584774 0.00631407 -0.02034730
+v -0.03635702 0.00429309 -0.01738751
+v 0.03661258 0.00071752 -0.02034730
+v 0.03666279 -0.00119841 -0.01738751
+v -0.03631398 0.00376369 -0.02034730
+v -0.03661524 0.00125113 -0.01738751
+v 0.03661258 -0.00066481 -0.02034730
+v 0.03640457 -0.00424038 -0.01738751
+v 0.03636153 -0.00371098 -0.02034730
+v -0.03655786 0.00071752 -0.02034730
+v -0.03661524 -0.00119841 -0.01738751
+v 0.03547210 -0.00910585 -0.01738751
+v 0.03537885 -0.00910585 -0.02034730
+v -0.03655786 -0.00076985 -0.02034730
+v -0.03631398 -0.00371098 -0.02034730
+v -0.03635702 -0.00424038 -0.01738751
+v 0.03433878 -0.01227386 -0.01738751
+v 0.03329154 -0.01518978 -0.01738751
+v 0.03319112 -0.01518978 -0.02034730
+v -0.03535999 -0.00895459 -0.02034730
+v -0.03587644 -0.00684538 -0.01738751
+v 0.03325568 -0.01526541 -0.01738751
+v 0.03311939 -0.01533684 -0.02034730
+v -0.03533130 -0.00910585 -0.02034730
+v -0.03586209 -0.00692101 -0.01738751
+v 0.03118272 -0.01931996 -0.01738751
+v 0.03113251 -0.01924433 -0.02034730
+v 0.03224431 -0.01705950 -0.02034730
+v -0.03541737 -0.00910585 -0.01738751
+v -0.03314357 -0.01518978 -0.02034730
+v -0.03324399 -0.01518978 -0.01738751
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+v 0.02894478 -0.02228630 -0.02034730
+v -0.03219676 -0.01705950 -0.02034730
+v -0.03229000 -0.01706370 -0.01738751
+v -0.03229000 -0.01705950 -0.01749876
+v 0.02595370 -0.02590809 -0.01738751
+v 0.02589631 -0.02584927 -0.02034730
+v -0.03108496 -0.01924433 -0.02034730
+v -0.03113517 -0.01931996 -0.01738751
+v 0.02241030 -0.02895006 -0.01738751
+v 0.02233857 -0.02889124 -0.02034730
+v -0.02889723 -0.02229050 -0.02034730
+v -0.02895462 -0.02236613 -0.01738751
+v -0.03003772 -0.02085355 -0.01738751
+v 0.02236009 -0.02898787 -0.01738751
+v 0.01929728 -0.03108027 -0.02034730
+v -0.02584876 -0.02584927 -0.02034730
+v -0.02744114 -0.02413501 -0.01738751
+v 0.01936900 -0.03113069 -0.01738751
+v 0.01538089 -0.03306764 -0.02034730
+v 0.01523743 -0.03323990 -0.01738751
+v -0.02590615 -0.02590809 -0.01738751
+v -0.02573400 -0.02595431 -0.02034730
+v 0.01523743 -0.03313906 -0.02034730
+v 0.01232525 -0.03428610 -0.01738751
+v 0.00936285 -0.03525248 -0.02034730
+v -0.02413445 -0.02743748 -0.01738751
+v -0.02229102 -0.02889544 -0.02034730
+v 0.00915484 -0.03541634 -0.01738751
+v 0.00915484 -0.03532390 -0.02034730
+v -0.02236275 -0.02895006 -0.01738751
+v -0.02085645 -0.03003827 -0.01738751
+v -0.01935015 -0.03100464 -0.02034730
+v 0.00428446 -0.03635330 -0.01738751
+v 0.00375367 -0.03630708 -0.02034730
+v -0.01932145 -0.03113069 -0.01738751
+v -0.01924255 -0.03108027 -0.02034730
+v 0.00124316 -0.03660539 -0.01738751
+v 0.00071237 -0.03656338 -0.02034730
+v -0.01713373 -0.03225252 -0.01738751
+v -0.01518988 -0.03313906 -0.02034730
+v -0.00119561 -0.03660539 -0.01738751
+v -0.00066482 -0.03656338 -0.02034730
+v -0.01518988 -0.03323990 -0.01738751
+v -0.00910729 -0.03532390 -0.02034730
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+v -0.00423691 -0.03635330 -0.01738751
+v -0.00370612 -0.03630708 -0.02034730
+v -0.00910729 -0.03541634 -0.01738751
+v -0.00895666 -0.03535752 -0.02034730
+v -0.00691956 -0.03586591 -0.01738751
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+f 3 23 22
+f 3 22 18
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+f 3 9 4
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+f 7 12 15
+f 7 15 11
+f 9 13 10
+f 10 13 14
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+f 12 17 15
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+f 16 21 17
+f 19 22 23
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+f 20 25 21
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+f 30 34 35
+f 30 35 36
+f 30 36 31
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+f 32 38 39
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+f 34 40 35
+f 35 40 41
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+f 44 47 48
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+f 46 49 50
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+f 51 56 57
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+f 55 60 59
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+f 64 68 65
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+f 66 67 70
+f 67 71 70
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+f 68 73 69
+f 69 73 74
+f 71 72 75
+f 72 76 75
+f 73 77 78
+f 73 78 74
+f 75 76 79
+f 76 80 79
+f 77 81 82
+f 77 82 78
+f 79 80 83
+f 80 84 83
+f 81 85 82
+f 82 85 86
+f 82 86 87
+f 83 84 88
+f 84 89 88
+f 86 90 89
+f 86 89 87
+f 88 89 90
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_217.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_217.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af9bb170bdc04af41104b04b7909d5c6b4aebb3d
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_217.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.02538802 -0.01864638 -0.09471294
+v 0.02538802 -0.00998140 -0.09471294
+v 0.03253341 -0.01864638 -0.09471294
+v 0.02538802 -0.01864638 -0.07599127
+v 0.02680523 -0.00001812 -0.09471294
+v 0.02538802 -0.00742311 -0.08454577
+v 0.02622126 -0.00001812 -0.08454577
+v 0.03320878 -0.01735539 -0.09471294
+v 0.03064143 -0.01798082 -0.07599127
+v 0.03015953 -0.01864638 -0.07599127
+v 0.02538802 -0.00765651 -0.07599127
+v 0.03751145 -0.00001812 -0.09471294
+v 0.02538802 -0.00751793 -0.07834797
+v 0.02624025 -0.00001812 -0.08146153
+v 0.03401946 -0.01565047 -0.09471294
+v 0.03217021 -0.01488280 -0.07599127
+v 0.02630790 -0.00001812 -0.07599127
+v 0.02629841 -0.00001812 -0.07643842
+v 0.02626043 -0.00001812 -0.07834797
+v 0.03751145 -0.00252170 -0.09471294
+v 0.03526694 -0.00001812 -0.07599127
+v 0.03629483 -0.00941431 -0.09471294
+v 0.03417852 -0.00930125 -0.07599127
+v 0.03731798 -0.00517481 -0.09471294
+v 0.03526694 -0.00310338 -0.07599127
+v 0.03701175 -0.00692349 -0.09471294
+v 0.03486219 -0.00545927 -0.07599127
+v 0.03713756 -0.00586407 -0.09400190
+f 1 2 5
+f 1 5 12
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+f 1 20 24
+f 1 24 26
+f 1 26 22
+f 1 22 15
+f 1 15 8
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+f 1 3 10
+f 1 10 4
+f 1 4 11
+f 1 11 13
+f 1 13 6
+f 1 6 2
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+f 2 7 5
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+f 3 9 10
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+f 4 23 27
+f 4 27 25
+f 4 25 21
+f 4 21 17
+f 4 17 11
+f 5 7 14
+f 5 14 19
+f 5 19 18
+f 5 18 17
+f 5 17 21
+f 5 21 12
+f 6 13 7
+f 7 13 14
+f 8 15 16
+f 8 16 9
+f 11 17 18
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+f 11 19 13
+f 12 21 25
+f 12 25 20
+f 13 19 14
+f 15 22 16
+f 16 22 23
+f 20 25 24
+f 22 26 23
+f 23 26 28
+f 23 28 27
+f 24 28 26
+f 24 25 28
+f 25 27 28
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_218.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_218.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fde2874cb02ba9ac87a132bc2a471648bf97ebd
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_218.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.03527034 0.00291761 -0.05724740
+v -0.03527034 0.00307190 -0.05724740
+v -0.03522908 0.00155105 -0.05861242
+v -0.03526855 -0.00301150 -0.05724740
+v -0.03522908 0.00307190 -0.05861242
+v -0.03419410 0.00916081 -0.05724740
+v -0.03442191 0.00763996 -0.05861242
+v -0.03522729 -0.00301150 -0.05861242
+v -0.03520756 -0.00312722 -0.05861242
+v -0.03419231 -0.00910041 -0.05724740
+v -0.03167570 0.01570157 -0.05861242
+v -0.03415105 0.00916081 -0.05861242
+v -0.03166136 0.01582280 -0.05724740
+v -0.03415105 -0.00910041 -0.05861242
+v -0.03360217 -0.01058269 -0.05861242
+v -0.03413670 -0.00924919 -0.05724740
+v -0.03164342 0.01584484 -0.05748269
+v -0.03103534 0.01704058 -0.05861242
+v -0.03045418 0.01833550 -0.05724740
+v -0.03090620 0.01731058 -0.05861242
+v -0.03167570 -0.01564117 -0.05861242
+v -0.03166136 -0.01576239 -0.05724740
+v -0.02948018 0.01958084 -0.05857715
+v -0.03043086 0.01829693 -0.05861242
+v -0.02948018 0.01964696 -0.05724740
+v -0.03103893 -0.01697467 -0.05861242
+v -0.03148557 -0.01613159 -0.05724740
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+v -0.01694560 -0.03105355 -0.05856806
+v -0.01694560 -0.03104252 -0.05861242
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+f 1 3 4
+f 1 4 10
+f 1 10 16
+f 1 16 22
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+f 1 27 35
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+f 1 48 50
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+f 34 38 39
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+f 41 45 46
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+f 51 56 58
+f 51 58 59
+f 51 59 55
+f 53 57 58
+f 53 58 54
+f 54 58 56
+f 57 59 58
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_22.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34fbb2b2c45ae94d1d9ae6630cd189a6117f6b3b
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.02729739 0.00309488 0.08277930
+v 0.02729739 0.00003740 0.08277930
+v 0.02729739 0.00887828 0.08003149
+v 0.02520039 0.00358916 0.10987327
+v 0.02729613 0.00003481 0.08277930
+v 0.02729739 0.00003481 0.07966709
+v 0.02520039 0.00003481 0.10987327
+v 0.02729739 0.00887828 0.05956575
+v 0.02517011 0.00887828 0.08684192
+v 0.02409763 0.00797627 0.10987327
+v 0.02474112 0.00600778 0.10987327
+v 0.02729739 0.00003481 0.06356927
+v 0.01645151 0.00003481 0.10987327
+v 0.02013073 0.00003481 0.07710148
+v 0.01813845 0.00887828 0.07710148
+v 0.01528062 0.00887828 0.08684192
+v 0.01440750 0.00797627 0.10987327
+v 0.01447690 0.00797627 0.10756866
+v 0.01487813 0.00797627 0.09517890
+v 0.01653100 0.00003481 0.10756866
+v 0.01809681 0.00003481 0.08291718
+v 0.01592789 0.00887828 0.08279408
+v 0.01495762 0.00797627 0.09345045
+v 0.01732968 0.00003481 0.08897418
+v 0.01531721 0.00797627 0.08897418
+v 0.01704705 0.00003481 0.09517398
+v 0.01677956 0.00003481 0.10136886
+v 0.01665339 0.00003481 0.10450569
+f 1 2 6
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+f 1 3 4
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+f 19 23 24
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+f 19 27 28
+f 19 28 20
+f 23 25 24
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_220.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_220.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b02d509ee34ba9253872fb2ff53be8d83119eb7
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_220.obj
@@ -0,0 +1,231 @@
+# https://github.com/mikedh/trimesh
+v -0.00617058 -0.03553711 -0.02914445
+v -0.00617058 -0.03547340 -0.03141751
+v -0.00290765 -0.03603974 -0.03141751
+v -0.00270864 -0.03613177 -0.02914445
+v -0.00617058 0.03561746 -0.02914445
+v -0.00617058 0.03555375 -0.03141751
+v 0.00295899 -0.03603974 -0.03141751
+v 0.00275998 -0.03612470 -0.02914445
+v -0.00346736 0.03606346 -0.02914445
+v -0.00617058 0.03561038 -0.02958589
+v -0.00433388 0.03586524 -0.03141751
+v 0.00438522 -0.03579904 -0.03141751
+v 0.00645824 -0.03551587 -0.02914445
+v -0.00270864 0.03618381 -0.02914445
+v -0.00290765 0.03610593 -0.03141751
+v 0.00916145 -0.03498492 -0.03141751
+v 0.00916145 -0.03504863 -0.02914445
+v 0.00276412 0.03619089 -0.02914445
+v 0.00295899 0.03610593 -0.03141751
+v 0.01524368 -0.03276908 -0.03141751
+v 0.01524368 -0.03283988 -0.02914445
+v 0.00916145 0.03510775 -0.02914445
+v 0.00916145 0.03504403 -0.03141751
+v 0.01901243 -0.03087889 -0.03141751
+v 0.01718403 -0.03187000 -0.02914445
+v 0.01524368 0.03289899 -0.02914445
+v 0.01524368 0.03282819 -0.03141751
+v 0.02205147 -0.02866306 -0.03141751
+v 0.02211366 -0.02870553 -0.02914445
+v 0.01907047 -0.03091429 -0.02914445
+v 0.01718403 0.03193620 -0.02914445
+v 0.01718403 0.03191496 -0.02980772
+v 0.01718403 0.03188664 -0.03065011
+v 0.01817493 0.03136277 -0.03141751
+v 0.02569169 -0.02562601 -0.03141751
+v 0.02572900 -0.02566849 -0.02914445
+v 0.01907047 0.03097340 -0.02914445
+v 0.01901243 0.03093801 -0.03141751
+v 0.02873073 -0.02199431 -0.03141751
+v 0.02877634 -0.02205094 -0.02914445
+v 0.02086570 0.02968496 -0.02914445
+v 0.01967165 0.03046369 -0.03141751
+v 0.03094057 -0.01894311 -0.03141751
+v 0.03098203 -0.01899974 -0.02914445
+v 0.02211366 0.02876465 -0.02914445
+v 0.02205147 0.02872217 -0.03141751
+v 0.03282701 -0.01518397 -0.03141751
+v 0.03290164 -0.01518397 -0.02914445
+v 0.02360623 0.02751868 -0.02914445
+v 0.02407059 0.02711516 -0.02965086
+v 0.02407059 0.02704436 -0.03141751
+v 0.03456005 -0.01040541 -0.03141751
+v 0.03380962 -0.01268496 -0.02914445
+v 0.02407059 0.02712932 -0.02914445
+v 0.02573315 0.02572760 -0.02914445
+v 0.02569169 0.02568513 -0.03141751
+v 0.02490809 0.02634351 -0.03141751
+v 0.03503270 -0.00909573 -0.03141751
+v 0.03510318 -0.00909573 -0.02914445
+v 0.02752423 0.02360380 -0.02914445
+v 0.02877634 0.02211713 -0.02914445
+v 0.02634676 0.02490640 -0.03141751
+v 0.03586191 -0.00431717 -0.03141751
+v 0.03553852 -0.00659672 -0.02914445
+v 0.03098203 0.01906593 -0.02914445
+v 0.03046377 0.01966768 -0.03141751
+v 0.02873073 0.02205342 -0.03141751
+v 0.03609409 -0.00289422 -0.03141751
+v 0.03618530 -0.00269599 -0.02914445
+v 0.03213462 0.01677222 -0.02914445
+v 0.03094057 0.01900222 -0.03141751
+v 0.03609409 0.00295333 -0.03141751
+v 0.03618115 0.00275511 -0.02914445
+v 0.03290164 0.01523600 -0.02914445
+v 0.03282701 0.01523600 -0.03141751
+v 0.03136346 0.01815978 -0.03141751
+v 0.03503270 0.00914776 -0.03141751
+v 0.03510318 0.00914776 -0.02914445
+f 1 2 3
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+f 72 78 73
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\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_221.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_221.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adeb2d3a931819e69df44f1470916410165ce869
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_221.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.03214493 0.01938293 -0.09472191
+v -0.02961871 0.01938293 -0.07599127
+v -0.03186424 0.01992039 -0.09472191
+v -0.01886536 0.01938293 -0.09472191
+v -0.02796603 0.02168668 -0.07599127
+v -0.03071244 0.02157038 -0.09472191
+v -0.01780309 0.01938293 -0.07599127
+v -0.01488004 0.02164262 -0.09472191
+v -0.01763371 0.01938293 -0.08454620
+v -0.02975422 0.02280625 -0.09472191
+v -0.02521236 0.02520868 -0.07599127
+v -0.01768453 0.01938293 -0.07834910
+v -0.00751918 0.02538313 -0.07834910
+v -0.00752159 0.02538313 -0.07830693
+v -0.00765952 0.02538313 -0.07599127
+v -0.00998248 0.02538313 -0.09472191
+v -0.00742723 0.02538313 -0.08454620
+v -0.01764823 0.01938293 -0.08257890
+v -0.02852741 0.02432348 -0.09472191
+v -0.02498732 0.02538313 -0.07599127
+v -0.02757403 0.02538313 -0.09472191
+f 1 2 3
+f 1 3 6
+f 1 6 10
+f 1 10 19
+f 1 19 21
+f 1 21 16
+f 1 16 8
+f 1 8 4
+f 1 4 9
+f 1 9 18
+f 1 18 12
+f 1 12 7
+f 1 7 2
+f 2 5 6
+f 2 6 3
+f 2 7 15
+f 2 15 20
+f 2 20 11
+f 2 11 5
+f 4 8 9
+f 5 10 6
+f 5 11 10
+f 7 12 13
+f 7 13 14
+f 7 14 15
+f 8 16 17
+f 8 17 9
+f 9 17 18
+f 10 11 19
+f 11 20 21
+f 11 21 19
+f 12 18 17
+f 12 17 13
+f 13 17 16
+f 13 16 21
+f 13 21 20
+f 13 20 15
+f 13 15 14
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_226.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_226.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77b41a0bb6683ec622a62d15bfbe5b53b24c5c4b
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_226.obj
@@ -0,0 +1,222 @@
+# https://github.com/mikedh/trimesh
+v 0.00306328 0.03598961 -0.03478664
+v 0.00915512 0.03494113 -0.03478664
+v 0.00306328 0.03592562 -0.03694241
+v -0.00301536 0.03598961 -0.03478664
+v 0.01524695 0.03272605 -0.03478664
+v 0.00915512 0.03487222 -0.03694241
+v -0.00301536 0.03592562 -0.03694241
+v -0.00489637 0.03560566 -0.03694241
+v -0.00737798 0.03524140 -0.03478664
+v 0.01770877 0.03143146 -0.03694241
+v 0.01524695 0.03265221 -0.03694241
+v 0.01891657 0.03088999 -0.03478664
+v -0.00910059 0.03487222 -0.03694241
+v -0.00910059 0.03494113 -0.03478664
+v 0.01885717 0.03085061 -0.03694241
+v 0.01930598 0.03060941 -0.03478664
+v 0.01980098 0.03017132 -0.03694241
+v -0.01098820 0.03418801 -0.03694241
+v -0.01346982 0.03335612 -0.03478664
+v 0.02196579 0.02867491 -0.03478664
+v 0.02190639 0.02863060 -0.03694241
+v -0.01519243 0.03265221 -0.03694241
+v -0.01519243 0.03272605 -0.03478664
+v 0.02296240 0.02784794 -0.03478664
+v 0.02445401 0.02652873 -0.03694241
+v -0.01880925 0.03085553 -0.03694241
+v -0.01887525 0.03088999 -0.03478664
+v 0.02561561 0.02562793 -0.03478664
+v 0.02558262 0.02558855 -0.03694241
+v -0.01890825 0.03078662 -0.03694241
+v -0.02191787 0.02866998 -0.03478664
+v 0.02600502 0.02517015 -0.03478664
+v 0.02783983 0.02296983 -0.03478664
+v 0.02661222 0.02434810 -0.03694241
+v -0.02185847 0.02863060 -0.03694241
+v -0.02552809 0.02558855 -0.03694241
+v -0.02556769 0.02562793 -0.03478664
+v 0.02866483 0.02197550 -0.03478664
+v 0.02862523 0.02191643 -0.03694241
+v -0.02857071 0.02191643 -0.03694241
+v -0.02861691 0.02197058 -0.03478664
+v -0.02573269 0.02543104 -0.03478664
+v 0.02927204 0.02114854 -0.03478664
+v 0.03009704 0.01990809 -0.03694241
+v -0.03079492 0.01886946 -0.03694241
+v -0.03083452 0.01892853 -0.03478664
+v 0.03088245 0.01892853 -0.03478664
+v 0.03084285 0.01887438 -0.03694241
+v -0.03085432 0.01876117 -0.03694241
+v -0.03095332 0.01869226 -0.03478664
+v 0.03148965 0.01772746 -0.03478664
+v 0.03141705 0.01772746 -0.03694241
+v -0.03136252 0.01772746 -0.03694241
+v -0.03143513 0.01772746 -0.03478980
+v -0.03124373 0.01772254 -0.03478664
+v 0.03214305 0.01640825 -0.03478664
+v 0.03264466 0.01524657 -0.03694241
+v -0.03124373 -0.01428791 -0.03694241
+v -0.03124373 -0.01428791 -0.03478664
+v 0.03271726 0.01524657 -0.03478664
+v 0.03486227 0.00916246 -0.03694241
+v 0.03297466 -0.01428791 -0.03694241
+v 0.03304726 -0.01428791 -0.03478664
+v 0.03492827 0.00916246 -0.03478664
+v 0.03519227 0.00728210 -0.03694241
+v 0.03410987 -0.01117202 -0.03694241
+v 0.03465107 -0.00987250 -0.03478664
+v 0.03570048 0.00472245 -0.03478664
+v 0.03592488 0.00307344 -0.03694241
+v 0.03486227 -0.00909968 -0.03694241
+v 0.03492827 -0.00909968 -0.03478664
+v 0.03598428 0.00307344 -0.03478664
+v 0.03599088 -0.00301066 -0.03478664
+v 0.03592488 -0.00301066 -0.03694241
+v 0.03521867 -0.00745068 -0.03478664
+f 1 2 3
+f 1 3 7
+f 1 7 4
+f 1 4 9
+f 1 9 14
+f 1 14 19
+f 1 19 23
+f 1 23 27
+f 1 27 31
+f 1 31 37
+f 1 37 42
+f 1 42 41
+f 1 41 46
+f 1 46 50
+f 1 50 55
+f 1 55 59
+f 1 59 63
+f 1 63 67
+f 1 67 71
+f 1 71 75
+f 1 75 73
+f 1 73 72
+f 1 72 68
+f 1 68 64
+f 1 64 60
+f 1 60 56
+f 1 56 51
+f 1 51 47
+f 1 47 43
+f 1 43 38
+f 1 38 33
+f 1 33 32
+f 1 32 28
+f 1 28 24
+f 1 24 20
+f 1 20 16
+f 1 16 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 3
+f 3 6 11
+f 3 11 10
+f 3 10 15
+f 3 15 17
+f 3 17 21
+f 3 21 25
+f 3 25 29
+f 3 29 34
+f 3 34 39
+f 3 39 44
+f 3 44 48
+f 3 48 52
+f 3 52 57
+f 3 57 61
+f 3 61 65
+f 3 65 69
+f 3 69 74
+f 3 74 70
+f 3 70 66
+f 3 66 62
+f 3 62 58
+f 3 58 53
+f 3 53 49
+f 3 49 45
+f 3 45 40
+f 3 40 36
+f 3 36 35
+f 3 35 30
+f 3 30 26
+f 3 26 22
+f 3 22 18
+f 3 18 13
+f 3 13 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 5 10 11
+f 5 11 6
+f 5 12 10
+f 8 13 14
+f 8 14 9
+f 10 12 15
+f 12 16 17
+f 12 17 15
+f 13 18 14
+f 14 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 28 29
+f 24 29 25
+f 26 30 27
+f 27 30 31
+f 28 32 29
+f 29 32 33
+f 29 33 34
+f 30 35 31
+f 31 35 36
+f 31 36 37
+f 33 38 34
+f 34 38 39
+f 36 40 41
+f 36 41 42
+f 36 42 37
+f 38 43 39
+f 39 43 44
+f 40 45 41
+f 41 45 46
+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 50 54 55
+f 51 56 52
+f 52 56 57
+f 53 58 54
+f 54 58 59
+f 54 59 55
+f 56 60 57
+f 57 60 61
+f 58 62 63
+f 58 63 59
+f 60 64 61
+f 61 64 65
+f 62 66 63
+f 63 66 67
+f 64 68 69
+f 64 69 65
+f 66 70 67
+f 67 70 71
+f 68 72 69
+f 69 72 73
+f 69 73 74
+f 70 74 75
+f 70 75 71
+f 73 75 74
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_228.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_228.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bab6defe190152f4a2d6fa3f9b2becb0920a39ac
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_228.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.00266789 -0.03755264 -0.09497030
+v -0.00492034 -0.03738625 -0.09497030
+v -0.00103041 -0.03755264 -0.09497030
+v -0.00309908 -0.03527155 -0.07599127
+v -0.00624367 -0.03722730 -0.09497030
+v 0.00190680 -0.03755140 -0.09497030
+v 0.00190680 -0.03527155 -0.07599127
+v -0.00858133 -0.03430547 -0.07599127
+v -0.00730008 -0.03696902 -0.09497030
+v 0.00190680 -0.02680656 -0.09497030
+v 0.00190680 -0.02631235 -0.07599127
+v -0.00858133 -0.02496630 -0.07599127
+v -0.00858133 -0.03651330 -0.09497030
+v -0.00858133 -0.02570265 -0.09497030
+v -0.00858133 -0.02486696 -0.08454632
+v 0.00190680 -0.02622543 -0.08454632
+v 0.00190680 -0.02628876 -0.07715795
+v -0.00858133 -0.02490421 -0.07834879
+v 0.00190680 -0.02623288 -0.08335549
+v 0.00190680 -0.02627386 -0.07789549
+v 0.00190680 -0.02626516 -0.07834879
+f 1 2 5
+f 1 5 9
+f 1 9 13
+f 1 13 14
+f 1 14 10
+f 1 10 6
+f 1 6 3
+f 1 3 7
+f 1 7 4
+f 1 4 2
+f 2 4 5
+f 3 6 7
+f 4 7 11
+f 4 11 12
+f 4 12 8
+f 4 8 5
+f 5 8 9
+f 6 10 16
+f 6 16 19
+f 6 19 21
+f 6 21 20
+f 6 20 17
+f 6 17 11
+f 6 11 7
+f 8 12 18
+f 8 18 15
+f 8 15 14
+f 8 14 13
+f 8 13 9
+f 10 14 15
+f 10 15 16
+f 11 17 18
+f 11 18 12
+f 15 18 16
+f 16 18 19
+f 17 20 18
+f 18 21 19
+f 18 20 21
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_23.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5c02d56497d78adcdc88074e64bb72782dfad2b
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,102 @@
+# https://github.com/mikedh/trimesh
+v -0.02128948 0.01456571 -0.12990558
+v -0.01472062 0.01456571 -0.12865058
+v -0.02128948 0.00002686 -0.12901465
+v -0.02737916 0.00002686 -0.12985526
+v -0.02737916 0.00307523 -0.12985526
+v -0.02737916 0.00916345 -0.12947935
+v -0.02743946 0.01456571 -0.12849074
+v -0.00305851 0.01456571 -0.12636257
+v -0.00305851 0.00002686 -0.12425215
+v -0.02950214 0.00002686 -0.12903833
+v -0.03162829 0.00307523 -0.12821843
+v -0.03113960 0.00916345 -0.12780701
+v -0.02801701 0.01456571 -0.12823028
+v -0.00305851 0.01456571 -0.09967010
+v -0.00305851 0.00002686 -0.09967010
+v -0.03162829 0.00002686 -0.12821843
+v -0.03416698 0.00307523 -0.12407752
+v -0.03314516 0.00916345 -0.12407752
+v -0.03066359 0.01273839 -0.12736598
+v -0.03116498 0.01456571 -0.12431135
+v -0.01052544 0.01456571 -0.09966713
+v -0.01052544 0.00002686 -0.09966713
+v -0.03416698 0.00002686 -0.12407752
+v -0.03547758 0.00307523 -0.11798602
+v -0.03440816 0.00916345 -0.11798602
+v -0.03139981 0.01456571 -0.12367497
+v -0.03085717 0.01456571 -0.09966713
+v -0.03396706 0.00002686 -0.09966713
+v -0.03482070 0.00002686 -0.12103473
+v -0.03547441 0.00002686 -0.11798602
+v -0.03396706 0.00307523 -0.09966713
+v -0.03287860 0.00916345 -0.09966713
+v -0.03122845 0.01390110 -0.09966713
+v -0.03241846 0.01456571 -0.11798602
+v -0.03089208 0.01456571 -0.09967897
+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 20
+f 1 20 26
+f 1 26 34
+f 1 34 35
+f 1 35 27
+f 1 27 21
+f 1 21 14
+f 1 14 8
+f 1 8 2
+f 2 8 3
+f 3 8 9
+f 3 9 15
+f 3 15 22
+f 3 22 28
+f 3 28 30
+f 3 30 29
+f 3 29 23
+f 3 23 16
+f 3 16 10
+f 3 10 4
+f 4 10 5
+f 5 10 11
+f 5 11 6
+f 6 11 12
+f 6 12 7
+f 7 12 13
+f 8 14 15
+f 8 15 9
+f 10 16 11
+f 11 16 23
+f 11 23 17
+f 11 17 12
+f 12 17 18
+f 12 18 19
+f 12 19 13
+f 13 19 20
+f 14 21 22
+f 14 22 15
+f 17 23 24
+f 17 24 18
+f 18 24 25
+f 18 25 26
+f 18 26 20
+f 18 20 19
+f 21 27 33
+f 21 33 32
+f 21 32 31
+f 21 31 28
+f 21 28 22
+f 23 29 24
+f 24 30 28
+f 24 28 31
+f 24 31 25
+f 24 29 30
+f 25 31 32
+f 25 32 33
+f 25 33 34
+f 25 34 26
+f 27 35 33
+f 33 35 34
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_230.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_230.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a055c8b02195def7dcba65071d898fb3b82e84f
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_230.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.01176577 -0.01187415 -0.01131040
+v 0.03467387 -0.01187415 -0.01131040
+v 0.01176577 -0.01187415 -0.00816343
+v 0.01176577 0.03470570 -0.01131040
+v 0.03474727 -0.01187415 -0.00816343
+v 0.03563051 -0.00911400 -0.01131040
+v 0.01176577 0.03481081 -0.00816343
+v 0.01501494 0.03368664 -0.00816343
+v 0.01524982 0.03349928 -0.01131040
+v 0.03571125 -0.00888094 -0.01131040
+v 0.03573572 -0.00901803 -0.00816343
+v 0.01524982 0.03359981 -0.00816343
+v 0.01524982 0.03359524 -0.00837662
+v 0.01727321 0.03246194 -0.01131040
+v 0.03573083 -0.00882153 -0.01131040
+v 0.03589964 -0.00854278 -0.00816343
+v 0.01945808 0.03142916 -0.00816343
+v 0.01953392 0.03129207 -0.01131040
+v 0.03649663 -0.00533935 -0.01131040
+v 0.03651865 -0.00555870 -0.01002327
+v 0.03654556 -0.00582375 -0.00816343
+v 0.01961466 0.03134691 -0.00816343
+v 0.01972232 0.03127379 -0.00816343
+v 0.02111202 0.03017704 -0.01131040
+v 0.03649908 -0.00532564 -0.01131040
+v 0.03660673 -0.00403696 -0.01131040
+v 0.03675842 -0.00334236 -0.00816343
+v 0.02266076 0.02918997 -0.00816343
+v 0.02257757 0.02913056 -0.01131040
+v 0.03673151 -0.00251979 -0.01131040
+v 0.03676087 0.00337980 -0.00816343
+v 0.02602002 0.02625159 -0.00816343
+v 0.02427311 0.02766366 -0.01131040
+v 0.02265586 0.02918540 -0.00837662
+v 0.03673151 0.00258009 -0.01131040
+v 0.03657492 0.00449026 -0.01131040
+v 0.03651865 0.00561900 -0.01002419
+v 0.03675842 0.00340265 -0.00816343
+v 0.02613991 0.02614649 -0.00816343
+v 0.02607874 0.02608251 -0.01131040
+v 0.03649908 0.00539051 -0.01131040
+v 0.03624218 0.00664720 -0.01131040
+v 0.03589964 0.00860764 -0.00816343
+v 0.03590454 0.00858022 -0.00816343
+v 0.02626224 0.02600939 -0.00816343
+v 0.02610321 0.02605509 -0.01131040
+v 0.03573083 0.00888640 -0.01131040
+v 0.03368052 0.01501905 -0.00816343
+v 0.02918356 0.02266431 -0.00816343
+v 0.02918111 0.02265974 -0.00837662
+v 0.02765684 0.02427744 -0.01131040
+v 0.03351170 0.01519727 -0.01131040
+v 0.03349213 0.01525211 -0.01131040
+v 0.03358999 0.01525211 -0.00837662
+v 0.03359489 0.01525211 -0.00816343
+v 0.03126812 0.01972593 -0.00816343
+v 0.02912484 0.02258205 -0.01131040
+v 0.03128769 0.01953857 -0.01131040
+v 0.03018914 0.02108773 -0.01131040
+v 0.03245475 0.01727653 -0.01131040
+v 0.03130726 0.01950201 -0.01131040
+v 0.03142470 0.01946089 -0.00816343
+v 0.03134151 0.01961626 -0.00816343
+v 0.03133907 0.01961169 -0.00837662
+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 18
+f 1 18 24
+f 1 24 29
+f 1 29 33
+f 1 33 40
+f 1 40 46
+f 1 46 51
+f 1 51 57
+f 1 57 59
+f 1 59 58
+f 1 58 61
+f 1 61 60
+f 1 60 53
+f 1 53 52
+f 1 52 47
+f 1 47 42
+f 1 42 41
+f 1 41 36
+f 1 36 35
+f 1 35 30
+f 1 30 26
+f 1 26 25
+f 1 25 19
+f 1 19 15
+f 1 15 10
+f 1 10 6
+f 1 6 2
+f 2 6 5
+f 3 5 11
+f 3 11 16
+f 3 16 21
+f 3 21 27
+f 3 27 31
+f 3 31 38
+f 3 38 44
+f 3 44 43
+f 3 43 48
+f 3 48 55
+f 3 55 62
+f 3 62 63
+f 3 63 56
+f 3 56 49
+f 3 49 45
+f 3 45 39
+f 3 39 32
+f 3 32 28
+f 3 28 23
+f 3 23 22
+f 3 22 17
+f 3 17 12
+f 3 12 8
+f 3 8 7
+f 4 7 8
+f 4 8 9
+f 5 6 10
+f 5 10 11
+f 8 12 13
+f 8 13 9
+f 9 13 14
+f 10 15 16
+f 10 16 11
+f 12 17 13
+f 13 17 14
+f 14 17 18
+f 15 19 20
+f 15 20 21
+f 15 21 16
+f 17 22 18
+f 18 22 23
+f 18 23 24
+f 19 25 20
+f 20 25 26
+f 20 26 27
+f 20 27 21
+f 23 28 24
+f 24 28 29
+f 26 30 27
+f 27 30 31
+f 28 32 33
+f 28 33 34
+f 28 34 29
+f 29 34 33
+f 30 35 31
+f 31 35 36
+f 31 36 37
+f 31 37 38
+f 32 39 40
+f 32 40 33
+f 36 41 37
+f 37 41 42
+f 37 42 43
+f 37 43 44
+f 37 44 38
+f 39 45 46
+f 39 46 40
+f 42 47 43
+f 43 47 48
+f 45 49 50
+f 45 50 51
+f 45 51 46
+f 47 52 48
+f 48 52 53
+f 48 53 54
+f 48 54 55
+f 49 56 50
+f 50 57 51
+f 50 56 58
+f 50 58 59
+f 50 59 57
+f 53 60 54
+f 54 60 61
+f 54 61 62
+f 54 62 55
+f 56 63 64
+f 56 64 58
+f 58 64 61
+f 61 64 62
+f 62 64 63
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_232.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_232.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f16415b2cb4546d39d44de41a7eec3a376067be2
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_232.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.01303943 -0.01560140 -0.07138954
+v 0.00740123 -0.01560140 -0.07138954
+v -0.01303943 -0.01560140 -0.06871097
+v -0.01303943 0.03236630 -0.07138954
+v 0.00740123 -0.01560140 -0.06871097
+v 0.00740123 0.03412399 -0.07138954
+v -0.01303943 0.03245047 -0.06871097
+v -0.01303943 0.03244552 -0.06889032
+v -0.00910977 0.03387643 -0.06927317
+v -0.00910977 0.03380711 -0.07138954
+v 0.00740123 0.03420321 -0.06871097
+v 0.00518429 0.03452009 -0.07138954
+v 0.00306739 0.03498056 -0.06871097
+v 0.00740123 0.03419331 -0.06911085
+v -0.00910977 0.03389128 -0.06871097
+v -0.00412966 0.03478251 -0.06871097
+v -0.00699287 0.03418836 -0.07138954
+v 0.00306739 0.03489639 -0.07138954
+v -0.00301919 0.03489639 -0.07138954
+v -0.00301919 0.03496075 -0.06927317
+v -0.00301919 0.03497561 -0.06871097
+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 17
+f 1 17 19
+f 1 19 18
+f 1 18 12
+f 1 12 6
+f 1 6 2
+f 2 6 14
+f 2 14 11
+f 2 11 5
+f 3 5 11
+f 3 11 13
+f 3 13 21
+f 3 21 16
+f 3 16 15
+f 3 15 7
+f 4 8 9
+f 4 9 10
+f 6 12 13
+f 6 13 14
+f 7 15 9
+f 7 9 8
+f 9 15 16
+f 9 16 17
+f 9 17 10
+f 11 14 13
+f 12 18 13
+f 13 18 19
+f 13 19 20
+f 13 20 21
+f 16 21 20
+f 16 20 19
+f 16 19 17
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_234.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_234.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97f34612f794dd30d74e3bcf3132624d2db48901
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_234.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v 0.02603535 -0.01329640 0.05795247
+v 0.02655094 -0.01329640 0.04572374
+v 0.03639069 -0.01329640 0.05795247
+v 0.02906749 0.00003481 0.05795247
+v 0.03693955 -0.01329640 0.04572374
+v 0.02967392 0.00003481 0.04572374
+v 0.03677195 -0.01329640 0.05598558
+v 0.03722229 -0.01249647 0.05521582
+v 0.03754086 -0.00988660 0.05795247
+v 0.03869231 0.00003481 0.05795247
+v 0.03725044 -0.01256955 0.04572374
+v 0.03727091 -0.01262174 0.05179441
+v 0.03698177 -0.01329640 0.05179441
+v 0.03906461 0.00003481 0.04572374
+v 0.03690501 -0.01329640 0.05436706
+v 0.03771102 -0.00941944 0.05756460
+v 0.03811019 -0.00929938 0.05179441
+v 0.03768927 -0.00923936 0.05795247
+v 0.03910299 0.00003481 0.05179441
+v 0.03869231 -0.00310356 0.05795247
+v 0.03910427 -0.00310356 0.05179441
+v 0.03805389 -0.00936724 0.04572374
+v 0.03906461 -0.00310356 0.04572374
+v 0.03860275 -0.00366598 0.05795247
+v 0.03807052 -0.00929938 0.04572374
+f 1 2 5
+f 1 5 13
+f 1 13 15
+f 1 15 7
+f 1 7 3
+f 1 3 9
+f 1 9 18
+f 1 18 24
+f 1 24 20
+f 1 20 10
+f 1 10 4
+f 1 4 2
+f 2 4 6
+f 2 6 14
+f 2 14 23
+f 2 23 25
+f 2 25 22
+f 2 22 11
+f 2 11 5
+f 3 7 8
+f 3 8 9
+f 4 10 19
+f 4 19 14
+f 4 14 6
+f 5 11 12
+f 5 12 13
+f 7 15 8
+f 8 16 9
+f 8 15 12
+f 8 12 17
+f 8 17 16
+f 9 16 18
+f 10 20 21
+f 10 21 19
+f 11 22 17
+f 11 17 12
+f 12 15 13
+f 14 19 21
+f 14 21 23
+f 16 17 21
+f 16 21 24
+f 16 24 18
+f 17 22 25
+f 17 25 23
+f 17 23 21
+f 20 24 21
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_237.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_237.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a62af30d2bb1a21964a07804d0f6027aa6d2abcf
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_237.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v -0.02220277 -0.01194057 0.10990776
+v -0.02382694 -0.00889419 0.10990776
+v -0.01620347 -0.01194057 0.10990776
+v -0.02384566 -0.01194057 0.11988317
+v -0.02433156 -0.01121518 0.11996585
+v -0.02474254 -0.00601284 0.10990776
+v -0.02541364 -0.00811657 0.11996585
+v -0.01620347 -0.00369898 0.10990776
+v -0.01620347 -0.01194057 0.13672667
+v -0.02441271 -0.01194057 0.12591376
+v -0.02453965 -0.01178267 0.12615914
+v -0.02562797 -0.00868406 0.12615914
+v -0.02520347 -0.00359688 0.10990776
+v -0.02634797 -0.00310300 0.11996585
+v -0.02682450 -0.00310300 0.12615914
+v -0.01645110 0.00018793 0.10990776
+v -0.01643133 0.00018793 0.11047855
+v -0.01631896 0.00018793 0.11376723
+v -0.01620971 0.00018793 0.11996585
+v -0.01620347 -0.00338200 0.11376723
+v -0.01620347 -0.00974898 0.13671867
+v -0.02168983 0.00018793 0.13715342
+v -0.02168983 -0.00310300 0.13715609
+v -0.02086682 -0.01194057 0.13666265
+v -0.02443352 -0.01194057 0.12615914
+v -0.02330983 -0.01194057 0.13242978
+v -0.02407560 -0.01076761 0.13235776
+v -0.02531479 -0.00766900 0.13235776
+v -0.02520347 -0.00217342 0.10990776
+v -0.02631052 0.00018793 0.11996585
+v -0.02520243 0.00018793 0.10990776
+v -0.02683179 0.00018793 0.12615914
+v -0.02660809 0.00018793 0.12325720
+v -0.02623352 -0.00310300 0.13235776
+v -0.02627722 0.00018793 0.13235776
+v -0.02655398 0.00018793 0.12945049
+v -0.01620347 -0.00311962 0.11998453
+v -0.01620347 -0.00311962 0.11996585
+v -0.01622220 0.00018793 0.12615914
+v -0.01620347 -0.00365624 0.13235776
+v -0.01620347 -0.00314930 0.12615914
+v -0.01620347 -0.00779484 0.13665732
+v -0.02526173 0.00018793 0.13607053
+v -0.01952046 0.00018793 0.13682802
+v -0.02190832 -0.00902360 0.13679869
+v -0.02526277 -0.00310300 0.13607053
+v -0.02499121 -0.00677266 0.13573179
+v -0.01631896 0.00018793 0.12906641
+v -0.01642925 0.00018793 0.13235776
+v -0.01760185 0.00018793 0.13653996
+f 1 2 6
+f 1 6 13
+f 1 13 29
+f 1 29 31
+f 1 31 16
+f 1 16 8
+f 1 8 3
+f 1 3 9
+f 1 9 24
+f 1 24 26
+f 1 26 25
+f 1 25 10
+f 1 10 4
+f 1 4 5
+f 1 5 2
+f 2 5 7
+f 2 7 6
+f 3 8 20
+f 3 20 38
+f 3 38 37
+f 3 37 41
+f 3 41 40
+f 3 40 42
+f 3 42 21
+f 3 21 9
+f 4 10 5
+f 5 10 11
+f 5 11 12
+f 5 12 7
+f 6 7 13
+f 7 14 13
+f 7 12 15
+f 7 15 14
+f 8 16 17
+f 8 17 18
+f 8 18 19
+f 8 19 20
+f 9 21 22
+f 9 22 23
+f 9 23 24
+f 10 25 11
+f 11 25 26
+f 11 26 27
+f 11 27 28
+f 11 28 12
+f 12 28 15
+f 13 14 29
+f 14 30 31
+f 14 31 29
+f 14 15 32
+f 14 32 33
+f 14 33 30
+f 15 28 34
+f 15 34 35
+f 15 35 36
+f 15 36 32
+f 16 31 30
+f 16 30 33
+f 16 33 32
+f 16 32 36
+f 16 36 35
+f 16 35 43
+f 16 43 22
+f 16 22 44
+f 16 44 50
+f 16 50 49
+f 16 49 48
+f 16 48 39
+f 16 39 19
+f 16 19 18
+f 16 18 17
+f 19 37 38
+f 19 38 20
+f 19 39 40
+f 19 40 41
+f 19 41 37
+f 21 42 22
+f 22 43 23
+f 22 42 44
+f 23 45 24
+f 23 43 46
+f 23 46 45
+f 24 45 47
+f 24 47 26
+f 26 47 27
+f 27 47 28
+f 28 47 34
+f 34 47 46
+f 34 46 35
+f 35 46 43
+f 39 48 40
+f 40 48 49
+f 40 49 42
+f 42 49 50
+f 42 50 44
+f 45 46 47
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_240.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_240.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47d1686cda27141cf3f97a81bb797584719d6517
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_240.obj
@@ -0,0 +1,138 @@
+# https://github.com/mikedh/trimesh
+v 0.00306736 0.03463830 -0.08012084
+v 0.00915819 0.03354004 -0.08012084
+v 0.00306736 0.03459830 -0.08145245
+v -0.00301870 0.03455700 -0.08279821
+v -0.00301870 0.03463701 -0.08012084
+v 0.01333163 0.03203526 -0.08012084
+v 0.01445726 0.03155130 -0.08279821
+v 0.01029337 0.03305221 -0.08279821
+v 0.00915819 0.03345745 -0.08279821
+v 0.00306736 0.03455700 -0.08279821
+v -0.00776449 0.03370136 -0.08279821
+v -0.00434943 0.03439826 -0.08012084
+v 0.01454311 0.03159389 -0.08012084
+v 0.01450019 0.03157324 -0.08145245
+v 0.01521086 0.03126996 -0.08012084
+v 0.01759091 0.03010330 -0.08012084
+v 0.01682777 0.03038851 -0.08279821
+v -0.00910952 0.03345745 -0.08279821
+v -0.00910952 0.03354004 -0.08012084
+v 0.02055286 0.02798551 -0.08012084
+v 0.01838267 0.02942963 -0.08279821
+v 0.01750029 0.03005555 -0.08279821
+v -0.01440859 0.03155130 -0.08279821
+v -0.01449922 0.03159389 -0.08012084
+v 0.02133508 0.02741895 -0.08012084
+v 0.02133508 0.02731829 -0.08279821
+v -0.01745162 0.03005555 -0.08279821
+v -0.01749932 0.03008007 -0.08145245
+v -0.01754225 0.03010330 -0.08012084
+v 0.02351958 0.02570768 -0.08012084
+v 0.02468814 0.02469589 -0.08279821
+v 0.02205530 0.02675819 -0.08279821
+v -0.02128641 0.02731829 -0.08279821
+v -0.02128641 0.02741895 -0.08012084
+v 0.02474060 0.02474880 -0.08012084
+v 0.02534158 0.02398350 -0.08012084
+v 0.02569930 0.02352794 -0.08012084
+v 0.02726851 0.02145402 -0.08165897
+v 0.02674862 0.02206445 -0.08279821
+v -0.02139611 0.02723182 -0.08279821
+v -0.02139611 0.02728215 -0.08145245
+v -0.02139611 0.02733120 -0.08012084
+v 0.02732098 0.02145402 -0.08012084
+v 0.02727805 0.02145402 -0.08138510
+v 0.02722559 0.02145402 -0.08279821
+v -0.02139611 0.02145402 -0.08279821
+v -0.02139611 0.02145402 -0.08012084
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 12
+f 1 12 19
+f 1 19 24
+f 1 24 29
+f 1 29 34
+f 1 34 42
+f 1 42 47
+f 1 47 43
+f 1 43 37
+f 1 37 36
+f 1 36 35
+f 1 35 30
+f 1 30 25
+f 1 25 20
+f 1 20 16
+f 1 16 15
+f 1 15 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 2 9 10
+f 2 10 3
+f 3 10 4
+f 4 11 12
+f 4 12 5
+f 4 10 9
+f 4 9 8
+f 4 8 7
+f 4 7 17
+f 4 17 22
+f 4 22 21
+f 4 21 26
+f 4 26 32
+f 4 32 31
+f 4 31 39
+f 4 39 45
+f 4 45 46
+f 4 46 40
+f 4 40 33
+f 4 33 27
+f 4 27 23
+f 4 23 18
+f 4 18 11
+f 6 13 14
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 11 18 19
+f 11 19 12
+f 13 15 14
+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 23 27 28
+f 23 28 29
+f 23 29 24
+f 25 30 31
+f 25 31 32
+f 25 32 26
+f 27 33 28
+f 28 33 29
+f 29 33 34
+f 30 35 31
+f 31 35 36
+f 31 36 37
+f 31 37 38
+f 31 38 39
+f 33 40 34
+f 34 40 41
+f 34 41 42
+f 37 43 44
+f 37 44 38
+f 38 45 39
+f 38 44 43
+f 38 43 47
+f 38 47 46
+f 38 46 45
+f 40 46 47
+f 40 47 42
+f 40 42 41
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_241.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_241.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92e41d82ee603a856b9e6e1098457df63dfd9900
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_241.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v -0.01173804 -0.01478052 0.08122954
+v -0.00946101 -0.01631514 0.08122954
+v -0.00944563 -0.01632257 0.08122445
+v -0.01416673 -0.01478052 0.07662308
+v -0.02381114 -0.01478052 0.08122954
+v -0.00944563 -0.02068306 0.08122954
+v -0.00944563 -0.01793523 0.07710127
+v -0.01767678 -0.01478052 0.07118103
+v -0.03126424 -0.01478052 0.06937380
+v -0.02365729 -0.01509079 0.08122954
+v -0.00944563 -0.02652986 0.08122954
+v -0.00944563 -0.01925991 0.07481203
+v -0.02023954 -0.01478052 0.06823809
+v -0.00944563 -0.02182380 0.07048663
+v -0.00944563 -0.02326739 0.06823809
+v -0.03164887 -0.01478052 0.06868703
+v -0.03054772 -0.01763611 0.06823809
+v -0.02983120 -0.01599744 0.07068503
+v -0.02360014 -0.01520226 0.08122954
+v -0.01069184 -0.02597063 0.08122954
+v -0.01426124 -0.03187874 0.06881675
+v -0.01132704 -0.03065439 0.07294884
+v -0.00944563 -0.03240081 0.07087198
+v -0.03189943 -0.01478052 0.06823809
+v -0.00944563 -0.03376079 0.06823809
+v -0.02762231 -0.02167146 0.06823809
+v -0.02655632 -0.02153211 0.07010636
+v -0.02537165 -0.01935838 0.07424226
+v -0.01996920 -0.01997334 0.08122954
+v -0.01269413 -0.02499523 0.08122954
+v -0.01450521 -0.03206082 0.06823809
+v -0.00944563 -0.03253458 0.07062017
+v -0.01763283 -0.03055035 0.06823809
+v -0.02542660 -0.02457163 0.06823809
+v -0.02503537 -0.02503797 0.06823809
+v -0.02456722 -0.02542998 0.06823809
+v -0.02152752 -0.02656144 0.07010636
+v -0.01935598 -0.02537610 0.07424354
+v -0.01519974 -0.02360924 0.08122954
+v -0.02166598 -0.02762602 0.06823809
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 13
+f 1 13 24
+f 1 24 16
+f 1 16 9
+f 1 9 5
+f 1 5 10
+f 1 10 19
+f 1 19 29
+f 1 29 39
+f 1 39 30
+f 1 30 20
+f 1 20 11
+f 1 11 6
+f 1 6 2
+f 2 6 3
+f 3 6 11
+f 3 11 23
+f 3 23 32
+f 3 32 25
+f 3 25 15
+f 3 15 14
+f 3 14 12
+f 3 12 7
+f 3 7 4
+f 4 7 8
+f 5 9 10
+f 7 12 8
+f 8 12 14
+f 8 14 15
+f 8 15 13
+f 9 16 17
+f 9 17 18
+f 9 18 10
+f 10 18 17
+f 10 17 19
+f 11 20 21
+f 11 21 22
+f 11 22 23
+f 13 15 25
+f 13 25 31
+f 13 31 33
+f 13 33 40
+f 13 40 36
+f 13 36 35
+f 13 35 34
+f 13 34 26
+f 13 26 17
+f 13 17 24
+f 16 24 17
+f 17 26 27
+f 17 27 28
+f 17 28 19
+f 19 28 29
+f 20 30 21
+f 21 31 25
+f 21 25 32
+f 21 32 23
+f 21 23 22
+f 21 30 33
+f 21 33 31
+f 26 34 27
+f 27 34 29
+f 27 29 28
+f 29 34 35
+f 29 35 36
+f 29 36 37
+f 29 37 38
+f 29 38 39
+f 30 39 33
+f 33 39 38
+f 33 38 37
+f 33 37 40
+f 36 40 37
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_243.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_243.obj
new file mode 100644
index 0000000000000000000000000000000000000000..417802ce9fdd63cb47fd399381bd6391d0f01ede
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_243.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.00017543 -0.02827261 0.08057067
+v 0.00309885 -0.02827261 0.08057067
+v 0.00017543 -0.02615222 0.08875985
+v 0.00017543 -0.01906793 0.08057067
+v 0.00852947 -0.02706960 0.08057067
+v 0.00738300 -0.02534806 0.08875985
+v 0.00309885 -0.02615222 0.08875985
+v 0.00017543 -0.01736183 0.08875985
+v 0.00017543 -0.01810165 0.08291536
+v 0.00852947 -0.01695525 0.08057067
+v 0.00852947 -0.02491060 0.08875985
+v 0.00760051 -0.02529660 0.08875985
+v 0.00852947 -0.01512949 0.08875985
+v 0.00017543 -0.01771823 0.08594301
+v 0.00852947 -0.01607261 0.08279832
+v 0.00852947 -0.01680214 0.08095544
+f 1 2 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 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 3 7 6
+f 3 6 12
+f 3 12 11
+f 3 11 13
+f 3 13 8
+f 4 9 10
+f 5 11 12
+f 5 12 6
+f 5 10 16
+f 5 16 15
+f 5 15 13
+f 5 13 11
+f 8 13 14
+f 9 14 13
+f 9 13 15
+f 9 15 16
+f 9 16 10
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_247.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_247.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc32fd5a70b43b5a4b181af75fe90410dff5a64b
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_247.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.02398166 -0.01053543 -0.08454632
+v -0.02622208 -0.00001812 -0.08454632
+v -0.02401221 -0.01053543 -0.07834879
+v -0.02447968 -0.01053543 -0.08877276
+v -0.02680244 -0.00001812 -0.09497030
+v -0.02624067 -0.00001812 -0.08143269
+v -0.02401354 -0.01053543 -0.07828190
+v -0.02626059 -0.00001812 -0.07834879
+v -0.02478912 -0.01053543 -0.09134949
+v -0.02526190 -0.01053543 -0.09497030
+v -0.03754901 -0.00001812 -0.09497030
+v -0.02628450 -0.00001812 -0.07716538
+v -0.02630840 -0.00001812 -0.07599127
+v -0.02409322 -0.01053543 -0.07599127
+v -0.03595668 -0.01053543 -0.09497030
+v -0.03526742 -0.00001812 -0.07599127
+v -0.03754768 -0.00267113 -0.09497030
+v -0.03526742 -0.00310352 -0.07599127
+v -0.03373884 -0.01053543 -0.07599127
+v -0.03635642 -0.00942152 -0.09497030
+v -0.03738301 -0.00492469 -0.09497030
+v -0.03417842 -0.00929901 -0.07599127
+v -0.03722364 -0.00624553 -0.09497030
+v -0.03696600 -0.00730179 -0.09497030
+f 1 2 3
+f 1 3 7
+f 1 7 14
+f 1 14 19
+f 1 19 15
+f 1 15 10
+f 1 10 9
+f 1 9 4
+f 1 4 5
+f 1 5 2
+f 2 6 3
+f 2 5 11
+f 2 11 16
+f 2 16 13
+f 2 13 12
+f 2 12 8
+f 2 8 6
+f 3 6 8
+f 3 8 7
+f 4 9 5
+f 5 9 10
+f 5 10 15
+f 5 15 20
+f 5 20 24
+f 5 24 23
+f 5 23 21
+f 5 21 17
+f 5 17 11
+f 7 8 12
+f 7 12 13
+f 7 13 14
+f 11 17 18
+f 11 18 16
+f 13 16 18
+f 13 18 22
+f 13 22 19
+f 13 19 14
+f 15 19 20
+f 17 21 18
+f 18 21 23
+f 18 23 22
+f 19 22 20
+f 20 22 24
+f 22 23 24
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_251.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_251.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7aacf9800fe99a979f056b9fc49863208518ca5a
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_251.obj
@@ -0,0 +1,270 @@
+# https://github.com/mikedh/trimesh
+v -0.03657141 -0.00066022 -0.02034757
+v -0.03632903 -0.00259764 -0.02304469
+v -0.03656254 -0.00076551 -0.02034757
+v -0.03657141 0.00071564 -0.02034757
+v -0.03653002 -0.00017586 -0.02304469
+v -0.03628470 -0.00312411 -0.02304469
+v -0.03631425 -0.00370675 -0.02034757
+v -0.03631425 0.00376217 -0.02034757
+v -0.03631130 0.00372707 -0.02055589
+v -0.03628470 0.00318656 -0.02304469
+v -0.03653002 0.00023830 -0.02304469
+v -0.03583246 -0.00588986 -0.02304469
+v -0.03536249 -0.00895043 -0.02034757
+v -0.03533293 0.00916028 -0.02034757
+v -0.03532702 0.00916028 -0.02055589
+v -0.03525017 0.00916028 -0.02304469
+v -0.03535362 -0.00852223 -0.02304469
+v -0.03524722 -0.00910486 -0.02304469
+v -0.03533293 -0.00910486 -0.02034757
+v -0.03525904 0.00937087 -0.02034757
+v -0.03501667 0.00981311 -0.02304469
+v -0.03305994 -0.01519090 -0.02304469
+v -0.03314862 -0.01519090 -0.02034757
+v -0.03314862 0.01525334 -0.02034757
+v -0.03396737 0.01273329 -0.02304469
+v -0.03224710 -0.01679840 -0.02304469
+v -0.03125987 -0.01874285 -0.02304469
+v -0.03115938 -0.01910085 -0.02034757
+v -0.03108548 0.01929666 -0.02034757
+v -0.03108253 0.01929666 -0.02055589
+v -0.03104114 0.01923349 -0.02304469
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\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_255.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_255.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d1015275977a7b515fb342f9f8e91656d4763d6
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_255.obj
@@ -0,0 +1,135 @@
+# https://github.com/mikedh/trimesh
+v 0.03608898 -0.00655611 -0.01436207
+v 0.03556490 -0.00909863 -0.01436207
+v 0.03556113 -0.00910746 -0.01446631
+v 0.03547064 -0.00910746 -0.01738722
+v 0.03608521 -0.00655611 -0.01446631
+v -0.00242564 -0.00655611 -0.01436207
+v 0.03552719 -0.00921058 -0.01436207
+v 0.03339315 -0.01519712 -0.01436207
+v 0.03593440 -0.00655611 -0.01738722
+v 0.03433952 -0.01227456 -0.01738722
+v -0.00242564 -0.00655611 -0.01738722
+v -0.00242564 -0.03659489 -0.01436207
+v 0.03123648 -0.01940125 -0.01436207
+v 0.03118369 -0.01932171 -0.01738722
+v 0.03329135 -0.01519712 -0.01738722
+v -0.00242564 -0.03650650 -0.01738722
+v -0.00175074 -0.03665381 -0.01436207
+v -0.00242564 -0.03659489 -0.01438339
+v 0.02906473 -0.02244461 -0.01436207
+v 0.02900440 -0.02236506 -0.01738722
+v -0.00242564 -0.03653302 -0.01650203
+v -0.00120026 -0.03660667 -0.01738722
+v 0.00180097 -0.03665381 -0.01436207
+v 0.02601825 -0.02596524 -0.01436207
+v 0.02601825 -0.02596524 -0.01446631
+v 0.02596169 -0.02590631 -0.01738722
+v 0.02895539 -0.02242398 -0.01738722
+v 0.00125050 -0.03660667 -0.01738722
+v 0.00271341 -0.03648588 -0.01738722
+v 0.00424419 -0.03635919 -0.01738722
+v 0.00483992 -0.03640044 -0.01436207
+v 0.02249669 -0.02901154 -0.01436207
+v 0.02241751 -0.02895262 -0.01738722
+v 0.00429698 -0.03635330 -0.01738722
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\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_258.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_258.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93ed8ad2964c6bd4f34eaeb598f3647f21fb50a5
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_258.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.01364187 -0.02462065 0.06245200
+v 0.00907884 -0.02462065 0.06606119
+v 0.00742868 -0.02230207 0.07068485
+v 0.01364187 -0.02186519 0.06651877
+v 0.01364187 -0.02462065 0.08057067
+v 0.00742868 -0.02462065 0.06743924
+v 0.01364187 -0.01698866 0.07381341
+v 0.00742868 -0.01964322 0.07566678
+v 0.01364187 -0.01514668 0.07668125
+v 0.01364187 -0.01365463 0.08057067
+v 0.00742868 -0.02462065 0.08057067
+v 0.00742868 -0.01821128 0.07853107
+v 0.01364187 -0.01473770 0.07762656
+v 0.00742868 -0.01740407 0.08057067
+v 0.00742868 -0.01789784 0.07932208
+f 1 2 3
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+f 8 12 9
+f 9 12 13
+f 10 13 14
+f 12 15 13
+f 13 15 14
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_259.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_259.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07a16c90caa3c477e180b1dbf929aa7ce4dee0a5
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_259.obj
@@ -0,0 +1,222 @@
+# https://github.com/mikedh/trimesh
+v -0.00528566 -0.03443151 -0.07138981
+v -0.00528566 -0.03434276 -0.07420324
+v -0.00301626 -0.03484111 -0.07138981
+v -0.00528566 0.03449063 -0.07138981
+v -0.00301626 -0.03475236 -0.07420324
+v -0.00528566 0.03440189 -0.07420324
+v 0.00307219 -0.03475236 -0.07420324
+v 0.00307219 -0.03483428 -0.07138981
+v -0.00301626 0.03488658 -0.07138981
+v -0.00301626 0.03481149 -0.07420324
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+v -0.00479402 0.03449063 -0.07420324
+v 0.00422853 -0.03454756 -0.07420324
+v 0.00704463 -0.03413113 -0.07138981
+v 0.00307219 0.03490023 -0.07138981
+v 0.00307219 0.03481149 -0.07420324
+v 0.00916458 -0.03366009 -0.07420324
+v 0.00916458 -0.03374884 -0.07138981
+v 0.00916458 0.03380114 -0.07138981
+v 0.00800431 0.03392402 -0.07420324
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+v 0.01483218 -0.03167353 -0.07138981
+v 0.01109180 0.03310482 -0.07138981
+v 0.00916458 0.03371239 -0.07420324
+v 0.01778595 -0.03014435 -0.07420324
+v 0.01788034 -0.03019897 -0.07138981
+v 0.01483218 0.03172583 -0.07138981
+v 0.01474565 0.03168487 -0.07420324
+v 0.01308588 0.03229244 -0.07420324
+v 0.02133361 -0.02757752 -0.07420324
+v 0.02133361 -0.02767992 -0.07138981
+v 0.01788034 0.03025127 -0.07138981
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\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_265.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_265.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3241134741bde3c4d149ffd7a4feeb02bfddf53e
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_265.obj
@@ -0,0 +1,192 @@
+# https://github.com/mikedh/trimesh
+v -0.00242558 -0.00655188 -0.01738722
+v 0.03593311 -0.00655188 -0.01738722
+v -0.00242558 -0.00655188 -0.01436207
+v -0.00242558 0.03656467 -0.01738722
+v 0.03594461 -0.00649682 -0.01738722
+v 0.03593695 -0.00655188 -0.01732207
+v 0.03608635 -0.00655188 -0.01436207
+v -0.00242558 0.03665361 -0.01436207
+v -0.00242558 0.03665361 -0.01446631
+v -0.00175135 0.03671291 -0.01436207
+v -0.00119970 0.03666632 -0.01738722
+v 0.03639282 -0.00431134 -0.01738722
+v 0.03645412 -0.00478147 -0.01436207
+v 0.03608635 -0.00655188 -0.01442307
+v 0.00180372 0.03671291 -0.01436207
+v 0.00125207 0.03666632 -0.01738722
+v 0.03640814 -0.00423511 -0.01738722
+v 0.03645795 -0.00473912 -0.01436207
+v 0.00484161 0.03645879 -0.01436207
+v 0.00482246 0.03645879 -0.01446631
+v 0.00283423 0.03653502 -0.01738722
+v 0.03666098 -0.00118984 -0.01738722
+v 0.03670695 -0.00174044 -0.01436207
+v 0.00907858 0.03559052 -0.01436207
+v 0.00690263 0.03594206 -0.01738722
+v 0.00429763 0.03641220 -0.01738722
+v 0.03666098 0.00125400 -0.01738722
+v 0.03670695 0.00180460 -0.01436207
+v 0.00915137 0.03557359 -0.01436207
+v 0.00915903 0.03547617 -0.01738722
+v 0.03653073 0.00283804 -0.01738722
+v 0.03645412 0.00484139 -0.01436207
+v 0.01525014 0.03339658 -0.01436207
+v 0.01525014 0.03329916 -0.01738722
+v 0.03640814 0.00429926 -0.01738722
+v 0.03593311 0.00690404 -0.01738722
+v 0.03548490 0.00909375 -0.01738722
+v 0.03556152 0.00916576 -0.01446631
+v 0.03556535 0.00915729 -0.01436207
+v 0.01945263 0.03124075 -0.01436207
+v 0.01944880 0.03124075 -0.01446631
+v 0.01718474 0.03231231 -0.01738722
+v 0.03546958 0.00916576 -0.01738722
+v 0.03339323 0.01525205 -0.01436207
+v 0.02249435 0.02906798 -0.01446631
+v 0.02249435 0.02906798 -0.01436207
+v 0.01937218 0.03118993 -0.01738722
+v 0.02095817 0.03005907 -0.01738722
+v 0.01942581 0.03115181 -0.01738722
+v 0.03329363 0.01525205 -0.01738722
+v 0.03230526 0.01719187 -0.01738722
+v 0.03122112 0.01930958 -0.01738722
+v 0.03123644 0.01945782 -0.01436207
+v 0.02595748 0.02607778 -0.01436207
+v 0.02601877 0.02602272 -0.01446631
+v 0.02596131 0.02596766 -0.01738722
+v 0.02412631 0.02755170 -0.01738722
+v 0.02241774 0.02901292 -0.01738722
+v 0.03118281 0.01937735 -0.01738722
+v 0.03009101 0.02091057 -0.01738722
+v 0.02906433 0.02250308 -0.01436207
+v 0.02601877 0.02602272 -0.01436207
+v 0.02607241 0.02596342 -0.01436207
+v 0.02754347 0.02413372 -0.01738722
+v 0.02900687 0.02242261 -0.01738722
+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 11
+f 1 11 16
+f 1 16 21
+f 1 21 26
+f 1 26 25
+f 1 25 30
+f 1 30 34
+f 1 34 42
+f 1 42 47
+f 1 47 49
+f 1 49 48
+f 1 48 58
+f 1 58 57
+f 1 57 56
+f 1 56 64
+f 1 64 65
+f 1 65 60
+f 1 60 59
+f 1 59 52
+f 1 52 51
+f 1 51 50
+f 1 50 43
+f 1 43 37
+f 1 37 36
+f 1 36 35
+f 1 35 31
+f 1 31 27
+f 1 27 22
+f 1 22 17
+f 1 17 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 28
+f 3 28 32
+f 3 32 39
+f 3 39 44
+f 3 44 53
+f 3 53 61
+f 3 61 63
+f 3 63 62
+f 3 62 54
+f 3 54 46
+f 3 46 40
+f 3 40 33
+f 3 33 29
+f 3 29 24
+f 3 24 19
+f 3 19 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 7 14 13
+f 8 10 9
+f 10 15 16
+f 10 16 11
+f 12 17 13
+f 13 17 18
+f 15 19 20
+f 15 20 21
+f 15 21 16
+f 17 22 23
+f 17 23 18
+f 19 24 25
+f 19 25 20
+f 20 26 21
+f 20 25 26
+f 22 27 28
+f 22 28 23
+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 36
+f 32 36 37
+f 32 37 38
+f 32 38 39
+f 33 40 41
+f 33 41 42
+f 33 42 34
+f 37 43 38
+f 38 43 44
+f 38 44 39
+f 40 45 41
+f 40 46 45
+f 41 47 42
+f 41 45 48
+f 41 48 49
+f 41 49 47
+f 43 50 44
+f 44 50 51
+f 44 51 52
+f 44 52 53
+f 45 46 54
+f 45 54 55
+f 45 55 56
+f 45 56 57
+f 45 57 58
+f 45 58 48
+f 52 59 53
+f 53 59 60
+f 53 60 61
+f 54 62 55
+f 55 62 63
+f 55 63 61
+f 55 61 56
+f 56 61 64
+f 60 65 61
+f 61 65 64
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_267.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_267.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adca6c267589deb320ee76a7966c38dc5db97f0b
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_267.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.01002062 -0.02538100 -0.09471294
+v 0.00744706 -0.02538100 -0.08454577
+v 0.01487796 -0.02165273 -0.09471294
+v 0.02757874 -0.02538100 -0.09471294
+v 0.00753792 -0.02538100 -0.07834797
+v 0.01868917 -0.01864638 -0.07834797
+v 0.01865234 -0.01864638 -0.08454577
+v 0.01955848 -0.01864638 -0.09471294
+v 0.02852172 -0.02433537 -0.09471294
+v 0.02521146 -0.02521618 -0.07599127
+v 0.02500027 -0.02538100 -0.07599127
+v 0.00767790 -0.02538100 -0.07599127
+v 0.01877267 -0.01864638 -0.07599127
+v 0.03253431 -0.01864638 -0.09471294
+v 0.02975447 -0.02281176 -0.09471294
+v 0.02796428 -0.02169493 -0.07599127
+v 0.03015720 -0.01864638 -0.07599127
+v 0.03186145 -0.01992672 -0.09471294
+v 0.03071465 -0.02157098 -0.09471294
+f 1 2 3
+f 1 3 8
+f 1 8 14
+f 1 14 18
+f 1 18 19
+f 1 19 15
+f 1 15 9
+f 1 9 4
+f 1 4 11
+f 1 11 12
+f 1 12 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 3
+f 4 9 10
+f 4 10 11
+f 5 12 13
+f 5 13 6
+f 6 13 17
+f 6 17 14
+f 6 14 8
+f 6 8 7
+f 9 15 10
+f 10 15 16
+f 10 16 17
+f 10 17 13
+f 10 13 12
+f 10 12 11
+f 14 17 18
+f 15 19 16
+f 16 19 17
+f 17 19 18
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_273.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_273.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5873ca0e676cd7c6b7ad0deba895a3be10d5f805
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_273.obj
@@ -0,0 +1,105 @@
+# https://github.com/mikedh/trimesh
+v -0.01652399 -0.03266109 -0.01439464
+v -0.01519952 -0.03333513 -0.01446631
+v -0.01652399 -0.03266109 -0.01436207
+v -0.01652399 -0.03259656 -0.01645850
+v -0.01519952 -0.03333513 -0.01436207
+v -0.01519952 -0.03323474 -0.01738722
+v -0.01509053 -0.03337815 -0.01436207
+v -0.01652399 0.03272010 -0.01436207
+v -0.01652399 -0.03256070 -0.01738722
+v -0.01213530 -0.03433183 -0.01738722
+v -0.00911109 -0.03541459 -0.01738722
+v -0.00910282 -0.03551497 -0.01436207
+v -0.01527402 0.03335828 -0.01436207
+v -0.01519952 0.03339413 -0.01446631
+v -0.01652399 0.03261971 -0.01738722
+v -0.00692710 -0.03586633 -0.01738722
+v -0.00479139 -0.03639695 -0.01436207
+v -0.01519952 0.03339413 -0.01436207
+v -0.01227879 0.03434782 -0.01738722
+v -0.01519952 0.03329375 -0.01738722
+v -0.00910282 0.03557398 -0.01436207
+v -0.00685397 -0.03588068 -0.01738722
+v -0.00477345 -0.03639695 -0.01446631
+v -0.00242941 -0.03659773 -0.01436207
+v -0.00911109 0.03547359 -0.01738722
+v -0.00483415 0.03644879 -0.01436207
+v -0.00424780 -0.03635393 -0.01738722
+v -0.00242941 -0.03653319 -0.01650203
+v -0.00242941 0.03665674 -0.01436207
+v -0.00477207 0.03645596 -0.01446631
+v -0.00424780 0.03641294 -0.01738722
+v -0.00474862 0.03646313 -0.01436207
+v -0.00278674 -0.03647583 -0.01738722
+v -0.00242941 -0.03650451 -0.01738722
+v -0.00242941 0.03656352 -0.01738722
+v -0.00271500 0.03654201 -0.01738722
+f 1 2 5
+f 1 5 3
+f 1 3 8
+f 1 8 15
+f 1 15 9
+f 1 9 4
+f 1 4 2
+f 2 4 6
+f 2 6 7
+f 2 7 5
+f 3 5 7
+f 3 7 12
+f 3 12 17
+f 3 17 24
+f 3 24 29
+f 3 29 32
+f 3 32 26
+f 3 26 21
+f 3 21 18
+f 3 18 13
+f 3 13 8
+f 4 9 6
+f 6 9 15
+f 6 15 20
+f 6 20 19
+f 6 19 25
+f 6 25 31
+f 6 31 36
+f 6 36 35
+f 6 35 34
+f 6 34 33
+f 6 33 27
+f 6 27 22
+f 6 22 16
+f 6 16 11
+f 6 11 10
+f 6 10 7
+f 7 10 11
+f 7 11 12
+f 8 13 14
+f 8 14 15
+f 11 16 12
+f 12 16 17
+f 13 18 14
+f 14 19 20
+f 14 20 15
+f 14 18 21
+f 14 21 19
+f 16 22 23
+f 16 23 17
+f 17 23 24
+f 19 21 25
+f 21 26 25
+f 22 27 23
+f 23 27 24
+f 24 27 28
+f 24 28 34
+f 24 34 35
+f 24 35 29
+f 25 26 30
+f 25 30 31
+f 26 32 30
+f 27 33 28
+f 28 33 34
+f 29 35 36
+f 29 36 32
+f 30 32 31
+f 31 32 36
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_283.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_283.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b47ec7b61e63689f1d4b1dfefce7d9070db80c1
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_283.obj
@@ -0,0 +1,213 @@
+# https://github.com/mikedh/trimesh
+v 0.02008002 -0.03052095 -0.02034757
+v 0.02008002 -0.03041927 -0.02304469
+v 0.02234328 -0.02889413 -0.02034757
+v 0.02008002 0.03058052 -0.02034757
+v 0.02225909 -0.02885226 -0.02304469
+v 0.02008002 0.03047884 -0.02304469
+v 0.02227366 -0.02884030 -0.02304469
+v 0.02585310 -0.02579599 -0.02304469
+v 0.02590653 -0.02584982 -0.02034757
+v 0.02234328 0.02895370 -0.02034757
+v 0.02102871 0.02979701 -0.02304469
+v 0.02888211 -0.02223134 -0.02304469
+v 0.02894525 -0.02227919 -0.02055589
+v 0.02894849 -0.02228517 -0.02034757
+v 0.02590653 0.02590939 -0.02034757
+v 0.02376469 0.02764387 -0.02304469
+v 0.02227366 0.02889987 -0.02304469
+v 0.02889668 -0.02221340 -0.02304469
+v 0.02902296 -0.02218349 -0.02034757
+v 0.02601014 0.02578977 -0.02034757
+v 0.02586929 0.02583762 -0.02304469
+v 0.02585310 0.02585556 -0.02304469
+v 0.03108871 -0.01916909 -0.02304469
+v 0.03113404 -0.01924086 -0.02034757
+v 0.02894849 0.02234474 -0.02034757
+v 0.02765335 0.02375026 -0.02304469
+v 0.03287762 -0.01564631 -0.02304469
+v 0.03318846 -0.01519175 -0.02055589
+v 0.03312208 -0.01533530 -0.02034757
+v 0.03113080 -0.01923488 -0.02055589
+v 0.03105957 0.01940809 -0.02034757
+v 0.02979519 0.02103491 -0.02304469
+v 0.02894525 0.02233876 -0.02055589
+v 0.02889668 0.02227895 -0.02304469
+v 0.03310751 -0.01519175 -0.02304469
+v 0.03400439 -0.01270367 -0.02304469
+v 0.03505346 -0.00978497 -0.02304469
+v 0.03319493 -0.01519175 -0.02034757
+v 0.03003965 0.02069399 -0.02304469
+v 0.03113404 0.01930043 -0.02034757
+v 0.03108871 0.01922866 -0.02304469
+v 0.03529792 -0.00910314 -0.02304469
+v 0.03530601 -0.00931247 -0.02034757
+v 0.03120851 0.01915689 -0.02034757
+v 0.03113080 0.01929445 -0.02055589
+v 0.03109842 0.01921072 -0.02304469
+v 0.03633079 -0.00312816 -0.02304469
+v 0.03635993 -0.00366645 -0.02055589
+v 0.03636317 -0.00370233 -0.02034757
+v 0.03538048 -0.00910314 -0.02034757
+v 0.03319493 0.01525132 -0.02034757
+v 0.03230452 0.01684226 -0.02304469
+v 0.03131860 0.01878009 -0.02304469
+v 0.03647325 -0.00143555 -0.02304469
+v 0.03637288 -0.00360066 -0.02034757
+v 0.03538048 0.00916271 -0.02034757
+v 0.03318846 0.01525132 -0.02055589
+v 0.03310751 0.01525132 -0.02304469
+v 0.03657848 -0.00017955 -0.02304469
+v 0.03661896 -0.00065803 -0.02034757
+v 0.03540962 0.00901318 -0.02034757
+v 0.03537401 0.00916271 -0.02055589
+v 0.03529630 0.00916271 -0.02304469
+v 0.03657848 0.00023314 -0.02304469
+v 0.03661896 0.00071760 -0.02034757
+v 0.03636317 0.00376190 -0.02034757
+v 0.03588073 0.00594495 -0.02304469
+v 0.03651858 0.00095085 -0.02304469
+v 0.03661572 0.00068171 -0.02055589
+v 0.03637612 0.00265543 -0.02304469
+v 0.03635993 0.00372602 -0.02055589
+v 0.03633079 0.00318175 -0.02304469
+f 1 2 3
+f 1 3 9
+f 1 9 14
+f 1 14 19
+f 1 19 24
+f 1 24 29
+f 1 29 38
+f 1 38 43
+f 1 43 50
+f 1 50 49
+f 1 49 55
+f 1 55 60
+f 1 60 65
+f 1 65 66
+f 1 66 61
+f 1 61 56
+f 1 56 51
+f 1 51 44
+f 1 44 40
+f 1 40 31
+f 1 31 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 17
+f 2 17 16
+f 2 16 22
+f 2 22 21
+f 2 21 26
+f 2 26 34
+f 2 34 32
+f 2 32 39
+f 2 39 41
+f 2 41 46
+f 2 46 53
+f 2 53 52
+f 2 52 58
+f 2 58 63
+f 2 63 67
+f 2 67 72
+f 2 72 70
+f 2 70 68
+f 2 68 64
+f 2 64 59
+f 2 59 54
+f 2 54 47
+f 2 47 42
+f 2 42 37
+f 2 37 36
+f 2 36 35
+f 2 35 27
+f 2 27 23
+f 2 23 18
+f 2 18 12
+f 2 12 8
+f 2 8 7
+f 2 7 5
+f 3 5 7
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 6
+f 8 12 13
+f 8 13 14
+f 8 14 9
+f 10 15 16
+f 10 16 17
+f 10 17 11
+f 12 18 13
+f 13 18 19
+f 13 19 14
+f 15 20 21
+f 15 21 22
+f 15 22 16
+f 18 23 19
+f 19 23 24
+f 20 25 26
+f 20 26 21
+f 23 27 28
+f 23 28 29
+f 23 29 30
+f 23 30 24
+f 24 30 29
+f 25 31 32
+f 25 32 33
+f 25 33 26
+f 26 33 34
+f 27 35 28
+f 28 35 36
+f 28 36 37
+f 28 37 38
+f 28 38 29
+f 31 39 32
+f 31 40 41
+f 31 41 39
+f 32 34 33
+f 37 42 43
+f 37 43 38
+f 40 44 45
+f 40 45 41
+f 41 45 46
+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 46
+f 44 46 45
+f 47 54 55
+f 47 55 48
+f 48 55 49
+f 51 56 62
+f 51 62 57
+f 51 57 52
+f 52 57 58
+f 54 59 55
+f 55 59 60
+f 56 61 62
+f 57 62 63
+f 57 63 58
+f 59 64 65
+f 59 65 60
+f 61 66 67
+f 61 67 63
+f 61 63 62
+f 64 68 69
+f 64 69 65
+f 65 69 70
+f 65 70 66
+f 66 70 71
+f 66 71 67
+f 67 71 72
+f 68 70 69
+f 70 72 71
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_294.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_294.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99fc45cf372a85217a712580c687578ce57d3e00
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_294.obj
@@ -0,0 +1,207 @@
+# https://github.com/mikedh/trimesh
+v -0.02558551 -0.00917631 -0.09497030
+v -0.03640086 -0.00917631 -0.09497030
+v -0.02124839 -0.01530361 -0.09497030
+v -0.02124839 -0.00917631 -0.09849082
+v -0.03674020 -0.00917631 -0.09622649
+v -0.03635723 -0.00942277 -0.09497030
+v -0.02124839 -0.03092195 -0.09497030
+v -0.02124839 -0.00917631 -0.11360704
+v -0.03682261 -0.00917631 -0.09667055
+v -0.03670627 -0.00946385 -0.09641851
+v -0.03467183 -0.01549759 -0.09694059
+v -0.03488190 -0.01352818 -0.09497030
+v -0.02288047 -0.02978321 -0.09497030
+v -0.02343473 -0.02997718 -0.09694059
+v -0.02124839 -0.03150159 -0.09694059
+v -0.02124839 -0.00950721 -0.11368705
+v -0.02140675 -0.00917631 -0.11369307
+v -0.03768066 -0.00917631 -0.10278746
+v -0.03698905 -0.01163864 -0.10181931
+v -0.03261315 -0.02106122 -0.10313751
+v -0.03213483 -0.02034010 -0.09694059
+v -0.03189406 -0.01997497 -0.09497030
+v -0.03409333 -0.01563451 -0.09497030
+v -0.03588861 -0.01492479 -0.10358757
+v -0.02657769 -0.02657921 -0.09497030
+v -0.02415866 -0.03051803 -0.10313751
+v -0.02687663 -0.02687816 -0.09694059
+v -0.02124839 -0.03248972 -0.10313751
+v -0.02124839 -0.01594031 -0.11494125
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+v -0.03771137 -0.00946385 -0.10358757
+v -0.03721367 -0.01247616 -0.10594992
+v -0.03721367 -0.01247616 -0.10632997
+v -0.03207019 -0.02026022 -0.10933242
+v -0.03051407 -0.02416024 -0.10313751
+v -0.02997435 -0.02343683 -0.09694059
+v -0.02978044 -0.02288230 -0.09497030
+v -0.02335393 -0.02988362 -0.10933242
+v -0.02124839 -0.03137152 -0.10933242
+v -0.02124839 -0.03167731 -0.10775419
+v -0.02741797 -0.02741901 -0.10313751
+v -0.02678291 -0.02678460 -0.10933242
+v -0.02124839 -0.01601105 -0.11494525
+v -0.02788820 -0.00917631 -0.11540131
+v -0.03762734 -0.00917631 -0.10735213
+v -0.03760472 -0.00930183 -0.10743614
+v -0.03629098 -0.00930183 -0.11053659
+v -0.03503864 -0.01492479 -0.10877034
+v -0.03122669 -0.01898456 -0.11266090
+v -0.02988063 -0.02335468 -0.10933242
+v -0.02124839 -0.03053172 -0.11093466
+v -0.02555805 -0.02555914 -0.11299896
+v -0.02124839 -0.02169335 -0.11522128
+v -0.02788820 -0.00930183 -0.11540531
+v -0.02800616 -0.00917631 -0.11537931
+v -0.03761441 -0.00917631 -0.10746414
+v -0.03630229 -0.00917631 -0.11056260
+v -0.03326597 -0.00917631 -0.11393309
+v -0.03204757 -0.01549759 -0.11329500
+v -0.02772984 -0.02130540 -0.11359104
+v -0.02124839 -0.02781380 -0.11356904
+v -0.02130333 -0.02773165 -0.11359104
+v -0.02169115 -0.02169335 -0.11524129
+v -0.02124839 -0.02213607 -0.11522328
+v -0.03319164 -0.00930183 -0.11397510
+v -0.03320296 -0.00917631 -0.11397910
+v -0.02788820 -0.01549759 -0.11497124
+v -0.02124839 -0.02777729 -0.11358504
+v -0.02124839 -0.02773393 -0.11360304
+f 1 2 6
+f 1 6 12
+f 1 12 23
+f 1 23 22
+f 1 22 38
+f 1 38 25
+f 1 25 13
+f 1 13 7
+f 1 7 3
+f 1 3 4
+f 1 4 8
+f 1 8 17
+f 1 17 30
+f 1 30 45
+f 1 45 56
+f 1 56 67
+f 1 67 59
+f 1 59 58
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+f 1 57 46
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+f 1 31 18
+f 1 18 9
+f 1 9 5
+f 1 5 2
+f 2 5 6
+f 3 7 15
+f 3 15 28
+f 3 28 41
+f 3 41 40
+f 3 40 52
+f 3 52 62
+f 3 62 69
+f 3 69 70
+f 3 70 65
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+f 19 33 24
+f 20 24 33
+f 20 33 34
+f 20 34 35
+f 20 35 36
+f 20 36 21
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+f 21 37 22
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+f 25 37 27
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+f 26 39 40
+f 26 40 41
+f 26 41 28
+f 26 27 42
+f 26 42 43
+f 26 43 39
+f 27 37 36
+f 27 36 42
+f 29 44 45
+f 29 45 30
+f 31 46 34
+f 31 34 32
+f 32 34 33
+f 34 46 47
+f 34 47 48
+f 34 48 49
+f 34 49 35
+f 35 50 51
+f 35 51 36
+f 35 49 50
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+f 36 51 43
+f 39 52 40
+f 39 43 53
+f 39 53 52
+f 43 51 53
+f 44 54 45
+f 45 55 56
+f 45 54 55
+f 46 57 47
+f 47 57 58
+f 47 58 48
+f 48 58 59
+f 48 59 60
+f 48 60 50
+f 48 50 49
+f 50 60 61
+f 50 61 53
+f 50 53 51
+f 52 53 62
+f 53 63 62
+f 53 61 64
+f 53 64 63
+f 54 65 64
+f 54 64 55
+f 55 66 67
+f 55 67 56
+f 55 64 68
+f 55 68 66
+f 59 67 66
+f 59 66 60
+f 60 68 61
+f 60 66 68
+f 61 68 64
+f 62 63 69
+f 63 70 69
+f 63 64 65
+f 63 65 70
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_295.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_295.obj
new file mode 100644
index 0000000000000000000000000000000000000000..311255bff6be9e3e30f6194eb9cd8e03ee2d6666
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_295.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v -0.01980461 0.01978156 0.06239895
+v -0.02147517 0.01731859 0.06239895
+v -0.02675134 0.01198990 0.05587758
+v -0.02156561 0.01978156 0.05587758
+v -0.03218961 0.01978156 0.06239895
+v -0.02544765 0.01198990 0.06239895
+v -0.02578893 0.01198990 0.06038432
+v -0.03723711 0.01198990 0.05587758
+v -0.03344210 0.01978156 0.05587758
+v -0.03327658 0.01978156 0.05790434
+v -0.03234659 0.01947798 0.06239895
+v -0.03558874 0.01198990 0.06239895
+v -0.03679175 0.01198990 0.05912039
+v -0.03683611 0.01317677 0.05587758
+v -0.03374413 0.01922475 0.05587758
+v -0.03339603 0.01978156 0.05652487
+v -0.03587712 0.01515843 0.05587758
+v -0.03584982 0.01492960 0.05756602
+v -0.03656479 0.01198990 0.05986790
+v -0.03478844 0.01408522 0.06239895
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 16
+f 1 16 10
+f 1 10 5
+f 1 5 11
+f 1 11 20
+f 1 20 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 6
+f 3 6 12
+f 3 12 19
+f 3 19 13
+f 3 13 8
+f 3 8 14
+f 3 14 17
+f 3 17 15
+f 3 15 9
+f 3 9 4
+f 5 10 11
+f 8 13 14
+f 9 15 16
+f 10 16 17
+f 10 17 18
+f 10 18 11
+f 11 18 13
+f 11 13 19
+f 11 19 20
+f 12 20 19
+f 13 18 14
+f 14 18 17
+f 15 17 16
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_297.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_297.obj
new file mode 100644
index 0000000000000000000000000000000000000000..804cf2bdd372d63e58410fd62dfac3441564f52b
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_297.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.02538727 0.00742375 -0.08454623
+v 0.02539018 0.00741640 -0.08455294
+v 0.02622200 -0.00001567 -0.08455294
+v 0.02622103 -0.00001567 -0.08454456
+v 0.02538727 0.00751187 -0.07834814
+v 0.02538727 0.02496600 -0.08455294
+v 0.03525386 -0.00001567 -0.08455294
+v 0.02625976 -0.00001567 -0.07834814
+v 0.02538727 0.00764651 -0.07599127
+v 0.02538727 0.02499048 -0.08455294
+v 0.03528000 -0.00001323 -0.08455294
+v 0.03527807 -0.00001567 -0.08454456
+v 0.02630721 -0.00001567 -0.07599127
+v 0.02538727 0.02498558 -0.07599127
+v 0.02628688 0.02383992 -0.07599127
+v 0.02797375 0.02168570 -0.08455294
+v 0.03526645 -0.00001567 -0.07599127
+v 0.03527904 0.00309571 -0.08455294
+v 0.03526645 0.00309571 -0.07599127
+v 0.02796697 0.02168570 -0.07599127
+v 0.03064254 0.01798435 -0.08455294
+v 0.02895470 0.02032462 -0.07599127
+v 0.03417802 0.00929401 -0.07599127
+v 0.03417995 0.00929401 -0.08455294
+v 0.03064061 0.01797456 -0.07599127
+v 0.03159153 0.01605534 -0.07599127
+v 0.03217642 0.01488275 -0.08455294
+v 0.03296272 0.01270160 -0.07599127
+v 0.03216964 0.01487541 -0.07599127
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 14
+f 1 14 10
+f 1 10 6
+f 1 6 2
+f 2 6 10
+f 2 10 16
+f 2 16 21
+f 2 21 27
+f 2 27 24
+f 2 24 18
+f 2 18 11
+f 2 11 7
+f 2 7 3
+f 3 7 12
+f 3 12 17
+f 3 17 13
+f 3 13 8
+f 3 8 4
+f 4 8 5
+f 5 8 9
+f 7 11 12
+f 8 13 9
+f 9 13 17
+f 9 17 19
+f 9 19 23
+f 9 23 28
+f 9 28 29
+f 9 29 26
+f 9 26 25
+f 9 25 22
+f 9 22 20
+f 9 20 15
+f 9 15 14
+f 10 14 15
+f 10 15 16
+f 11 17 12
+f 11 18 19
+f 11 19 17
+f 15 20 16
+f 16 20 22
+f 16 22 21
+f 18 23 19
+f 18 24 23
+f 21 25 26
+f 21 26 27
+f 21 22 25
+f 23 24 28
+f 24 27 28
+f 26 29 27
+f 27 29 28
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_298.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_298.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a21e0b6db936079bee4238273b560efaf8541994
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_298.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.01588083 0.00743552 0.08684306
+v -0.01760063 0.00018793 0.08684306
+v -0.01771615 0.00018793 0.08592759
+v -0.01809806 0.00018793 0.08291566
+v -0.01650439 0.00743552 0.08282162
+v -0.02563147 0.00743552 0.08684306
+v -0.02651671 0.00018793 0.08684306
+v -0.02013141 0.00018793 0.07709923
+v -0.01789414 0.00743552 0.07931185
+v -0.02596741 0.00600729 0.08684306
+v -0.02792296 0.00743552 0.07927313
+v -0.02651553 0.00309477 0.08684306
+v -0.02792296 0.00309477 0.08135576
+v -0.02792296 0.00018793 0.08135853
+v -0.01820651 0.00743552 0.07852360
+v -0.02792296 0.00018793 0.06159705
+v -0.02792296 0.00743552 0.05859065
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 9
+f 1 9 15
+f 1 15 17
+f 1 17 11
+f 1 11 6
+f 1 6 10
+f 1 10 12
+f 1 12 7
+f 1 7 2
+f 2 7 14
+f 2 14 16
+f 2 16 8
+f 2 8 4
+f 2 4 3
+f 4 8 5
+f 5 8 9
+f 6 11 10
+f 7 12 13
+f 7 13 14
+f 8 15 9
+f 8 16 17
+f 8 17 15
+f 10 11 12
+f 11 13 12
+f 11 17 16
+f 11 16 14
+f 11 14 13
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_3.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07b525b074ec7bc14992267ee2a4b9914d18c949
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v 0.01925594 0.01923427 -0.04913296
+v 0.00915482 0.02591056 -0.03463558
+v 0.00915482 0.02589163 -0.03525987
+v 0.00915482 0.02549942 -0.04913296
+v 0.01925594 0.03082531 -0.04913296
+v 0.01925594 0.02047457 -0.01126477
+v 0.00915482 0.02714914 0.00537760
+v 0.00915482 0.03500895 -0.04913296
+v 0.01883074 0.03114011 -0.04913296
+v 0.01925594 0.03092164 -0.04664114
+v 0.01925594 0.02067584 -0.00525132
+v 0.01925594 0.02087883 0.00075146
+v 0.01925594 0.02104225 0.00537760
+v 0.00915482 0.03680833 0.00537760
+v 0.00915482 0.03501067 -0.04909027
+v 0.00929622 0.03498831 -0.04913296
+v 0.01925594 0.03142051 -0.03329630
+v 0.01925594 0.03114183 -0.04076108
+v 0.01641299 0.03231848 -0.04913296
+v 0.01549237 0.03408690 -0.01018160
+v 0.01549237 0.03429677 -0.00398140
+v 0.01549237 0.03449632 0.00221347
+v 0.01925594 0.03264189 0.00537760
+v 0.00915482 0.03671544 0.00221347
+v 0.01009126 0.03656749 0.00537760
+v 0.00988854 0.03652793 0.00221347
+v 0.00915482 0.03656922 -0.00253006
+v 0.01549237 0.03276230 -0.04913296
+v 0.01925594 0.03254383 0.00221347
+v 0.01283631 0.03557147 0.00537760
+v 0.01549237 0.03459093 0.00537760
+f 1 2 3
+f 1 3 4
+f 1 4 8
+f 1 8 16
+f 1 16 28
+f 1 28 19
+f 1 19 9
+f 1 9 5
+f 1 5 10
+f 1 10 18
+f 1 18 17
+f 1 17 29
+f 1 29 23
+f 1 23 13
+f 1 13 12
+f 1 12 11
+f 1 11 6
+f 1 6 7
+f 1 7 2
+f 2 7 14
+f 2 14 24
+f 2 24 27
+f 2 27 15
+f 2 15 8
+f 2 8 4
+f 2 4 3
+f 5 9 10
+f 6 11 7
+f 7 11 12
+f 7 12 13
+f 7 13 23
+f 7 23 31
+f 7 31 30
+f 7 30 25
+f 7 25 14
+f 8 15 16
+f 9 17 18
+f 9 18 10
+f 9 19 20
+f 9 20 21
+f 9 21 22
+f 9 22 17
+f 14 25 26
+f 14 26 24
+f 15 27 16
+f 16 27 26
+f 16 26 25
+f 16 25 28
+f 17 22 29
+f 19 28 20
+f 20 25 21
+f 20 28 25
+f 21 25 30
+f 21 30 22
+f 22 30 31
+f 22 31 23
+f 22 23 29
+f 24 26 27
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_301.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_301.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f669671c3e1586062c377b2b9c536b470d8ff102
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_301.obj
@@ -0,0 +1,90 @@
+# https://github.com/mikedh/trimesh
+v -0.01123816 0.02528723 -0.10047441
+v -0.00701349 0.02528723 -0.10047441
+v -0.01123816 0.02528723 -0.09472473
+v -0.01123816 0.03686206 -0.10047441
+v -0.00014256 0.02550666 -0.10047441
+v -0.00911225 0.02528723 -0.09650633
+v -0.01038975 0.02528723 -0.09472416
+v -0.00914049 0.02558448 -0.09472191
+v -0.01123816 0.03539496 -0.09472191
+v -0.01123816 0.03610044 -0.09657278
+v -0.00945878 0.03670004 -0.09641906
+v -0.01109151 0.03691309 -0.10047441
+v -0.00014256 0.02680154 -0.09472191
+v -0.00014256 0.03832024 -0.10047441
+v -0.01123816 0.03560545 -0.09472191
+v -0.00940990 0.03629180 -0.09472191
+v -0.00692659 0.03700495 -0.09472191
+v -0.00750342 0.03749611 -0.09813647
+v -0.01073412 0.03700877 -0.10047441
+v -0.00014256 0.03750887 -0.09472191
+v -0.00326463 0.03832024 -0.10047441
+v -0.00677125 0.03703301 -0.09472191
+v -0.01012361 0.03717079 -0.10047441
+v -0.00516242 0.03731495 -0.09472191
+v -0.00677016 0.03754203 -0.09782114
+v -0.00677125 0.03769640 -0.09896703
+v -0.00677125 0.03784311 -0.10047441
+v -0.00834205 0.03758541 -0.10047441
+v -0.00252159 0.03750887 -0.09472191
+v -0.00544486 0.03805871 -0.10047441
+v -0.00351557 0.03774360 -0.09641906
+f 1 2 6
+f 1 6 7
+f 1 7 3
+f 1 3 9
+f 1 9 15
+f 1 15 10
+f 1 10 4
+f 1 4 12
+f 1 12 19
+f 1 19 23
+f 1 23 28
+f 1 28 27
+f 1 27 30
+f 1 30 21
+f 1 21 14
+f 1 14 5
+f 1 5 2
+f 2 5 6
+f 3 7 8
+f 3 8 9
+f 4 10 11
+f 4 11 12
+f 5 13 7
+f 5 7 6
+f 5 14 20
+f 5 20 13
+f 7 13 8
+f 8 13 20
+f 8 20 29
+f 8 29 24
+f 8 24 22
+f 8 22 17
+f 8 17 16
+f 8 16 15
+f 8 15 9
+f 10 16 11
+f 10 15 16
+f 11 16 17
+f 11 17 18
+f 11 18 19
+f 11 19 12
+f 14 21 29
+f 14 29 20
+f 17 22 18
+f 18 23 19
+f 18 22 24
+f 18 24 25
+f 18 25 26
+f 18 26 27
+f 18 27 28
+f 18 28 23
+f 21 30 31
+f 21 31 29
+f 24 29 31
+f 24 31 25
+f 25 31 26
+f 26 31 30
+f 26 30 27
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_303.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_303.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bf2a81ee21368d3aefd525839fc4d4e707fc07e
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_303.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.03870348 -0.00310315 -0.10313805
+v 0.03771192 -0.00946406 -0.10358372
+v 0.03721347 -0.01247705 -0.10633064
+v 0.03760530 -0.00929976 -0.10743873
+v 0.03810108 -0.00310315 -0.10877978
+v 0.03810108 -0.00001812 -0.10877978
+v 0.03840361 -0.00001812 -0.10594575
+v 0.03870215 -0.00001812 -0.10313805
+v 0.03751200 -0.00001812 -0.09471294
+v 0.03751200 -0.00252179 -0.09471294
+v 0.03774923 -0.00352022 -0.09641863
+v 0.03750134 -0.00750890 -0.09813647
+v 0.03721347 -0.01247705 -0.10594372
+v 0.03698957 -0.01164039 -0.10181523
+v 0.03681231 -0.01292951 -0.10678239
+v 0.03628988 -0.00929976 -0.11053814
+v 0.03696958 -0.01292951 -0.10550819
+v 0.03687229 -0.00310315 -0.11187918
+v 0.03748935 -0.00001812 -0.11032341
+v 0.02680470 -0.00001812 -0.09471294
+v 0.03731742 -0.00517585 -0.09471294
+v 0.03701089 -0.00692121 -0.09471294
+v 0.03670569 -0.00946406 -0.09641863
+v 0.03655776 -0.01292951 -0.10250805
+v 0.03553820 -0.01292951 -0.09671844
+v 0.03621524 -0.01292951 -0.10018653
+v 0.03548090 -0.01292951 -0.10939763
+v 0.03252086 -0.01292951 -0.11357677
+v 0.03319123 -0.00929976 -0.11397381
+v 0.03377365 -0.00310315 -0.11413587
+v 0.03687229 -0.00001812 -0.11187918
+v 0.02508945 -0.01126250 -0.09471294
+v 0.02508945 -0.00001812 -0.10065246
+v 0.03629521 -0.00941477 -0.09471294
+v 0.03499977 -0.01292951 -0.09471294
+v 0.02788822 -0.01292951 -0.11515078
+v 0.02788822 -0.00929976 -0.11540805
+v 0.03377365 -0.00001812 -0.11413587
+v 0.02508945 -0.01292951 -0.09471294
+v 0.02508945 -0.00001812 -0.11435871
+v 0.02508945 -0.01292951 -0.11444176
+v 0.02508945 -0.00931366 -0.11467675
+v 0.02788822 -0.00001812 -0.11526016
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 11
+f 1 11 12
+f 1 12 2
+f 2 13 3
+f 2 12 14
+f 2 14 13
+f 3 15 16
+f 3 16 4
+f 3 13 17
+f 3 17 15
+f 4 16 18
+f 4 18 5
+f 5 19 6
+f 5 18 19
+f 6 19 31
+f 6 31 38
+f 6 38 43
+f 6 43 40
+f 6 40 33
+f 6 33 20
+f 6 20 9
+f 6 9 8
+f 6 8 7
+f 9 20 32
+f 9 32 39
+f 9 39 35
+f 9 35 34
+f 9 34 22
+f 9 22 21
+f 9 21 10
+f 10 21 11
+f 11 21 12
+f 12 21 22
+f 12 22 23
+f 12 23 14
+f 13 14 17
+f 14 24 17
+f 14 23 25
+f 14 25 26
+f 14 26 24
+f 15 27 16
+f 15 17 24
+f 15 24 26
+f 15 26 25
+f 15 25 35
+f 15 35 39
+f 15 39 41
+f 15 41 36
+f 15 36 28
+f 15 28 27
+f 16 27 28
+f 16 28 18
+f 18 28 29
+f 18 29 30
+f 18 30 38
+f 18 38 31
+f 18 31 19
+f 20 33 32
+f 22 34 23
+f 23 34 25
+f 25 34 35
+f 28 36 29
+f 29 36 37
+f 29 37 30
+f 30 37 38
+f 32 33 40
+f 32 40 42
+f 32 42 41
+f 32 41 39
+f 36 41 37
+f 37 41 42
+f 37 42 43
+f 37 43 38
+f 40 43 42
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_307.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_307.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec372df3b3ee51101f72d32728b7c716d451b933
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_307.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v -0.02788810 -0.00917631 -0.11540239
+v -0.02800537 -0.00917631 -0.11537906
+v -0.03377373 -0.00001812 -0.11413645
+v -0.02788810 -0.00001812 -0.11525930
+v -0.02251433 -0.00917631 -0.11399336
+v -0.03320323 -0.00917631 -0.11397780
+v -0.03377373 -0.00310283 -0.11413645
+v -0.03687343 -0.00001812 -0.11187982
+v -0.02259674 -0.00001812 -0.11355478
+v -0.02251433 -0.00826641 -0.11397158
+v -0.02251433 -0.00917631 -0.09951429
+v -0.03326504 -0.00917631 -0.11393271
+v -0.03687185 -0.00310283 -0.11187826
+v -0.03810159 -0.00310283 -0.10878027
+v -0.03748513 -0.00001812 -0.11033704
+v -0.02251433 -0.00001812 -0.11351279
+v -0.03722207 -0.00917631 -0.09951429
+v -0.02251433 -0.00805216 -0.09951429
+v -0.03630135 -0.00917631 -0.11056255
+v -0.03761508 -0.00917631 -0.10746456
+v -0.03870219 -0.00310283 -0.10313795
+v -0.03870378 -0.00001812 -0.10313795
+v -0.03810159 -0.00001812 -0.10878027
+v -0.02251433 -0.00001812 -0.10031056
+v -0.03755327 -0.00800106 -0.09951429
+v -0.03768005 -0.00917631 -0.10278647
+v -0.02585491 -0.00001812 -0.09951429
+v -0.03762617 -0.00917631 -0.10735259
+v -0.03818875 -0.00332694 -0.09951429
+v -0.03775612 -0.00917631 -0.10356563
+v -0.03825847 -0.00001812 -0.10000419
+v -0.03818875 -0.00001812 -0.09951429
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 11
+f 1 11 17
+f 1 17 26
+f 1 26 30
+f 1 30 28
+f 1 28 20
+f 1 20 19
+f 1 19 12
+f 1 12 6
+f 1 6 2
+f 2 6 7
+f 2 7 3
+f 3 7 8
+f 3 8 15
+f 3 15 23
+f 3 23 22
+f 3 22 31
+f 3 31 32
+f 3 32 27
+f 3 27 24
+f 3 24 16
+f 3 16 9
+f 3 9 4
+f 4 9 10
+f 4 10 5
+f 5 10 16
+f 5 16 24
+f 5 24 18
+f 5 18 11
+f 6 12 13
+f 6 13 7
+f 7 13 8
+f 8 13 14
+f 8 14 15
+f 9 16 10
+f 11 18 27
+f 11 27 32
+f 11 32 29
+f 11 29 25
+f 11 25 17
+f 12 19 13
+f 13 19 20
+f 13 20 14
+f 14 21 22
+f 14 22 23
+f 14 23 15
+f 14 20 21
+f 17 25 26
+f 18 24 27
+f 20 28 21
+f 21 29 22
+f 21 28 30
+f 21 30 25
+f 21 25 29
+f 22 29 31
+f 25 30 26
+f 29 32 31
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_316.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_316.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99746e1db5cd025e7ba53725d2efd2b4d681ffd1
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_316.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v 0.02537940 0.00726079 -0.09992740
+v 0.01970110 0.00726079 -0.09829187
+v 0.02537940 -0.00001812 -0.10065265
+v 0.02537940 0.00726079 -0.11469840
+v 0.01584087 0.00726079 -0.09824065
+v 0.01584087 0.00343894 -0.09782269
+v 0.01584087 -0.00001812 -0.09791189
+v 0.02537940 -0.00001812 -0.11445226
+v 0.02537940 0.00550448 -0.11465710
+v 0.02355200 0.00726079 -0.11422096
+v 0.01584087 0.00726079 -0.11125553
+v 0.01584087 -0.00001812 -0.11075991
+v 0.02258367 -0.00001812 -0.11355518
+v 0.02271160 0.00726079 -0.11395003
+v 0.02177969 0.00726079 -0.11364935
+f 1 2 3
+f 1 3 8
+f 1 8 9
+f 1 9 4
+f 1 4 10
+f 1 10 14
+f 1 14 15
+f 1 15 11
+f 1 11 5
+f 1 5 2
+f 2 5 6
+f 2 6 7
+f 2 7 3
+f 3 7 12
+f 3 12 13
+f 3 13 8
+f 4 9 10
+f 5 11 12
+f 5 12 7
+f 5 7 6
+f 8 13 10
+f 8 10 9
+f 10 13 14
+f 11 15 13
+f 11 13 12
+f 13 15 14
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_39.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5498295bbefeadd2c0f11f50ce97acc97187ddc
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_39.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
+v -0.01365552 0.03659939 0.05587758
+v -0.01365552 0.02604836 0.05587758
+v -0.01365552 0.03663105 0.05549696
+v -0.01516161 0.03587119 0.05587758
+v -0.02080224 0.02064857 0.05587758
+v -0.01973550 0.02064857 0.00537760
+v -0.01365552 0.02528533 0.00537760
+v -0.01365552 0.03675453 0.05397444
+v -0.01571608 0.03593609 0.05178954
+v -0.01922900 0.03373882 0.05587758
+v -0.03296988 0.02064857 0.05587758
+v -0.03185710 0.02064857 0.00537760
+v -0.01365552 0.03525697 0.00537760
+v -0.01365552 0.03681944 0.05178954
+v -0.02140851 0.03283806 0.05178954
+v -0.01365552 0.03680519 0.04967878
+v -0.01365552 0.03677670 0.04559568
+v -0.01566236 0.03591393 0.04559568
+v -0.02137397 0.03281590 0.04559568
+v -0.02117060 0.03268134 0.05587758
+v -0.03268785 0.02116781 0.05587758
+v -0.03325575 0.02064857 0.05178954
+v -0.03000567 0.02347115 0.00841768
+v -0.02994427 0.02338883 0.00537760
+v -0.03197030 0.02064857 0.00841768
+v -0.03075008 0.02446847 0.04559568
+v -0.01549352 0.03459050 0.00537760
+v -0.01365552 0.03660889 0.04098365
+v -0.02450510 0.03076110 0.05178954
+v -0.02222774 0.03197372 0.05587758
+v -0.02447056 0.03074369 0.04559568
+v -0.01798384 0.03330190 0.00537760
+v -0.02029381 0.03210353 0.00537760
+v -0.02037631 0.03215735 0.00841768
+v -0.02070823 0.03237739 0.02081035
+v -0.02104206 0.03259586 0.03319807
+v -0.03197797 0.02222529 0.05587758
+v -0.03076543 0.02450330 0.05178954
+v -0.03284325 0.02140527 0.05178954
+v -0.03282023 0.02137044 0.04559568
+v -0.03321162 0.02064857 0.04559568
+v -0.02684577 0.02684147 0.00537760
+v -0.03218710 0.02064857 0.01437921
+v -0.03271087 0.02120422 0.03939687
+v -0.02765157 0.02764724 0.04559568
+v -0.02752686 0.02752376 0.03939687
+v -0.03234442 0.02064857 0.01874408
+v -0.03249215 0.02087020 0.02700915
+v -0.02766692 0.02766307 0.05178954
+v -0.02749041 0.02748735 0.05587758
+v -0.02641217 0.02854325 0.05587758
+v -0.02426911 0.03058380 0.05587758
+v -0.02413865 0.03049673 0.03319807
+v -0.02339232 0.02993950 0.00537760
+v -0.03058892 0.02426584 0.05587758
+v -0.02854755 0.02640929 0.05587758
+f 1 2 7
+f 1 7 13
+f 1 13 28
+f 1 28 17
+f 1 17 16
+f 1 16 14
+f 1 14 8
+f 1 8 3
+f 1 3 4
+f 1 4 10
+f 1 10 20
+f 1 20 30
+f 1 30 52
+f 1 52 51
+f 1 51 50
+f 1 50 56
+f 1 56 55
+f 1 55 37
+f 1 37 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 4 9 10
+f 5 11 22
+f 5 22 41
+f 5 41 47
+f 5 47 43
+f 5 43 25
+f 5 25 12
+f 5 12 6
+f 6 12 24
+f 6 24 42
+f 6 42 54
+f 6 54 33
+f 6 33 32
+f 6 32 27
+f 6 27 13
+f 6 13 7
+f 8 14 9
+f 9 15 10
+f 9 14 16
+f 9 16 17
+f 9 17 18
+f 9 18 19
+f 9 19 15
+f 10 15 20
+f 11 21 22
+f 12 23 24
+f 12 25 26
+f 12 26 23
+f 13 27 28
+f 15 29 30
+f 15 30 20
+f 15 19 31
+f 15 31 29
+f 17 28 27
+f 17 27 18
+f 18 27 32
+f 18 32 33
+f 18 33 34
+f 18 34 35
+f 18 35 19
+f 19 35 36
+f 19 36 31
+f 21 37 38
+f 21 38 39
+f 21 39 22
+f 22 39 40
+f 22 40 41
+f 23 42 24
+f 23 26 42
+f 25 43 26
+f 26 44 40
+f 26 40 39
+f 26 39 38
+f 26 38 45
+f 26 45 46
+f 26 46 42
+f 26 43 47
+f 26 47 48
+f 26 48 44
+f 29 49 50
+f 29 50 51
+f 29 51 52
+f 29 52 30
+f 29 31 45
+f 29 45 49
+f 31 46 45
+f 31 36 35
+f 31 35 34
+f 31 34 33
+f 31 33 53
+f 31 53 42
+f 31 42 46
+f 33 54 53
+f 37 55 38
+f 38 55 56
+f 38 56 50
+f 38 50 49
+f 38 49 45
+f 40 44 41
+f 41 44 48
+f 41 48 47
+f 42 53 54
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_4.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f48872050c1869f9466bf4b7775c1f51169bd41e
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.00915016 -0.03682170 0.00537760
+v 0.00915016 -0.03677727 0.00389958
+v 0.00988626 -0.03653565 0.00221347
+v 0.01008862 -0.03657453 0.00537760
+v 0.00915016 -0.02715842 0.00537760
+v 0.00915016 -0.03657592 -0.00254073
+v 0.00929577 -0.03499430 -0.04913296
+v 0.01461870 -0.03481934 0.00221347
+v 0.01461870 -0.03491516 0.00537760
+v 0.01372093 -0.03341685 -0.04913296
+v 0.01461870 -0.02464227 0.00537760
+v 0.01461870 -0.02316897 -0.03459290
+v 0.01461870 -0.02263574 -0.04913296
+v 0.00915016 -0.02593645 -0.03400062
+v 0.00915016 -0.03501791 -0.04913296
+v 0.01461870 -0.03311969 -0.04823121
+v 0.01461870 -0.03308914 -0.04913296
+v 0.00915016 -0.02551293 -0.04913296
+f 1 2 3
+f 1 3 4
+f 1 4 9
+f 1 9 11
+f 1 11 5
+f 1 5 14
+f 1 14 18
+f 1 18 15
+f 1 15 6
+f 1 6 2
+f 2 6 3
+f 3 6 7
+f 3 7 4
+f 4 8 9
+f 4 7 10
+f 4 10 8
+f 5 11 12
+f 5 12 13
+f 5 13 14
+f 6 15 7
+f 7 15 18
+f 7 18 13
+f 7 13 17
+f 7 17 10
+f 8 10 16
+f 8 16 17
+f 8 17 13
+f 8 13 12
+f 8 12 11
+f 8 11 9
+f 10 17 16
+f 13 18 14
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_43.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dc2a40b1640efe2d9e5891f6ebaa6848e16556d
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_43.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.03429588 -0.00861291 -0.07599127
+v -0.03526609 -0.00310266 -0.07599127
+v -0.02495161 -0.00861291 -0.07599127
+v -0.03443556 -0.00861291 -0.07214798
+v -0.03462788 -0.00861291 -0.06594930
+v -0.03481590 -0.00861291 -0.05975851
+v -0.03538105 -0.00310266 -0.07214798
+v -0.03532518 -0.00000959 -0.07406963
+v -0.03526716 -0.00001122 -0.07599127
+v -0.02518906 0.00810605 -0.07599127
+v -0.02572305 0.00810605 -0.05356246
+v -0.02582942 0.00810605 -0.04913558
+v -0.02500211 -0.00861291 -0.07409591
+v -0.03498351 -0.00861291 -0.05356246
+v -0.03509310 -0.00861291 -0.04913558
+v -0.03568726 -0.00310266 -0.05975851
+v -0.03538212 -0.00001122 -0.07214798
+v -0.03538320 0.00309331 -0.07214798
+v -0.03526716 0.00309331 -0.07599127
+v -0.03439043 0.00810605 -0.07599127
+v -0.03517368 0.00810605 -0.04913558
+v -0.02571445 -0.00861291 -0.04913558
+v -0.02557693 -0.00861291 -0.05388843
+v -0.02538460 -0.00861291 -0.06062338
+v -0.03592578 -0.00310266 -0.04913558
+v -0.03582908 -0.00310266 -0.05356246
+v -0.03575817 -0.00001122 -0.05666706
+v -0.03568726 0.00309331 -0.05975851
+v -0.03486640 0.00810605 -0.06094409
+v -0.03468160 0.00810605 -0.06713489
+v -0.03503401 0.00810605 -0.05474804
+v -0.03486318 0.00544993 -0.07599127
+v -0.03448713 0.00810605 -0.07333357
+v -0.03526394 0.00752016 -0.04913558
+v -0.03589785 -0.00000959 -0.05047100
+v -0.03592686 -0.00001122 -0.04913558
+v -0.03592793 0.00309331 -0.04913558
+v -0.03582908 0.00309331 -0.05356246
+f 1 2 9
+f 1 9 19
+f 1 19 32
+f 1 32 20
+f 1 20 10
+f 1 10 3
+f 1 3 13
+f 1 13 24
+f 1 24 23
+f 1 23 22
+f 1 22 15
+f 1 15 14
+f 1 14 6
+f 1 6 5
+f 1 5 4
+f 1 4 2
+f 2 4 5
+f 2 5 6
+f 2 6 7
+f 2 7 8
+f 2 8 9
+f 3 10 11
+f 3 11 12
+f 3 12 13
+f 6 14 7
+f 7 14 15
+f 7 15 16
+f 7 16 17
+f 7 17 8
+f 8 17 18
+f 8 18 19
+f 8 19 9
+f 10 20 33
+f 10 33 30
+f 10 30 29
+f 10 29 31
+f 10 31 21
+f 10 21 12
+f 10 12 11
+f 12 21 34
+f 12 34 37
+f 12 37 36
+f 12 36 25
+f 12 25 15
+f 12 15 22
+f 12 22 23
+f 12 23 24
+f 12 24 13
+f 15 25 26
+f 15 26 16
+f 16 18 17
+f 16 26 27
+f 16 27 28
+f 16 28 18
+f 18 29 30
+f 18 30 19
+f 18 28 21
+f 18 21 31
+f 18 31 29
+f 19 30 32
+f 20 32 33
+f 21 28 34
+f 25 35 26
+f 25 36 35
+f 26 35 37
+f 26 37 38
+f 26 38 27
+f 27 38 28
+f 28 38 34
+f 30 33 32
+f 34 38 37
+f 35 36 37
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_45.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80eaf9b3cbd2c48f876d745a06d39d85cca0f8b9
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_45.obj
@@ -0,0 +1,111 @@
+# https://github.com/mikedh/trimesh
+v -0.00302134 -0.03546946 -0.11799035
+v -0.00910972 -0.03314202 -0.12407839
+v -0.00302134 -0.03416287 -0.12407839
+v 0.00177170 -0.03519294 -0.11928480
+v 0.00177170 -0.03546946 -0.11799035
+v -0.00302134 -0.03396239 -0.09966713
+v -0.00910972 -0.03440253 -0.11799035
+v -0.01239523 -0.03262815 -0.12119396
+v -0.01239523 -0.03207970 -0.12383605
+v -0.01239523 -0.03086068 -0.12710172
+v -0.00910972 -0.03113720 -0.12780805
+v 0.00177170 -0.03362365 -0.12495908
+v 0.00177170 -0.03416287 -0.12407839
+v -0.00302134 -0.03162343 -0.12822180
+v 0.00177170 -0.03396239 -0.09967895
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+v 0.00177170 -0.03363056 -0.09966713
+v -0.01239523 -0.01193007 -0.09966713
+v -0.01239523 -0.02741099 -0.12888084
+v -0.01239523 -0.02408806 -0.12973790
+v -0.01239523 -0.02128591 -0.12976154
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+v -0.01239523 -0.01193007 -0.12703670
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+v -0.01239523 -0.01737766 -0.12903157
+v 0.00177170 -0.02128591 -0.12901974
+v 0.00177170 -0.01193007 -0.12570975
+v -0.01239523 -0.01532214 -0.12834592
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+f 24 31 25
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+f 27 37 33
+f 30 34 31
+f 30 35 36
+f 30 36 34
+f 33 37 38
+f 35 38 36
+f 36 38 37
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_50.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99487fda87c80ad46f3ec942b3e427763b2ad3b6
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_50.obj
@@ -0,0 +1,282 @@
+# https://github.com/mikedh/trimesh
+v -0.03653153 -0.00017788 -0.02304469
+v -0.03653153 0.00023003 -0.02304469
+v -0.03651535 -0.00004191 -0.02380516
+v -0.03634136 -0.00160918 -0.02533778
+v -0.03625640 -0.00263255 -0.02533778
+v -0.03628067 -0.00313350 -0.02304469
+v -0.03625640 0.00268470 -0.02533778
+v -0.03634136 0.00166132 -0.02533778
+v -0.03651535 0.00009406 -0.02380516
+v -0.03628067 0.00317849 -0.02304469
+v -0.03539052 -0.00793548 -0.02533778
+v -0.03589629 -0.00550229 -0.02304469
+v -0.03517608 0.00916129 -0.02533778
+v -0.03524487 0.00916129 -0.02304469
+v -0.03582751 -0.00591736 -0.02304469
+v -0.03517608 -0.00910914 -0.02533778
+v -0.03524891 -0.00910914 -0.02304469
+v -0.03501423 0.00981252 -0.02304469
+v -0.03472696 0.01041367 -0.02533778
+v -0.03298308 -0.01519928 -0.02533778
+v -0.03305591 -0.01519928 -0.02304469
+v -0.03396629 0.01273236 -0.02304469
+v -0.03297903 0.01525143 -0.02533778
+v -0.03144150 -0.01824077 -0.02533778
+v -0.03103689 -0.01917111 -0.02304469
+v -0.03305591 0.01525143 -0.02304469
+v -0.03099643 0.01917317 -0.02533778
+v -0.03099643 -0.01910670 -0.02533778
+v -0.03053112 -0.01976510 -0.02533778
+v -0.02974618 -0.02096738 -0.02304469
+v -0.03103689 0.01923042 -0.02304469
+v -0.02884794 0.02227191 -0.02304469
+v -0.02880343 0.02221466 -0.02533778
+v -0.02880343 -0.02215535 -0.02533778
+v -0.02884794 -0.02221260 -0.02304469
+v -0.02580120 0.02585013 -0.02304469
+v -0.02575669 0.02580720 -0.02533778
+v -0.02638384 -0.02501793 -0.02533778
+v -0.02758959 -0.02370830 -0.02304469
+v -0.02222038 0.02889878 -0.02304469
+v -0.02215969 0.02885584 -0.02533778
+v -0.02575669 -0.02574789 -0.02533778
+v -0.02580120 -0.02579083 -0.02304469
+v -0.02189669 0.02913495 -0.02304469
+v -0.02154063 0.02930670 -0.02533778
+v -0.02499197 -0.02639913 -0.02533778
+v -0.02409374 -0.02725075 -0.02304469
+v -0.01917364 0.03108866 -0.02304469
+v -0.01911700 0.03105288 -0.02533778
+v -0.02216778 -0.02878938 -0.02533778
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+v -0.01520439 0.03310678 -0.02304469
+v -0.01520439 0.03303522 -0.02533778
+v -0.02222442 -0.02883232 -0.02304469
+v -0.01974819 -0.03054272 -0.02533778
+v -0.02096203 -0.02974835 -0.02304469
+v -0.01268770 0.03401565 -0.02304469
+v -0.00911497 0.03523225 -0.02533778
+v -0.01911700 -0.03098642 -0.02533778
+v -0.01918174 -0.03102936 -0.02304469
+v -0.00911497 0.03529665 -0.02304469
+v -0.00313884 0.03633434 -0.02304469
+v -0.00263712 0.03630572 -0.02533778
+v -0.01828754 -0.03140865 -0.02533778
+v -0.01681070 -0.03223880 -0.02304469
+v -0.00018921 0.03658481 -0.02304469
+v -0.00162154 0.03639159 -0.02533778
+v -0.01520439 -0.03296876 -0.02533778
+v -0.01520439 -0.03304747 -0.02304469
+v 0.00022754 0.03658481 -0.02304469
+v -0.00005569 0.03657050 -0.02380291
+v 0.00165987 0.03639159 -0.02533778
+v -0.01121086 -0.03441435 -0.02533778
+v -0.01141317 -0.03441435 -0.02304469
+v 0.00317717 0.03633434 -0.02304469
+v 0.00267950 0.03630572 -0.02533778
+v 0.00008997 0.03657050 -0.02380291
+v -0.00911092 -0.03516579 -0.02533778
+v -0.00911092 -0.03523735 -0.02304469
+v 0.00480371 0.03606955 -0.02304469
+v 0.00480371 0.03596221 -0.02533778
+v -0.00794564 -0.03538048 -0.02533778
+v -0.00589830 -0.03582418 -0.02304469
+v 0.00480371 -0.03598162 -0.02304469
+v 0.00480371 -0.03588143 -0.02533778
+v -0.00264116 -0.03624641 -0.02533778
+v -0.00313884 -0.03626788 -0.02304469
+v 0.00317717 -0.03626788 -0.02304469
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+v -0.00162154 -0.03633229 -0.02533778
+v -0.00018921 -0.03652551 -0.02304469
+v 0.00022754 -0.03652551 -0.02304469
+v 0.00165987 -0.03633229 -0.02533778
+v -0.00005569 -0.03651120 -0.02380291
+v 0.00009402 -0.03651120 -0.02380291
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+f 1 15 17
+f 1 17 21
+f 1 21 25
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+f 4 45 49
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+f 4 81 85
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+f 4 73 68
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+f 5 12 6
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+f 10 14 13
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+f 16 21 17
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+f 19 22 23
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+f 32 36 37
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+f 40 44 41
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+f 42 46 47
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+f 44 48 49
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+f 89 92 93
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+f 90 95 94
+f 90 94 91
+f 91 94 95
+f 91 95 92
+f 92 95 93
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_54.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41c704525eaa968eaaa512b57a47cda9d1516ff1
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_54.obj
@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
+v 0.02849044 0.00307479 0.10732774
+v 0.02844191 -0.00019921 0.10732774
+v 0.02660993 -0.00019921 0.10123884
+v 0.02664330 0.00307479 0.10123884
+v 0.02561711 0.00897744 0.10091529
+v 0.02722969 0.00916312 0.10732774
+v 0.02785046 0.00307479 0.11341665
+v 0.02813759 -0.00019921 0.11060076
+v 0.02463641 -0.00019921 0.09806392
+v 0.02463439 0.00307479 0.09806602
+v 0.02454239 0.00682354 0.09810567
+v 0.02545636 0.01005439 0.10137452
+v 0.02673834 0.01005439 0.10632371
+v 0.02685157 0.01005439 0.10732774
+v 0.02613475 0.01005439 0.11341665
+v 0.02648760 0.00916312 0.11341665
+v 0.02506408 0.00916312 0.11712802
+v 0.02575157 0.00307479 0.11772085
+v 0.02575562 -0.00019921 0.11772292
+v 0.02672620 -0.00019921 0.11573156
+v 0.02784136 -0.00019921 0.11341665
+v 0.02414809 -0.00019921 0.09806392
+v 0.02414910 0.00307479 0.09806602
+v 0.02420066 0.00682354 0.09810567
+v 0.02151033 0.01005439 0.10090277
+v 0.02487603 0.01005439 0.10091529
+v 0.02490737 0.01005439 0.11697982
+v 0.02130913 0.01005439 0.11860380
+v 0.02133845 0.00916312 0.11880211
+v 0.02133845 0.00307479 0.11938448
+v 0.02133845 -0.00019921 0.11938866
+v 0.02084709 0.01005439 0.10092782
+v 0.02331602 -0.00019921 0.09953344
+v 0.01816282 0.01005439 0.10416118
+v 0.01816282 0.01005439 0.11893779
+v 0.01816282 0.00959169 0.11904424
+v 0.01816282 0.00916312 0.11914026
+v 0.01816282 0.00307479 0.11928012
+v 0.01816282 -0.00019921 0.11928012
+v 0.02238790 -0.00019921 0.10123884
+v 0.02089562 -0.00019921 0.10436992
+v 0.01936898 -0.00019921 0.10759910
+v 0.01816282 -0.00019921 0.11047343
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
+f 2 8 21
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+f 6 15 16
+f 6 16 7
+f 7 16 17
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+f 7 18 19
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+f 10 23 24
+f 10 24 11
+f 11 24 25
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+f 11 26 12
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+f 12 27 15
+f 12 15 14
+f 12 14 13
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+f 16 27 17
+f 17 27 28
+f 17 28 29
+f 17 29 18
+f 18 29 30
+f 18 30 31
+f 18 31 19
+f 22 32 23
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+f 22 34 32
+f 23 32 24
+f 24 32 25
+f 28 35 36
+f 28 36 29
+f 29 36 37
+f 29 37 30
+f 30 37 38
+f 30 38 31
+f 31 38 39
+f 33 40 34
+f 34 40 41
+f 34 41 42
+f 34 42 43
+f 34 43 39
+f 34 39 38
+f 34 38 37
+f 34 37 36
+f 34 36 35
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_56.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97a567b094c51c9b96f0cb82d1f8f329ea2d67ef
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_56.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.02549792 0.00797664 0.08684829
+v 0.01564429 0.00797664 0.08684829
+v 0.02546705 0.00814073 0.08684829
+v 0.02413018 0.00797664 0.11076209
+v 0.01200727 0.01334957 0.08684829
+v 0.01552080 0.00797664 0.08761622
+v 0.01150247 0.01334957 0.08897885
+v 0.02464424 0.01018819 0.08684829
+v 0.02384459 0.00892805 0.11076209
+v 0.02404064 0.00827590 0.11076209
+v 0.01437998 0.00797664 0.11076209
+v 0.02288747 0.01334957 0.08684829
+v 0.01531702 0.00797664 0.08897885
+v 0.01055307 0.01334957 0.09518089
+v 0.02359759 0.01218200 0.08684829
+v 0.02275626 0.01097077 0.11076209
+v 0.00972872 0.01334957 0.11076209
+v 0.01447723 0.00797664 0.10756859
+v 0.02147342 0.01334957 0.11076209
+v 0.01495733 0.00797664 0.09345303
+v 0.02238885 0.01165869 0.11076209
+v 0.01487860 0.00797664 0.09517855
+f 1 2 5
+f 1 5 12
+f 1 12 15
+f 1 15 8
+f 1 8 3
+f 1 3 4
+f 1 4 11
+f 1 11 18
+f 1 18 22
+f 1 22 20
+f 1 20 13
+f 1 13 6
+f 1 6 2
+f 2 6 7
+f 2 7 5
+f 3 8 9
+f 3 9 10
+f 3 10 4
+f 4 10 9
+f 4 9 16
+f 4 16 21
+f 4 21 19
+f 4 19 17
+f 4 17 11
+f 5 7 14
+f 5 14 17
+f 5 17 19
+f 5 19 12
+f 6 13 14
+f 6 14 7
+f 8 15 9
+f 9 15 16
+f 11 17 18
+f 12 19 15
+f 13 20 14
+f 14 20 17
+f 15 19 21
+f 15 21 16
+f 17 20 22
+f 17 22 18
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_6.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aba7ebbe500e2a31059503050693876cac71c324
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,129 @@
+# https://github.com/mikedh/trimesh
+v -0.01797103 0.00639333 0.11941649
+v -0.02129080 0.00307462 0.11937051
+v -0.02129080 -0.00019921 0.11937260
+v -0.01797103 -0.00019921 0.11927437
+v -0.01797103 0.00935390 0.11914268
+v -0.02110115 0.00935390 0.11879362
+v -0.02129080 0.00916314 0.11877689
+v -0.02567399 0.00307462 0.11770255
+v -0.02567807 -0.00019921 0.11770464
+v -0.02365011 -0.00019921 0.11847592
+v -0.01797103 -0.00019921 0.11048098
+v -0.01797103 0.00935390 0.10740843
+v -0.02128366 0.00935390 0.11873300
+v -0.02485424 0.00935390 0.11711520
+v -0.02498679 0.00916314 0.11710058
+v -0.02774069 0.00307462 0.11341560
+v -0.02773253 -0.00019921 0.11341560
+v -0.01930974 -0.00019921 0.10749621
+v -0.01797103 0.00264166 0.10831138
+v -0.01797103 0.00934174 0.10473718
+v -0.02118068 0.00935390 0.10110445
+v -0.02495314 0.00935390 0.11706922
+v -0.02637852 0.00916314 0.11341560
+v -0.02711772 0.00916314 0.10732900
+v -0.02838710 0.00307462 0.10732900
+v -0.02833918 -0.00019921 0.10732900
+v -0.02231446 -0.00019921 0.10123822
+v -0.02409669 -0.00019921 0.09806324
+v -0.02409669 0.00307462 0.09806533
+v -0.02415481 0.00678608 0.09810713
+v -0.02151816 0.00935390 0.10089752
+v -0.02626229 0.00935390 0.11360162
+v -0.02630307 0.00935390 0.11341560
+v -0.02700658 0.00935390 0.10762371
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\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_60.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8c13390174e61201a6c385a1fe094aac16c5264
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_60.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.00731263 0.01470147 0.10908325
+v 0.00017543 0.01647506 0.10908325
+v -0.00731263 0.02428159 0.10908325
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+v 0.00017543 0.01652593 0.10756825
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+f 21 25 23
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\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_72.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08c9053b0cb749f1987768ee2b4437e777c3794e
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_72.obj
@@ -0,0 +1,174 @@
+# https://github.com/mikedh/trimesh
+v -0.01287339 -0.02541843 0.10899804
+v -0.00910771 -0.02700494 0.10899804
+v -0.01287339 -0.02497300 0.11342098
+v -0.01287339 -0.01129380 0.10899804
+v -0.00743816 -0.02737888 0.10899804
+v -0.00910771 -0.02646602 0.11342098
+v -0.01237081 -0.02445057 0.11659980
+v -0.01287339 -0.02474203 0.11443284
+v -0.01287339 -0.00019921 0.11046008
+v -0.01185107 -0.00019921 0.11045496
+v -0.00911016 -0.00019921 0.11044166
+v 0.00915680 -0.00019921 0.11044166
+v 0.01217229 -0.00939108 0.10926610
+v 0.01217229 -0.01236614 0.10899804
+v -0.00302281 -0.02828900 0.10899804
+v -0.00302281 -0.02782432 0.11342098
+v -0.00910771 -0.02502249 0.11714410
+v -0.01287339 -0.02373568 0.11680749
+v -0.01287339 -0.00019921 0.11895193
+v 0.01217229 -0.00019921 0.11045291
+v 0.01217229 -0.02574838 0.10899804
+v -0.00135081 -0.02827800 0.10899804
+v -0.00078449 -0.02822026 0.10956382
+v 0.00306700 -0.02779957 0.11342098
+v -0.00078449 -0.02705168 0.11499862
+v -0.00078449 -0.02570988 0.11773034
+v -0.00302281 -0.02570714 0.11773034
+v -0.00910771 -0.02128030 0.11881791
+v -0.01287339 -0.02116757 0.11797998
+v 0.01217229 -0.00019921 0.11887418
+v -0.01287339 -0.01519546 0.11939290
+v -0.00910771 -0.01519546 0.11945019
+v 0.01217229 -0.01218466 0.11944713
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+v -0.00078449 -0.02826975 0.10899804
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+f 54 58 55
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\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_76.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca7f30294c3d517bfabfb177200f0ae778b58cab
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_76.obj
@@ -0,0 +1,222 @@
+# https://github.com/mikedh/trimesh
+v 0.00310845 0.03694225 -0.00302185
+v -0.00318149 0.03685900 -0.00536265
+v -0.00305530 0.03693762 -0.00302185
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+v 0.00555454 0.03666013 -0.00536265
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+v 0.00637960 0.03662775 -0.00302185
+v 0.00623400 0.03659538 -0.00536265
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+v -0.00930641 0.03587389 -0.00302185
+v -0.00664192 0.03654913 -0.00302185
+v 0.00935956 0.03587389 -0.00302185
+v 0.00901497 0.03588776 -0.00536265
+v -0.01264551 0.03457890 -0.00536265
+v -0.01264551 0.03467603 -0.00302185
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+v 0.01195124 0.03487027 -0.00536265
+v -0.01264551 -0.01030152 -0.00536265
+v -0.01264551 -0.01030152 -0.00302185
+v 0.01524667 0.03376954 -0.00302185
+v 0.01524667 0.03369554 -0.00536265
+v 0.01247541 0.03468527 -0.00536265
+v 0.03539775 -0.01030152 -0.00536265
+v 0.03550453 -0.01030152 -0.00302185
+v 0.01974572 0.03143394 -0.00302185
+v 0.01745008 0.03255780 -0.00536265
+v 0.03588309 -0.00895104 -0.00536265
+v 0.03546085 -0.01030152 -0.00400116
+v 0.03586368 -0.00929791 -0.00302185
+v 0.02242476 0.02955159 -0.00302185
+v 0.01968262 0.03139694 -0.00536265
+v 0.03658682 -0.00617145 -0.00536265
+v 0.03654314 -0.00663857 -0.00302185
+v 0.02140071 0.03018521 -0.00536265
+v 0.02119201 0.03033321 -0.00536265
+v 0.02278876 0.02928797 -0.00302185
+v 0.02273052 0.02924172 -0.00536265
+v 0.03685376 -0.00317449 -0.00536265
+v 0.03693141 -0.00304962 -0.00302185
+v 0.03662080 -0.00631945 -0.00302185
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\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_79.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91f92c8ba2644a6ac093996daa01ef6fef2c7a87
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_79.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.01459940 0.02264269 -0.04913296
+v -0.00310025 0.02696846 -0.04913296
+v -0.00309012 0.02696846 -0.04912229
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+v -0.00309012 0.02824154 -0.00398673
+v -0.00309012 0.02851041 0.00537226
+v -0.01459940 0.02317302 -0.03459290
+v -0.01459940 0.03308872 -0.04913296
+v -0.00309012 0.02701452 -0.04913296
+v -0.00309012 0.02853715 0.00537226
+v -0.01459940 0.02464811 0.00537226
+v -0.01372178 0.03340810 -0.04913296
+v -0.01459940 0.03481784 0.00220813
+v -0.01008852 0.03656627 0.00537226
+v -0.00309012 0.03592156 -0.04913296
+v -0.00309012 0.03781706 0.00536693
+v -0.00310025 0.03781855 0.00537226
+v -0.01459940 0.03491439 0.00537226
+v -0.00987109 0.03478219 -0.04913296
+v -0.00987109 0.03662421 0.00537226
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+v -0.00987109 0.03652765 0.00211209
+v -0.00883349 0.03658558 -0.00460035
+v -0.00752552 0.03525903 -0.04913296
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\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_80.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73208162dd646a089fb3a5d21292e84e59d94ec1
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_80.obj
@@ -0,0 +1,114 @@
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diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_82.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..493b976176a21b713ba3170e9fa4a609de5e29a8
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_82.obj
@@ -0,0 +1,1308 @@
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+f 409 423 411
+f 410 424 419
+f 411 423 422
+f 411 422 425
+f 412 426 427
+f 412 427 428
+f 412 428 414
+f 412 414 413
+f 414 428 429
+f 414 429 430
+f 414 430 431
+f 414 431 415
+f 415 431 424
+f 415 424 418
+f 415 418 416
+f 416 418 417
+f 419 432 433
+f 419 433 420
+f 419 424 434
+f 419 434 432
+f 421 425 422
+f 424 431 430
+f 424 430 429
+f 424 429 434
+f 426 435 427
+f 427 435 429
+f 427 429 428
+f 429 436 437
+f 429 437 434
+f 432 434 433
+f 433 434 437
+f 433 437 436
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_83.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b0465c8e709dc708a31d835cfb8fc6ab4d99f1e
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_83.obj
@@ -0,0 +1,171 @@
+# https://github.com/mikedh/trimesh
+v 0.02404836 0.01334957 0.12816399
+v 0.01932051 0.01932273 0.13119557
+v 0.02400162 0.01334957 0.13031339
+v 0.02134439 0.01334957 0.10779929
+v 0.02060822 0.01473369 0.10779929
+v 0.02047501 0.01497981 0.10779929
+v 0.01807720 0.01807755 0.10779929
+v 0.01917094 0.01917188 0.12615827
+v 0.01253373 0.02486318 0.12895995
+v 0.01253373 0.02486318 0.12951742
+v 0.01552515 0.02171781 0.13242256
+v 0.01851891 0.01851951 0.13532483
+v 0.02171832 0.01552367 0.13241969
+v 0.02284712 0.01334957 0.13299726
+v 0.00989287 0.01334957 0.10779929
+v 0.01497828 0.02047263 0.10779929
+v 0.01473289 0.02060496 0.10779929
+v 0.00880380 0.02377547 0.10779929
+v 0.00621202 0.02479834 0.10779929
+v 0.00919409 0.02552349 0.12660079
+v 0.00329772 0.02682292 0.12617264
+v 0.00309907 0.02686659 0.12616114
+v 0.00902115 0.02543483 0.13189383
+v 0.01090247 0.02411555 0.13365243
+v 0.00309907 0.02659929 0.13235360
+v 0.00677057 0.02498492 0.13572712
+v 0.01438701 0.01998700 0.13654607
+v 0.01998657 0.01438832 0.13654607
+v 0.02035816 0.01334957 0.13659492
+v 0.00017776 0.01631497 0.11376760
+v 0.00017776 0.01651876 0.10779929
+v 0.00953296 0.01334957 0.11377048
+v 0.00368100 0.02512386 0.10779929
+v 0.00358518 0.02513577 0.10779929
+v 0.00017776 0.02686659 0.12616114
+v 0.00017776 0.02658209 0.13235360
+v 0.00017776 0.02596678 0.13410933
+v 0.00309907 0.02525884 0.13606620
+v 0.00329772 0.02524296 0.13604896
+v 0.00902115 0.02190439 0.13679319
+v 0.01606734 0.01606885 0.13684206
+v 0.01586168 0.01334957 0.13678170
+v 0.00017776 0.01620647 0.11996868
+v 0.00017776 0.02513577 0.10779929
+v 0.00935067 0.01334957 0.11996868
+v 0.00017776 0.02525884 0.13606620
+v 0.00017776 0.02168606 0.13715526
+v 0.00309907 0.02168606 0.13715240
+v 0.00329772 0.02169267 0.13714090
+v 0.00017776 0.01759853 0.13653746
+v 0.01143765 0.01334957 0.13595413
+v 0.00936469 0.01334957 0.12452610
+v 0.00937171 0.01334957 0.12615827
+v 0.00017776 0.01621309 0.12323589
+v 0.00017776 0.01642481 0.13235360
+v 0.00986950 0.01334957 0.13235647
+v 0.00017776 0.01621970 0.12616114
+v 0.00967552 0.01334957 0.13048293
+f 1 2 3
+f 1 3 14
+f 1 14 29
+f 1 29 42
+f 1 42 51
+f 1 51 56
+f 1 56 58
+f 1 58 53
+f 1 53 52
+f 1 52 45
+f 1 45 32
+f 1 32 15
+f 1 15 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 2
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+f 4 7 6
+f 4 6 5
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+f 12 26 27
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+f 15 30 31
+f 15 32 30
+f 19 33 22
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+f 29 41 42
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+f 30 54 57
+f 30 57 55
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+f 30 50 47
+f 30 47 46
+f 30 46 37
+f 30 37 36
+f 30 36 35
+f 30 35 44
+f 30 44 31
+f 32 45 43
+f 37 46 38
+f 38 46 47
+f 38 47 48
+f 38 48 49
+f 38 49 40
+f 38 40 39
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+f 53 57 54
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+f 55 57 56
+f 56 57 58
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_84.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9722217b455f0e71d78e24c367bea532a28693b7
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_84.obj
@@ -0,0 +1,246 @@
+# https://github.com/mikedh/trimesh
+v 0.01075859 0.00002686 -0.12541553
+v 0.02134049 0.00002686 -0.12901955
+v 0.01075859 0.00002686 -0.10651907
+v 0.01075859 0.01943864 -0.12929026
+v 0.02742540 0.00002686 -0.12985690
+v 0.01075859 0.02134371 -0.12964813
+v 0.03414545 0.00002686 -0.10651907
+v 0.01075859 0.03248917 -0.10651907
+v 0.02742540 0.00307827 -0.12985920
+v 0.03167755 0.00002686 -0.12821891
+v 0.01524832 0.02134371 -0.12995554
+v 0.02134049 0.01525744 -0.12995325
+v 0.01075859 0.02582972 -0.12960684
+v 0.03485091 0.00002686 -0.11190331
+v 0.03414545 0.00307827 -0.10651907
+v 0.01258163 0.03185304 -0.10651907
+v 0.01075859 0.03319155 -0.11199966
+v 0.02742540 0.00916454 -0.12948295
+v 0.03167755 0.00307827 -0.12821891
+v 0.03294787 0.00002686 -0.12614735
+v 0.02166777 0.02167171 -0.12875573
+v 0.01075859 0.02744986 -0.12919162
+v 0.03552486 0.00002686 -0.11799413
+v 0.03485091 0.00307827 -0.11190331
+v 0.03401939 0.00378398 -0.10651907
+v 0.01409680 0.03132293 -0.10651907
+v 0.01075859 0.03387407 -0.11799184
+v 0.01538893 0.03151841 -0.11227955
+v 0.02745449 0.01164610 -0.12902873
+v 0.02960723 0.01164610 -0.12807209
+v 0.03119028 0.00916454 -0.12780827
+v 0.03421576 0.00307827 -0.12407807
+v 0.03421576 0.00002686 -0.12407807
+v 0.02550295 0.01985941 -0.12792757
+v 0.02748843 0.01496588 -0.12842079
+v 0.01495983 0.02749624 -0.12842079
+v 0.01985684 0.02550835 -0.12792757
+v 0.01075859 0.03017327 -0.12797804
+v 0.03552001 0.00307827 -0.11799413
+v 0.03445576 0.00916454 -0.11799413
+v 0.03375999 0.00916454 -0.11190331
+v 0.03305696 0.00916454 -0.10651907
+v 0.01680712 0.02994135 -0.10651907
+v 0.01843623 0.03056754 -0.11455987
+v 0.01075859 0.03359576 -0.11954953
+v 0.01524832 0.03221749 -0.11799184
+v 0.01846047 0.03058410 -0.12133204
+v 0.03071269 0.01274275 -0.12736781
+v 0.03319514 0.00916454 -0.12407807
+v 0.02391264 0.02391803 -0.12652358
+v 0.01273678 0.03071663 -0.12736781
+v 0.01075859 0.03098168 -0.12760868
+v 0.03354181 0.01164610 -0.11799413
+v 0.03151270 0.01539659 -0.11227955
+v 0.03286787 0.01164610 -0.11205243
+v 0.03132119 0.01496588 -0.12364908
+v 0.03057694 0.01846457 -0.12133204
+v 0.03131876 0.01410115 -0.10651907
+v 0.01705924 0.02979557 -0.10651907
+v 0.01740107 0.02958022 -0.10651907
+v 0.02178898 0.02647910 -0.10651907
+v 0.02439264 0.02439844 -0.10651907
+v 0.02488719 0.02489210 -0.11190102
+v 0.02532356 0.02532944 -0.11799184
+v 0.02157080 0.02837423 -0.11799184
+v 0.01852592 0.03062717 -0.11799184
+v 0.01075859 0.03268133 -0.12396108
+v 0.01495983 0.03132625 -0.12364908
+v 0.02501810 0.02502131 -0.12246532
+v 0.02118776 0.02729745 -0.12392666
+v 0.01679500 0.02957028 -0.12539259
+v 0.02956360 0.01680137 -0.12539259
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+v 0.01075859 0.03208828 -0.12555088
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+v 0.02611144 0.02224820 -0.10651907
+v 0.02957329 0.01740436 -0.10651907
+v 0.02979148 0.01706311 -0.10651907
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+f 76 82 79
+f 76 77 78
+f 76 80 83
+f 76 83 81
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_9.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49dcdd500f0996df12e06d09ac34d3c357d2cb35
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,141 @@
+# https://github.com/mikedh/trimesh
+v -0.01925637 -0.03265126 0.00537226
+v -0.01925637 -0.02105267 0.00537226
+v -0.02029562 -0.03211083 0.00537226
+v -0.02021052 -0.03205556 0.00220813
+v -0.01971135 -0.03172803 -0.01637647
+v -0.01925637 -0.03142507 -0.03338167
+v -0.02612526 -0.01173858 0.00537226
+v -0.01925637 -0.02088890 0.00074079
+v -0.02450501 -0.01173858 -0.04912229
+v -0.02156400 -0.03123060 0.00537226
+v -0.01925637 -0.03115486 -0.04064370
+v -0.02187659 -0.03101157 0.00537226
+v -0.02339538 -0.02994710 0.00537226
+v -0.03597280 -0.01173858 0.00537226
+v -0.01925637 -0.02068624 -0.00525665
+v -0.01925637 -0.01924717 -0.04913296
+v -0.02450501 -0.01174063 -0.04913296
+v -0.02810393 -0.01173858 -0.04913296
+v -0.01925637 -0.02048563 -0.01127010
+v -0.01925637 -0.03092969 -0.04664648
+v -0.02509583 -0.02843024 0.00537226
+v -0.02575375 -0.02575474 -0.04913296
+v -0.02303369 -0.02796760 -0.04913296
+v -0.02297804 -0.02963595 -0.01018160
+v -0.01925637 -0.03083552 -0.04913296
+v -0.03410541 -0.01173858 -0.04913296
+v -0.03276502 -0.01549902 -0.04913296
+v -0.03430017 -0.01549902 -0.00398673
+v -0.03557510 -0.01283990 0.00537226
+v -0.02684701 -0.02684787 0.00537226
+v -0.02653605 -0.02653671 -0.01018160
+v -0.02616290 -0.02616415 -0.02876620
+v -0.02842635 -0.02509764 0.00537226
+v -0.02994186 -0.02339654 0.00537226
+v -0.02796646 -0.02303421 -0.04913296
+v -0.02193224 -0.02885193 -0.04913296
+v -0.02197970 -0.02888878 -0.04736147
+v -0.02156400 -0.02912828 -0.04913296
+v -0.03232313 -0.01642019 -0.04913296
+v -0.03449984 -0.01549902 0.00220813
+v -0.03114313 -0.01883776 -0.04913296
+v -0.03459313 -0.01549902 0.00537226
+v -0.03100729 -0.02187967 0.00537226
+v -0.02950979 -0.02105062 -0.04913296
+v -0.02963253 -0.02297894 -0.01018160
+v -0.02885023 -0.02193495 -0.04913296
+v -0.03210874 -0.02030140 0.00537226
+v -0.03161448 -0.01955218 -0.02256600
+f 1 2 7
+f 1 7 14
+f 1 14 29
+f 1 29 42
+f 1 42 47
+f 1 47 43
+f 1 43 34
+f 1 34 33
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+f 1 30 21
+f 1 21 13
+f 1 13 12
+f 1 12 10
+f 1 10 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 11
+f 1 11 20
+f 1 20 25
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+f 1 19 15
+f 1 15 8
+f 1 8 2
+f 2 8 9
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+f 3 10 4
+f 4 10 5
+f 5 10 6
+f 6 10 12
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+f 16 36 23
+f 16 23 22
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+f 16 44 41
+f 16 41 39
+f 16 39 27
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+f 16 26 18
+f 16 18 17
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+f 21 32 22
+f 22 32 33
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+f 22 34 35
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+f 23 37 24
+f 24 37 38
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+f 27 39 28
+f 28 40 29
+f 28 39 41
+f 28 41 40
+f 29 40 42
+f 30 33 31
+f 31 33 32
+f 34 43 41
+f 34 41 44
+f 34 44 45
+f 34 45 35
+f 35 45 46
+f 36 38 37
+f 40 47 42
+f 40 41 48
+f 40 48 47
+f 41 43 48
+f 43 47 48
+f 44 46 45
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_90.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49e32b43dc7b07d1ed3f4c50cf0c0adad175771c
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_90.obj
@@ -0,0 +1,96 @@
+# https://github.com/mikedh/trimesh
+v -0.02331444 -0.02567423 -0.08279851
+v -0.02331444 -0.02558943 -0.08523485
+v -0.02201021 -0.02669686 -0.08279851
+v -0.02331444 0.01646322 -0.08279851
+v -0.02331444 -0.02556449 -0.08589895
+v -0.02128685 -0.02714084 -0.08589895
+v -0.02128685 -0.02725557 -0.08279851
+v 0.01400780 0.01646322 -0.08279851
+v -0.02331444 0.01646322 -0.08589895
+v -0.02026393 -0.02787414 -0.08589895
+v -0.01833498 -0.02937067 -0.08279851
+v 0.01400780 0.01646322 -0.08589895
+v 0.01400780 -0.03165040 -0.08279851
+v -0.01734858 -0.02993936 -0.08589895
+v -0.01745453 -0.02999423 -0.08279851
+v 0.01400780 -0.03156559 -0.08589895
+v 0.00915620 -0.03339636 -0.08279851
+v 0.01400780 -0.03164042 -0.08320220
+v -0.01711842 -0.03005409 -0.08589895
+v -0.01677867 -0.03032846 -0.08279851
+v 0.00915620 -0.03330157 -0.08589895
+v 0.00781178 -0.03364079 -0.08279851
+v -0.01512737 -0.03103682 -0.08589895
+v -0.01430537 -0.03144088 -0.08589895
+v -0.01440767 -0.03149077 -0.08279851
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+v 0.00306613 -0.03449382 -0.08279851
+v -0.01286231 -0.03195968 -0.08589895
+v -0.01024654 -0.03299229 -0.08279851
+v -0.00302394 -0.03449880 -0.08279851
+v -0.00302394 -0.03440402 -0.08589895
+v -0.00911036 -0.03330157 -0.08589895
+v -0.00911036 -0.03339636 -0.08279851
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\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_91.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..070a440163c922b401f341722cc6ea72bffe51e4
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_91.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.02450497 -0.01173858 -0.04912762
+v -0.02810434 -0.01173858 -0.04913296
+v -0.02535886 -0.00952546 -0.04913296
+v -0.02697017 -0.00310911 -0.04913296
+v -0.02789185 -0.00310911 -0.01637647
+v -0.02806654 -0.00310911 -0.01018160
+v -0.02824383 -0.00310911 -0.00398140
+v -0.02851239 -0.00310911 0.00537760
+v -0.02612410 -0.01173858 0.00537760
+v -0.03410635 -0.01173858 -0.04913296
+v -0.03592624 -0.00310911 -0.04913296
+v -0.03782174 -0.00310911 0.00537760
+v -0.03597317 -0.01173858 0.00537760
+v -0.03499152 -0.00929908 -0.04913296
+v -0.03579588 -0.01173858 0.00016986
+v -0.03721425 -0.00310911 -0.01383662
+v -0.03718165 -0.00618974 -0.00704948
+v -0.03762750 -0.00490917 0.00537760
+v -0.03742674 -0.00310911 -0.00740165
+v -0.03657024 -0.01009057 0.00537760
+v -0.03653113 -0.00988784 0.00221347
+v -0.03658980 -0.00883534 -0.00458434
+v -0.03735634 -0.00310911 -0.00967470
+v -0.03724684 -0.00646173 -0.00291957
+v -0.03737590 -0.00699220 0.00537760
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+f 4 6 5
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+f 17 22 24
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+f 22 25 24
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_93.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99638462a157483fe6d68e5150f2246b3009bd28
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_93.obj
@@ -0,0 +1,117 @@
+# https://github.com/mikedh/trimesh
+v 0.03192792 0.01722064 -0.04913558
+v 0.03114310 0.01882841 -0.04913558
+v 0.02076155 0.01722064 -0.04913558
+v 0.03185158 0.01722064 -0.05151224
+v 0.03100236 0.01861399 -0.05714628
+v 0.02950905 0.02104089 -0.04913558
+v 0.00934471 0.02542410 -0.04913558
+v 0.00892248 0.02542410 -0.05456718
+v 0.00851218 0.02542410 -0.06041155
+v 0.00814005 0.02542410 -0.06634004
+v 0.00777507 0.02542410 -0.07223173
+v 0.00756038 0.02542410 -0.07599127
+v 0.02070191 0.01722064 -0.05073141
+v 0.03172038 0.01722064 -0.05554519
+v 0.03091886 0.01848068 -0.06127651
+v 0.02895324 0.02032535 -0.07599127
+v 0.02796566 0.02168576 -0.07599127
+v 0.03162735 0.01722064 -0.05838456
+v 0.03146514 0.01722064 -0.06308266
+v 0.03129338 0.01722064 -0.06800949
+v 0.03111209 0.01722064 -0.07320448
+v 0.03101428 0.01722064 -0.07599127
+v 0.03063976 0.01797634 -0.07599127
+v 0.02884828 0.02192588 -0.04913558
+v 0.02601434 0.02542410 -0.04913558
+v 0.02493611 0.02542410 -0.07599127
+v 0.01980020 0.01722064 -0.07599127
+v 0.01983122 0.01722064 -0.07509739
+v 0.02026060 0.01722064 -0.06292492
+v 0.02048006 0.01722064 -0.05683343
+v 0.02628629 0.02383962 -0.07599127
+v 0.02796327 0.02302690 -0.04913558
+v 0.02521044 0.02520807 -0.07599127
+v 0.02586883 0.02542410 -0.05316328
+v 0.02495043 0.02542410 -0.07570470
+v 0.02528916 0.02528596 -0.07215024
+v 0.02541321 0.02541044 -0.06595095
+v 0.02542513 0.02542410 -0.06528317
+v 0.02512695 0.02542410 -0.07186893
+v 0.02539651 0.02542410 -0.06595095
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+f 1 32 25
+f 1 25 7
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+f 17 31 24
+f 24 31 33
+f 24 33 32
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+f 32 33 36
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+f 33 35 36
+f 34 36 37
+f 34 37 38
+f 35 39 36
+f 36 39 40
+f 36 40 37
+f 37 40 38
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_95.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e877116c8fe4dbf1a117b9e7c2fdb9f30b379127
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_95.obj
@@ -0,0 +1,132 @@
+# https://github.com/mikedh/trimesh
+v 0.02680092 0.00003481 0.12615987
+v 0.02672508 0.00003481 0.12922020
+v 0.02664671 -0.00310338 0.13235711
+v 0.02679965 -0.00310338 0.12615987
+v 0.02517924 -0.00353290 0.10706741
+v 0.02517924 0.00003481 0.10706741
+v 0.02664671 0.00003481 0.13235711
+v 0.02526645 -0.00310338 0.13606839
+v 0.02499343 -0.00677125 0.13572966
+v 0.02536757 -0.00863702 0.13255151
+v 0.02552304 -0.00863702 0.13192413
+v 0.02553315 -0.00863702 0.13152060
+v 0.02560646 -0.00863702 0.12656634
+v 0.02501745 -0.00479004 0.10706741
+v 0.01655009 0.00003481 0.10706741
+v 0.02526519 0.00003481 0.13606839
+v 0.02349942 0.00003481 0.13660447
+v 0.02168941 -0.00310338 0.13715232
+v 0.02189417 -0.00863702 0.13681948
+v 0.02212674 -0.00863702 0.13674879
+v 0.02459907 -0.00863702 0.13479006
+v 0.02243641 -0.00863702 0.13661330
+v 0.02388872 -0.00863702 0.10706741
+v 0.02424011 -0.00777035 0.10706741
+v 0.01422059 -0.00863702 0.10706741
+v 0.01652987 0.00003481 0.10757108
+v 0.02168941 0.00003481 0.13715232
+v 0.01667522 -0.00863702 0.13678708
+v 0.01419531 -0.00863702 0.10777432
+v 0.01631878 0.00003481 0.11376832
+v 0.01967211 0.00003481 0.13685188
+v 0.01595223 -0.00863702 0.13667809
+v 0.01401582 -0.00863617 0.11376832
+v 0.01401582 -0.00863702 0.11376832
+v 0.01388943 -0.00863702 0.11996557
+v 0.01620882 0.00003481 0.11996557
+v 0.01760172 0.00003481 0.13653966
+v 0.01420542 -0.00863702 0.13249260
+v 0.01388943 -0.00863702 0.12015408
+v 0.01621514 0.00003481 0.12309954
+v 0.01642875 0.00003481 0.13235711
+v 0.01416750 -0.00863702 0.13235711
+v 0.01390459 -0.00863702 0.12615987
+v 0.01622146 0.00003481 0.12615987
+v 0.01632637 0.00003481 0.12929678
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 15
+f 1 15 26
+f 1 26 30
+f 1 30 36
+f 1 36 40
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+f 1 44 45
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+f 10 43 39
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+f 10 35 34
+f 10 34 29
+f 10 29 25
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+f 10 23 13
+f 10 13 12
+f 10 12 11
+f 13 23 24
+f 13 24 14
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+f 17 27 18
+f 18 27 28
+f 18 28 19
+f 25 29 26
+f 26 29 30
+f 27 31 28
+f 28 31 32
+f 29 33 30
+f 29 34 33
+f 30 33 35
+f 30 35 36
+f 31 37 32
+f 32 37 38
+f 33 34 35
+f 35 39 36
+f 36 39 40
+f 37 41 38
+f 38 41 42
+f 39 43 44
+f 39 44 40
+f 41 45 43
+f 41 43 42
+f 43 45 44
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_96.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08f2968d5029ed40cf93ceb47ed26724982a3e7b
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_96.obj
@@ -0,0 +1,84 @@
+# https://github.com/mikedh/trimesh
+v 0.01524828 0.00916245 0.11945120
+v 0.01816131 0.00307468 0.11928079
+v 0.01524828 0.01005439 0.11943707
+v 0.01299830 0.00916245 0.11922242
+v 0.01296781 -0.00743511 0.11914428
+v 0.01524770 -0.00743511 0.11937494
+v 0.01593712 -0.00743511 0.11939848
+v 0.01686630 -0.00743511 0.11942955
+v 0.01691731 -0.00743511 0.11943048
+v 0.01791626 -0.00643532 0.11942201
+v 0.01816131 -0.00019861 0.11928079
+v 0.01816131 0.00916245 0.11914052
+v 0.01332718 0.01005439 0.11924125
+v 0.01816131 0.00959044 0.11904355
+v 0.01816131 0.01005439 0.11893810
+v 0.01299830 0.01005439 0.11920736
+v 0.01217229 -0.00743511 0.11906238
+v 0.01791626 -0.00743511 0.11932880
+v 0.01816131 -0.00019861 0.11047537
+v 0.01816131 0.01005439 0.10983330
+v 0.01299830 0.01005439 0.10983330
+v 0.01217229 -0.00019861 0.11887503
+v 0.01217229 -0.00743511 0.11039723
+v 0.01791626 -0.00743511 0.11027579
+v 0.01816131 0.00153904 0.10983330
+v 0.01299830 0.00841089 0.10983330
+v 0.01217229 -0.00730158 0.11039818
+v 0.01217229 -0.00019861 0.11045278
+v 0.01247948 -0.00743511 0.11027579
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 1 5 6
+f 1 6 7
+f 1 7 8
+f 1 8 9
+f 1 9 10
+f 1 10 2
+f 2 11 19
+f 2 19 25
+f 2 25 20
+f 2 20 15
+f 2 15 14
+f 2 14 12
+f 2 12 3
+f 2 10 11
+f 3 13 4
+f 3 12 14
+f 3 14 15
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+f 3 20 21
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+f 3 16 13
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+f 4 16 17
+f 4 17 5
+f 5 17 23
+f 5 23 29
+f 5 29 24
+f 5 24 18
+f 5 18 9
+f 5 9 8
+f 5 8 7
+f 5 7 6
+f 9 18 10
+f 10 18 11
+f 11 18 24
+f 11 24 19
+f 16 21 28
+f 16 28 22
+f 16 22 17
+f 17 22 28
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+f 17 27 23
+f 19 24 25
+f 20 25 26
+f 20 26 21
+f 21 26 23
+f 21 23 27
+f 21 27 28
+f 23 26 29
+f 24 29 25
+f 25 29 26
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_98.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..261fd68434d056b5150eb059c3a42446f64af333
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/collision/model_normalized_collision_98.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.01823430 -0.00131471 0.10980056
+v -0.01599285 -0.00407056 0.10980056
+v -0.01823430 -0.00323282 0.10828657
+v -0.01823430 -0.01001134 0.10980056
+v -0.01289543 -0.00817837 0.10980056
+v -0.01823430 -0.01001134 0.10391062
+v -0.01287339 -0.01001134 0.10980056
+v -0.01287339 -0.00837162 0.10980056
+v -0.01287339 -0.01001134 0.10965354
+f 1 2 3
+f 1 3 6
+f 1 6 4
+f 1 4 7
+f 1 7 8
+f 1 8 5
+f 1 5 2
+f 2 5 3
+f 3 5 6
+f 4 6 9
+f 4 9 7
+f 5 8 6
+f 6 8 9
+f 7 9 8
\ No newline at end of file
diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/model.xml b/new_bottle_of_salsa/new_bottle_of_salsa_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fa4cdafba30d0c512ada58f2f11c904a102c8efa
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/model.xml
@@ -0,0 +1,478 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="new_bottle_of_salsa_1">
+  <asset>
+    <mesh file="visual/container_visuals.obj" name="container_visuals" scale="1.0 1.0 1.0" />
+    <material name="OmniGlass" specular="0.5" shininess="0.25" />
+    <mesh file="visual/base_link_visuals.obj" name="base_link_visuals" scale="1.0 1.0 1.0" />
+    <texture file="visual/image0.png" name="image0" type="2d" />
+    <material name="defaultMat.011" reflectance="0.5" texture="image0" specular="0.5" shininess="0.25" />
+    <mesh file="collision/model_normalized_collision_45.obj" name="model_normalized_collision_45._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_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_314.obj" name="model_normalized_collision_314._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_153.obj" name="model_normalized_collision_153._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
+    <mesh file="collision/model_normalized_collision_34.obj" name="model_normalized_collision_34._coll" scale="1.0 1.0 1.0" refquat="1.0 0.0 0.0 0.0" />
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diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/visual/base_link_visuals.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/visual/base_link_visuals.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36301d547985f8c840c603344e0fac4e38f9b144
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/visual/base_link_visuals.obj
@@ -0,0 +1,35745 @@
+mtllib materials.mtl
+usemtl mavope__base_link_vray
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diff --git a/new_bottle_of_salsa/new_bottle_of_salsa_1/visual/container_visuals.obj b/new_bottle_of_salsa/new_bottle_of_salsa_1/visual/container_visuals.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0026059392f6c45558af93f3ed284c1810db8457
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/visual/container_visuals.obj
@@ -0,0 +1,27994 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..8015dfe5f33ff10d84d73936bf8eeafd1806bdb5
--- /dev/null
+++ b/new_bottle_of_salsa/new_bottle_of_salsa_1/visual/mavope__container__roughness.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cc176b0b5594c31946718efeeb0f01fe24d1af85616ea9b7f46b6bcb0747049
+size 59124
diff --git a/waffle/waffle_0/collision/model_normalized_collision_0.obj b/waffle/waffle_0/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aed68efd3f4a85d72de0a97386800382530956df
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_0.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18939393 -0.23484848 0.03238381
+v 0.18939393 -0.23484848 -0.03238381
+v 0.18939393 -0.02272727 -0.03238381
+v -0.03787879 -0.02272727 0.03238381
+v -0.03787879 -0.23484848 -0.03238381
+v 0.18939393 -0.02272727 0.03238381
+v -0.03787879 -0.23484848 0.03238381
+v -0.03787879 -0.02272727 -0.03238381
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_1.obj b/waffle/waffle_0/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec9543c519c394a15e61ff8e6767a3c711562311
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_1.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.26515151 0.23484848 0.03238381
+v 0.40151514 0.28030302 -0.01992893
+v 0.40151514 0.41666666 0.03238381
+v -0.15909091 0.41666666 0.03238381
+v -0.15909091 0.23484848 -0.03238381
+v 0.40151514 0.41666666 -0.03238381
+v 0.40151514 0.28030302 0.01576040
+v 0.26515151 0.23484848 -0.03238381
+v -0.15909091 0.23484848 0.03238381
+v -0.15909091 0.41666666 -0.03238381
+v 0.40151514 0.41296311 -0.03238381
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 2 1
+f 8 5 6
+f 9 1 4
+f 9 8 1
+f 9 5 8
+f 10 6 5
+f 10 4 6
+f 10 9 4
+f 10 5 9
+f 11 8 6
+f 11 6 2
+f 11 2 8
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_10.obj b/waffle/waffle_0/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8152201c9e7ae0ddf07a95155424bfe337173b54
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_10.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.17610455 0.15909091 0.02889477
+v -0.15909091 0.15909091 -0.01992893
+v -0.15909091 0.41666666 0.03238381
+v -0.31060605 0.41666666 0.03238381
+v -0.31060605 0.28030302 -0.01992893
+v -0.23484848 0.15909091 0.03238381
+v -0.15909091 0.41666666 -0.03238381
+v -0.31060605 0.28030302 0.01576040
+v -0.23484848 0.15909091 -0.03238381
+v -0.31060605 0.41666666 -0.03238381
+v -0.28030302 0.23484848 0.03238381
+v -0.15909091 0.18379802 -0.03238381
+v -0.28030302 0.23484848 -0.03238381
+v -0.17752022 0.15909091 -0.03238381
+v -0.31060605 0.41296311 -0.03238381
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 2 1
+f 7 4 3
+f 8 4 5
+f 8 5 6
+f 9 6 5
+f 9 2 6
+f 10 5 4
+f 10 4 7
+f 10 7 9
+f 11 8 6
+f 11 6 4
+f 11 4 8
+f 12 9 7
+f 12 7 3
+f 12 3 2
+f 13 10 9
+f 13 9 5
+f 14 12 2
+f 14 2 9
+f 14 9 12
+f 15 13 5
+f 15 5 10
+f 15 10 13
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_11.obj b/waffle/waffle_0/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64d1582c8f25d604cb342cb9ad652a3ac831e49d
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_11.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.26515151 -0.02272727 0.03238381
+v 0.31060605 0.05303030 -0.01992893
+v 0.31060605 0.15909091 0.01576040
+v 0.21969696 0.15909091 0.03238381
+v 0.21969696 -0.02272727 -0.03238381
+v 0.28398866 0.15909091 0.03238381
+v 0.31060605 0.05303030 0.01576040
+v 0.26515151 -0.02272727 -0.03238381
+v 0.21969696 -0.02272727 0.03238381
+v 0.21969696 0.15909091 -0.03238381
+v 0.28398866 0.05303030 0.03238381
+v 0.31060605 0.15909091 -0.01992893
+v 0.28398866 0.05303030 -0.03238381
+v 0.28398866 0.15909091 -0.03238381
+f 6 4 1
+f 7 2 3
+f 7 3 6
+f 8 1 5
+f 8 7 1
+f 8 2 7
+f 9 5 1
+f 9 1 4
+f 9 4 5
+f 10 8 5
+f 10 5 4
+f 11 7 6
+f 11 6 1
+f 11 1 7
+f 12 3 2
+f 12 6 3
+f 12 4 6
+f 13 12 2
+f 13 2 8
+f 13 8 10
+f 14 13 10
+f 14 12 13
+f 14 10 4
+f 14 4 12
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_12.obj b/waffle/waffle_0/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef305ab17728117db39f548c81efe60d2071dfc6
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_12.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.05303030 0.02272727 0.03238381
+v 0.08333333 0.05303030 -0.01992893
+v 0.05303030 0.23484848 0.03238381
+v -0.03787879 0.23484848 0.03238381
+v -0.03787879 0.02272727 -0.03238381
+v 0.08333333 0.05303030 0.01576040
+v 0.05303030 0.02272727 -0.03238381
+v -0.03787879 0.02272727 0.03238381
+v 0.08333333 0.15909091 0.01576040
+v 0.05942679 0.05303030 0.03238381
+v 0.05303030 0.23484848 -0.03238381
+v 0.05942679 0.15909091 0.03238381
+v 0.05942679 0.05303030 -0.03238381
+v 0.08333333 0.15909091 -0.01992893
+v -0.03787879 0.23484848 -0.03238381
+v 0.05942679 0.15909091 -0.03238381
+f 1 3 4
+f 7 1 5
+f 7 6 1
+f 7 2 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 10 3 1
+f 10 1 6
+f 11 4 3
+f 11 7 5
+f 12 9 3
+f 12 3 10
+f 12 10 6
+f 12 6 9
+f 13 2 7
+f 13 7 11
+f 14 9 6
+f 14 6 2
+f 14 11 3
+f 14 3 9
+f 15 11 5
+f 15 5 4
+f 15 4 11
+f 16 13 11
+f 16 11 14
+f 16 14 2
+f 16 2 13
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_13.obj b/waffle/waffle_0/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bcdceb5888b2b77ba1a194c7a93ab53fd943313
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_13.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.40151514 -0.40151514 0.01576040
+v 0.40151514 -0.40151514 -0.01992893
+v 0.40151514 -0.28030302 0.03238381
+v 0.31060605 -0.28030302 0.03238381
+v 0.31060605 -0.40151514 0.01576040
+v 0.40151514 -0.28030302 -0.03238381
+v 0.40151514 -0.28972049 0.03238381
+v 0.31060605 -0.28030302 -0.03238381
+v 0.31060605 -0.28972049 0.03238381
+v 0.40151514 -0.28972049 -0.03238381
+v 0.31060605 -0.40151514 -0.01992893
+v 0.31060605 -0.28972049 -0.03238381
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 5 4
+f 8 4 6
+f 9 7 4
+f 9 4 5
+f 9 5 7
+f 10 8 6
+f 10 6 2
+f 11 2 5
+f 11 5 8
+f 11 10 2
+f 12 11 8
+f 12 8 10
+f 12 10 11
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_14.obj b/waffle/waffle_0/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..820045b13a279232160ca0770d15bc8433259b58
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_14.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.31060605 0.28030302 0.01576040
+v -0.31060605 0.28030302 -0.01992893
+v -0.31060605 0.41666666 0.03238381
+v -0.41666666 0.41666666 0.03238381
+v -0.41666666 0.28030302 0.03238381
+v -0.41666666 0.41666666 -0.03238381
+v -0.38636363 0.26881088 0.03238381
+v -0.31060605 0.41666666 -0.03238381
+v -0.41666666 0.28030302 -0.03238381
+v -0.41111099 0.28030302 -0.03238381
+v -0.31060605 0.41296311 -0.03238381
+f 1 2 3
+f 5 3 4
+f 6 4 3
+f 6 5 4
+f 7 2 1
+f 7 1 3
+f 7 3 5
+f 8 6 3
+f 8 3 2
+f 9 5 6
+f 9 7 5
+f 9 6 8
+f 10 2 7
+f 10 7 9
+f 10 9 8
+f 11 10 8
+f 11 8 2
+f 11 2 10
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_15.obj b/waffle/waffle_0/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d41d206a0ebf83f3e0556010acc77141be9c8fe
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_15.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.40151514 0.15909091 0.01576040
+v 0.40151514 0.15909091 -0.01992893
+v 0.40151514 0.26881088 0.03238381
+v 0.26515151 0.28030302 0.03238381
+v 0.21969696 0.15909091 -0.03238381
+v 0.21969696 0.15909091 0.03238381
+v 0.40151514 0.26881088 -0.03238381
+v 0.40151514 0.18353790 0.03178177
+v 0.21969696 0.23484848 -0.03238381
+v 0.40151514 0.18379802 -0.03238381
+v 0.28398866 0.15909091 0.03238381
+v 0.21969696 0.23484848 0.03238381
+v 0.26515151 0.28030302 -0.03238381
+v 0.28398866 0.15909091 -0.03238381
+f 1 2 3
+f 6 3 4
+f 7 3 2
+f 7 4 3
+f 8 1 3
+f 9 5 6
+f 9 7 5
+f 10 7 2
+f 10 5 7
+f 11 1 8
+f 11 6 5
+f 11 5 1
+f 11 8 3
+f 11 3 6
+f 12 9 6
+f 12 6 4
+f 12 4 9
+f 13 9 4
+f 13 4 7
+f 13 7 9
+f 14 10 2
+f 14 5 10
+f 14 2 1
+f 14 1 5
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_16.obj b/waffle/waffle_0/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45cc376eead8f3d56c62d5eb389c9883969bc5bc
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_16.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 0.15909091 0.03238381
+v -0.23484848 0.15909091 -0.03238381
+v -0.28030302 0.28030302 -0.03238381
+v -0.41666666 0.28030302 0.03238381
+v -0.41666666 0.15909091 -0.03238381
+v -0.28030302 0.28030302 0.03238381
+v -0.23484848 0.23484848 0.03238381
+v -0.41666666 0.15909091 0.03238381
+v -0.41666666 0.28030302 -0.03238381
+v -0.23484848 0.23484848 -0.03238381
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 9 4 3
+f 9 3 5
+f 10 7 2
+f 10 2 3
+f 10 3 7
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_17.obj b/waffle/waffle_0/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8d4eef840997090f0a1127c38e996131622649c
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_17.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.46212120 -0.06818182 0.03238381
+v 0.49999999 -0.02272727 -0.03238381
+v 0.46212120 0.05303030 0.03238381
+v 0.26515151 0.05303030 0.03238381
+v 0.26515151 -0.06818182 -0.03238381
+v 0.46212120 0.05303030 -0.03238381
+v 0.49999999 -0.02272727 0.03238381
+v 0.46212120 -0.06818182 -0.03238381
+v 0.26515151 -0.06818182 0.03238381
+v 0.49999999 0.02272727 -0.03238381
+v 0.26515151 0.05303030 -0.03238381
+v 0.49999999 0.02272727 0.03238381
+f 1 3 4
+f 6 4 3
+f 6 2 5
+f 7 3 1
+f 8 5 2
+f 8 1 5
+f 8 7 1
+f 8 2 7
+f 9 5 1
+f 9 1 4
+f 9 4 5
+f 10 6 3
+f 10 2 6
+f 10 7 2
+f 11 6 5
+f 11 5 4
+f 11 4 6
+f 12 10 3
+f 12 3 7
+f 12 7 10
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_18.obj b/waffle/waffle_0/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c0809d8a89a17e15c6e3d8ca736eff35efd8c4f
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_18.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.40151514 -0.49999999 0.03238381
+v 0.40151514 -0.49999999 -0.03238381
+v 0.40151514 -0.40151514 -0.01992893
+v 0.31060605 -0.40151514 0.01576040
+v 0.26515151 -0.49999999 -0.03238381
+v 0.40151514 -0.40151514 0.01576040
+v 0.26515151 -0.49999999 0.03238381
+v 0.40151514 -0.43365424 -0.02948682
+v 0.31060605 -0.40151514 -0.01992893
+v 0.26515151 -0.44696969 0.03238381
+v 0.26515151 -0.46212120 -0.03238381
+v 0.40151514 -0.42842988 0.02485087
+v 0.31060605 -0.43365424 -0.02948682
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 8 3 2
+f 9 4 3
+f 9 3 8
+f 10 6 4
+f 10 7 1
+f 10 5 7
+f 10 4 9
+f 11 8 2
+f 11 2 5
+f 11 10 9
+f 11 5 10
+f 12 10 1
+f 12 1 6
+f 12 6 10
+f 13 11 9
+f 13 9 8
+f 13 8 11
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_19.obj b/waffle/waffle_0/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6da35f0ab5c255eeb668a65c57d6f38993ea0b2
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_19.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.49999999 -0.28030302 0.03238381
+v 0.49999999 -0.28030302 -0.03238381
+v 0.46212120 -0.20454545 -0.03238381
+v 0.26515151 -0.20454545 0.03238381
+v 0.26515151 -0.28030302 -0.03238381
+v 0.46212120 -0.20454545 0.03238381
+v 0.49999999 -0.23484848 0.03238381
+v 0.26515151 -0.28030302 0.03238381
+v 0.26515151 -0.20454545 -0.03238381
+v 0.49999999 -0.23484848 -0.03238381
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 9 4 3
+f 9 3 5
+f 10 7 2
+f 10 2 3
+f 10 3 7
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_2.obj b/waffle/waffle_0/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57ae36ebea2a4ef30a8e8c0620f0b12686ff5de2
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_2.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.03787879 -0.23484848 0.03238381
+v -0.03787879 -0.23484848 -0.03238381
+v -0.03787879 -0.06818182 -0.01992893
+v -0.15909091 -0.06818182 0.01576040
+v -0.15909091 -0.23484848 0.03238381
+v -0.15909091 -0.21840875 -0.03238381
+v -0.03787879 -0.06818182 0.01576040
+v -0.03313058 -0.20454545 0.03238381
+v -0.03313058 -0.20454545 -0.03238381
+v -0.15909091 -0.06818182 -0.01992893
+v -0.15909091 -0.23484848 -0.03238381
+f 5 2 1
+f 6 5 4
+f 8 1 2
+f 8 3 7
+f 8 7 4
+f 8 5 1
+f 8 4 5
+f 9 2 6
+f 9 8 2
+f 9 3 8
+f 10 6 4
+f 10 9 6
+f 10 3 9
+f 10 7 3
+f 10 4 7
+f 11 6 2
+f 11 2 5
+f 11 5 6
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_20.obj b/waffle/waffle_0/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7906c5c747c0dc8cc5a6ec3ee810a45420795f0a
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_20.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.49999999 0.02272727 0.03238381
+v 0.49999999 0.02272727 -0.03238381
+v 0.49999999 0.41666666 0.03238381
+v 0.40151514 0.41666666 0.03238381
+v 0.40151514 0.05303030 0.01576040
+v 0.40151514 0.41666666 -0.03238381
+v 0.44696969 0.02272727 0.03238381
+v 0.49999999 0.41666666 -0.03238381
+v 0.40151514 0.05303030 -0.01992893
+v 0.40151514 0.18353790 0.03178177
+v 0.40151514 0.18379802 -0.03238381
+v 0.46212120 0.02272727 -0.03238381
+v 0.43182031 0.05303030 -0.03054625
+f 1 2 3
+f 1 3 4
+f 6 4 3
+f 6 5 4
+f 7 1 4
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 5 6
+f 9 7 5
+f 10 7 4
+f 10 4 5
+f 10 5 7
+f 11 9 6
+f 11 6 2
+f 12 7 9
+f 12 2 1
+f 12 1 7
+f 12 11 2
+f 13 12 9
+f 13 9 11
+f 13 11 12
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_21.obj b/waffle/waffle_0/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15edc30f7cd0acc59fb80d7b20b3c596d43381e3
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_21.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.15909091 -0.23484848 0.03238381
+v -0.15909091 -0.23484848 -0.03238381
+v -0.15909091 -0.02272727 0.03238381
+v -0.23484848 -0.02272727 0.03238381
+v -0.23484848 -0.23484848 -0.03238381
+v -0.23484848 -0.23484848 0.03238381
+v -0.23484848 -0.02272727 -0.03238381
+v -0.18939393 -0.02272727 -0.03238381
+v -0.15909091 -0.06818182 -0.01992893
+v -0.17752022 -0.06818182 -0.03238381
+v -0.15909091 -0.21840875 -0.03238381
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 2 5
+f 7 5 4
+f 7 4 3
+f 8 7 3
+f 8 2 7
+f 9 8 3
+f 9 1 2
+f 9 3 1
+f 10 2 8
+f 10 8 9
+f 11 10 9
+f 11 9 2
+f 11 2 10
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_22.obj b/waffle/waffle_0/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef9e4e56024871b7c0d6785f4339caa70de00f29
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_22.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.03313058 -0.06818182 0.03238381
+v -0.03313058 -0.06818182 -0.03238381
+v -0.03787879 -0.02272727 -0.03238381
+v -0.18939393 -0.02272727 0.03238381
+v -0.18939393 -0.06818182 -0.03238381
+v -0.03787879 -0.02272727 0.03238381
+v -0.17077531 -0.06818182 0.01576040
+v -0.18939393 -0.02272727 -0.03238381
+v -0.15909091 -0.05460730 0.03238381
+f 5 3 2
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 4 5
+f 7 5 2
+f 7 2 1
+f 8 5 4
+f 8 3 5
+f 8 6 3
+f 8 4 6
+f 9 7 1
+f 9 1 4
+f 9 4 7
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_23.obj b/waffle/waffle_0/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcd00a7aa2182e24df7da6021ace587fb0a04e10
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.49999999 -0.49999999 0.03238381
+v 0.49999999 -0.49999999 -0.03238381
+v 0.49999999 -0.28030302 0.03238381
+v 0.40151514 -0.28030302 0.03238381
+v 0.40151514 -0.49999999 -0.03238381
+v 0.40151514 -0.28030302 -0.03238381
+v 0.40151514 -0.49999999 0.03238381
+v 0.49999999 -0.28030302 -0.03238381
+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/waffle/waffle_0/collision/model_normalized_collision_24.obj b/waffle/waffle_0/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1645b0e30b0c971cc4de4382b4fa9f8ee88def04
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.31060605 -0.46212120 0.03238381
+v 0.31060605 -0.46212120 -0.03238381
+v 0.31060605 -0.28030302 0.03238381
+v 0.26515151 -0.28030302 0.03238381
+v 0.26515151 -0.46212120 0.03238381
+v 0.26515151 -0.28030302 -0.03238381
+v 0.31060605 -0.28030302 -0.03238381
+v 0.26515151 -0.46212120 -0.03238381
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_25.obj b/waffle/waffle_0/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26c9b921ffc5f2f6853c44ccce82134a9d160ebe
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21969696 -0.02272727 0.03238381
+v 0.21969696 -0.02272727 -0.03238381
+v 0.21969696 0.02272727 0.03238381
+v -0.23484848 0.02272727 0.03238381
+v -0.23484848 -0.02272727 -0.03238381
+v -0.23484848 -0.02272727 0.03238381
+v 0.21969696 0.02272727 -0.03238381
+v -0.23484848 0.02272727 -0.03238381
+f 1 2 3
+f 1 3 4
+f 6 1 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/waffle/waffle_0/collision/model_normalized_collision_26.obj b/waffle/waffle_0/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81778cf6d2aca1efe9dc9e4491e2354124f6df85
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21969696 -0.28030302 0.03238381
+v 0.21969696 -0.28030302 -0.03238381
+v 0.21969696 -0.23484848 -0.03238381
+v -0.23484848 -0.23484848 0.03238381
+v -0.23484848 -0.28030302 -0.03238381
+v 0.21969696 -0.23484848 0.03238381
+v -0.23484848 -0.28030302 0.03238381
+v -0.23484848 -0.23484848 -0.03238381
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_27.obj b/waffle/waffle_0/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e19cfabfd1ac09ee5ca784dff7d2936dd9423687
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.41666666 -0.49999999 0.03238381
+v -0.41666666 -0.49999999 -0.03238381
+v -0.41666666 0.49999999 0.03238381
+v -0.49999999 0.49999999 0.03238381
+v -0.49999999 -0.49999999 -0.03238381
+v -0.49999999 0.49999999 -0.03238381
+v -0.49999999 -0.49999999 0.03238381
+v -0.41666666 0.49999999 -0.03238381
+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/waffle/waffle_0/collision/model_normalized_collision_28.obj b/waffle/waffle_0/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b45e85cd55fa7c438208d5b9a7d89f1a936be3ee
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.49999999 0.41666666 0.03238381
+v 0.49999999 0.41666666 -0.03238381
+v 0.49999999 0.49999999 0.03238381
+v -0.41666666 0.49999999 0.03238381
+v -0.41666666 0.41666666 -0.03238381
+v -0.41666666 0.49999999 -0.03238381
+v -0.41666666 0.41666666 0.03238381
+v 0.49999999 0.49999999 -0.03238381
+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/waffle/waffle_0/collision/model_normalized_collision_29.obj b/waffle/waffle_0/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..345d9e9ade7b13252fe8872c4a473c1e1e650ff1
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23484848 -0.28030302 0.03238381
+v -0.23484848 -0.28030302 -0.03238381
+v -0.23484848 0.09848485 0.03238381
+v -0.28030302 0.09848485 0.03238381
+v -0.28030302 -0.28030302 -0.03238381
+v -0.28030302 -0.28030302 0.03238381
+v -0.28030302 0.09848485 -0.03238381
+v -0.23484848 0.09848485 -0.03238381
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 2 5
+f 7 5 4
+f 7 4 3
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_3.obj b/waffle/waffle_0/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e05a061927fad4d4dfe33417990511b143264b72
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_3.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.21969696 -0.49999999 0.03238381
+v 0.21969696 -0.49999999 -0.03238381
+v 0.18939393 -0.28030302 -0.03238381
+v -0.28030302 -0.28030302 0.03238381
+v -0.28030302 -0.49999999 -0.03238381
+v 0.18939393 -0.28030302 0.03238381
+v 0.21969696 -0.46212120 0.03238381
+v -0.28030302 -0.49999999 0.03238381
+v -0.28030302 -0.28030302 -0.03238381
+v 0.21969696 -0.46212120 -0.03238381
+f 5 2 1
+f 5 3 2
+f 6 3 4
+f 6 4 1
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 8 5 1
+f 8 1 4
+f 8 4 5
+f 9 5 4
+f 9 4 3
+f 9 3 5
+f 10 7 2
+f 10 2 3
+f 10 3 7
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_30.obj b/waffle/waffle_0/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58b4cb83b1c90c724ef7ea4a451872eec8716754
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_30.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.03787879 0.15909091 0.01576040
+v -0.03313058 0.17424242 -0.03238381
+v -0.03787879 0.23484848 0.03238381
+v -0.15909091 0.23484848 0.03238381
+v -0.15909091 0.15909091 -0.01992893
+v -0.15909091 0.23484848 -0.03238381
+v -0.03313058 0.17424242 0.03238381
+v -0.03787879 0.15909091 -0.01992893
+v -0.03787879 0.23484848 -0.03238381
+v -0.15909091 0.18379802 -0.03238381
+v -0.15909091 0.15909091 0.01576040
+v -0.15909091 0.18353790 0.03178177
+f 6 4 3
+f 6 5 4
+f 7 3 4
+f 7 1 2
+f 7 2 3
+f 8 5 2
+f 8 2 1
+f 8 1 5
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 10 6 2
+f 10 2 5
+f 10 5 6
+f 11 5 1
+f 11 1 7
+f 11 4 5
+f 12 11 7
+f 12 7 4
+f 12 4 11
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_31.obj b/waffle/waffle_0/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aac6e80314295bd7a4fd92547a7f8c0046fa986
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.40151514 0.05303030 0.01576040
+v 0.40151514 0.05303030 -0.01992893
+v 0.40151514 0.15909091 0.01576040
+v 0.31060605 0.15909091 0.01576040
+v 0.31060605 0.05303030 -0.01992893
+v 0.31060605 0.05303030 0.01576040
+v 0.40151514 0.15909091 -0.01992893
+v 0.31060605 0.15909091 -0.01992893
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 6 4 5
+f 7 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/waffle/waffle_0/collision/model_normalized_collision_4.obj b/waffle/waffle_0/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c599a5d6dd301210a01242363c8354763033f4a
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_4.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.21969696 0.02272727 0.03238381
+v 0.21969696 0.02272727 -0.03238381
+v 0.21969696 0.23484848 0.03238381
+v 0.05303030 0.23484848 0.03238381
+v 0.05303030 0.02272727 0.03238381
+v 0.05303030 0.23484848 -0.03238381
+v 0.21969696 0.23484848 -0.03238381
+v 0.05303030 0.02272727 -0.03238381
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 6 3
+f 7 3 2
+f 7 2 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_5.obj b/waffle/waffle_0/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1a210c0ec2215ade96a946431a41b4e4b671b12
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_5.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.28030302 -0.49999999 0.03238381
+v -0.28030302 -0.49999999 -0.03238381
+v -0.28030302 0.05303030 0.03238381
+v -0.41666666 0.15909091 0.03238381
+v -0.41666666 -0.49999999 0.03238381
+v -0.41111099 0.15909091 -0.03238381
+v -0.28030302 0.05303030 -0.03238381
+v -0.31060605 0.15909091 0.01576040
+v -0.41666666 -0.49999999 -0.03238381
+v -0.31060605 0.15909091 -0.01992893
+v -0.41666666 0.15909091 -0.03238381
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 3 2
+f 7 2 6
+f 8 6 4
+f 8 4 3
+f 9 5 4
+f 9 6 2
+f 9 2 5
+f 10 7 6
+f 10 6 8
+f 10 8 3
+f 10 3 7
+f 11 9 4
+f 11 4 6
+f 11 6 9
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_6.obj b/waffle/waffle_0/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c08e6153bd06d4ad9aedccc1120bf0c394b065f6
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_6.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.03787879 0.02272727 0.03238381
+v -0.03313058 0.03787879 -0.03238381
+v -0.03787879 0.15909091 0.01576040
+v -0.31060605 0.15909091 0.01576040
+v -0.31060605 0.05303030 -0.01992893
+v -0.17752022 0.15909091 -0.03238381
+v -0.28703704 0.15909091 0.03238381
+v -0.03313058 0.03787879 0.03238381
+v -0.23484848 0.02272727 -0.03238381
+v -0.03787879 0.15909091 -0.01992893
+v -0.28703704 0.15909091 -0.03238381
+v -0.23484848 0.02272727 0.03238381
+v -0.17610455 0.15909091 0.02889477
+v -0.03787879 0.02272727 -0.03238381
+v -0.31060605 0.15909091 -0.01992893
+v -0.28703704 0.05303030 -0.03238381
+v -0.31060605 0.05303030 0.01576040
+v -0.28703704 0.05303030 0.03238381
+f 6 4 3
+f 7 3 4
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 9 6 2
+f 10 6 3
+f 10 3 2
+f 10 2 6
+f 11 4 6
+f 11 6 9
+f 12 1 7
+f 12 9 1
+f 13 8 3
+f 13 3 7
+f 13 7 8
+f 14 9 2
+f 14 2 1
+f 14 1 9
+f 15 11 5
+f 15 5 4
+f 15 4 11
+f 16 11 9
+f 16 9 5
+f 16 5 11
+f 17 7 4
+f 17 4 5
+f 17 5 9
+f 17 9 12
+f 18 17 12
+f 18 12 7
+f 18 7 17
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_7.obj b/waffle/waffle_0/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db5fc879eae901c2daf7ca701fd25cdee9990fd0
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_7.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.40151514 -0.20454545 0.01576040
+v 0.40151514 -0.20454545 -0.01992893
+v 0.40151514 -0.06818182 0.01576040
+v 0.26515151 -0.06818182 0.03238381
+v 0.26515151 -0.20454545 0.03238381
+v 0.26515151 -0.06818182 -0.03238381
+v 0.28398866 -0.20454545 0.03238381
+v 0.40151514 -0.06818182 -0.01992893
+v 0.26515151 -0.20454545 -0.03238381
+v 0.28398866 -0.06818182 0.03238381
+v 0.28398866 -0.20454545 -0.03238381
+v 0.28398866 -0.06818182 -0.03238381
+f 1 2 3
+f 6 5 4
+f 7 1 3
+f 7 4 5
+f 8 3 2
+f 8 6 4
+f 9 5 6
+f 10 7 3
+f 10 4 7
+f 10 8 4
+f 10 3 8
+f 11 8 2
+f 11 9 6
+f 11 5 9
+f 11 2 1
+f 11 7 5
+f 11 1 7
+f 12 11 6
+f 12 6 8
+f 12 8 11
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_8.obj b/waffle/waffle_0/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44532992e86e263fe9908cb746742c5fde1d1894
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_8.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26515151 -0.49999999 0.03238381
+v 0.26515151 -0.49999999 -0.03238381
+v 0.26515151 -0.02272727 0.03238381
+v 0.18939393 -0.02272727 0.03238381
+v 0.18939393 -0.46212120 0.03238381
+v 0.18939393 -0.02272727 -0.03238381
+v 0.21969696 -0.49999999 -0.03238381
+v 0.26515151 -0.02272727 -0.03238381
+v 0.21969696 -0.49999999 0.03238381
+v 0.18939393 -0.46212120 -0.03238381
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 4 3
+f 6 5 4
+f 7 2 1
+f 7 6 2
+f 8 6 3
+f 8 3 2
+f 8 2 6
+f 9 7 1
+f 9 1 5
+f 9 5 7
+f 10 7 5
+f 10 5 6
+f 10 6 7
\ No newline at end of file
diff --git a/waffle/waffle_0/collision/model_normalized_collision_9.obj b/waffle/waffle_0/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..258848d2a13e6bf47175adf8b8d98eb81485da79
--- /dev/null
+++ b/waffle/waffle_0/collision/model_normalized_collision_9.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.49999999 -0.23484848 0.03238381
+v 0.49999999 -0.23484848 -0.03238381
+v 0.49999999 -0.02272727 0.03238381
+v 0.46212120 -0.02272727 0.03238381
+v 0.40151514 -0.20454545 0.01576040
+v 0.46212120 -0.02272727 -0.03238381
+v 0.46212120 -0.23484848 -0.03238381
+v 0.41666666 -0.21733127 0.03000550
+v 0.49999999 -0.02272727 -0.03238381
+v 0.40151514 -0.06818182 -0.01992893
+v 0.41666666 -0.05460730 0.03238381
+v 0.46212120 -0.23484848 0.03238381
+v 0.41666666 -0.21840875 -0.03238381
+v 0.40151514 -0.06818182 0.01576040
+v 0.41666666 -0.05460730 -0.03238381
+v 0.40151514 -0.20454545 -0.01992893
+f 1 2 3
+f 1 3 4
+f 6 4 3
+f 7 2 1
+f 7 6 2
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 11 1 4
+f 11 5 8
+f 11 4 6
+f 12 7 1
+f 12 11 8
+f 12 1 11
+f 13 8 5
+f 13 12 8
+f 13 7 12
+f 13 6 7
+f 14 11 10
+f 14 10 5
+f 14 5 11
+f 15 11 6
+f 15 10 11
+f 15 13 10
+f 15 6 13
+f 16 13 5
+f 16 5 10
+f 16 10 13
\ No newline at end of file
diff --git a/waffle/waffle_0/model.xml b/waffle/waffle_0/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fa3d8f14720b697c35e491eb0c624a3046788503
--- /dev/null
+++ b/waffle/waffle_0/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="waffle_0">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.105 0.105 0.105" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.205" texture="image0" specular="0.5" shininess="0.0"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Material.205"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0 0.0 -0.0034003000499999996" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.0 0.0 0.0034003000499999996" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.05249999895 0.05249999895 0.0" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/waffle/waffle_0/visual/image0.png b/waffle/waffle_0/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..44e84c63bbf76b6e4309a7e49e5287454d0b65d3
--- /dev/null
+++ b/waffle/waffle_0/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3b966de3adc4cbde36ef682e228a8cad2883768721200778ff8462230016c7c
+size 101592
diff --git a/waffle/waffle_0/visual/material.mtl b/waffle/waffle_0/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f68742fe8420aadeab267568817d347d5678c9d5
--- /dev/null
+++ b/waffle/waffle_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 0.00000000
+map_Kd material_0.jpeg
\ No newline at end of file
diff --git a/waffle/waffle_0/visual/material_0.jpeg b/waffle/waffle_0/visual/material_0.jpeg
new file mode 100644
index 0000000000000000000000000000000000000000..66221368ef52d27b71f0c1f143418d127c153803
--- /dev/null
+++ b/waffle/waffle_0/visual/material_0.jpeg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e81c56571f3a5b9995607f8e363bcb588a1cbf1f4961bed1db1fd78d46faffe
+size 11907
diff --git a/waffle/waffle_0/visual/model_normalized_0.obj b/waffle/waffle_0/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b62462ac73a5f341d06647bbdd0c68bea90269cc
--- /dev/null
+++ b/waffle/waffle_0/visual/model_normalized_0.obj
@@ -0,0 +1,3739 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.50000000 0.50000000 0.03238381
+v 0.50000000 0.50000000 0.03238381
+v 0.50000000 0.50000000 0.03238381
+v 0.50000000 0.50000000 -0.03238381
+v 0.50000000 0.50000000 -0.03238381
+v 0.50000000 0.50000000 -0.03238381
+v 0.50000000 -0.50000000 0.03238381
+v 0.50000000 -0.50000000 0.03238381
+v 0.50000000 -0.50000000 0.03238381
+v 0.50000000 -0.50000000 -0.03238381
+v 0.50000000 -0.50000000 -0.03238381
+v 0.50000000 -0.50000000 -0.03238381
+v -0.50000000 0.50000000 0.03238381
+v -0.50000000 0.50000000 0.03238381
+v -0.50000000 0.50000000 0.03238381
+v -0.50000000 0.50000000 -0.03238381
+v -0.50000000 0.50000000 -0.03238381
+v -0.50000000 0.50000000 -0.03238381
+v -0.50000000 -0.50000000 0.03238381
+v -0.50000000 -0.50000000 0.03238381
+v -0.50000000 -0.50000000 0.03238381
+v -0.50000000 -0.50000000 -0.03238381
+v -0.50000000 -0.50000000 -0.03238381
+v -0.50000000 -0.50000000 -0.03238381
+v -0.50000000 0.41296310 -0.03238381
+v -0.50000000 0.41296310 -0.03238381
+v 0.50000000 0.41296310 0.03238381
+v 0.50000000 0.41296310 0.03238381
+v 0.50000000 0.41296310 0.03238381
+v -0.50000000 0.41296310 0.03238381
+v -0.50000000 0.41296310 0.03238381
+v 0.50000000 0.41296310 -0.03238381
+v 0.50000000 0.41296310 -0.03238381
+v 0.50000000 0.41296310 -0.03238381
+v -0.50000000 0.26881089 -0.03238381
+v -0.50000000 0.26881089 -0.03238381
+v 0.50000000 0.26881089 0.03238381
+v 0.50000000 0.26881089 0.03238381
+v 0.50000000 0.26881089 0.03238381
+v -0.50000000 0.26881089 0.03238381
+v -0.50000000 0.26881089 0.03238381
+v 0.50000000 0.26881089 -0.03238381
+v 0.50000000 0.26881089 -0.03238381
+v 0.50000000 0.26881089 -0.03238381
+v -0.50000000 0.18379802 -0.03238381
+v -0.50000000 0.18379802 -0.03238381
+v 0.50000000 0.18379802 0.03238381
+v 0.50000000 0.18379802 0.03238381
+v -0.50000000 0.18379802 0.03238381
+v -0.50000000 0.18379802 0.03238381
+v 0.50000000 0.18379802 -0.03238381
+v 0.50000000 0.18379802 -0.03238381
+v -0.50000000 0.03225347 -0.03238381
+v -0.50000000 0.03225347 -0.03238381
+v 0.50000000 0.03225347 0.03238381
+v 0.50000000 0.03225347 0.03238381
+v -0.50000000 0.03225347 0.03238381
+v -0.50000000 0.03225347 0.03238381
+v 0.50000000 0.03225347 -0.03238381
+v 0.50000000 0.03225347 -0.03238381
+v -0.50000000 -0.05460730 -0.03238381
+v -0.50000000 -0.05460730 -0.03238381
+v -0.50000000 -0.05460730 -0.03238381
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+f 564/564/564 632/632/632 1007/1007/1007
+f 564/564/564 1007/1007/1007 1009/1009/1009
+f 502/502/502 507/507/507 975/975/975
+f 502/502/502 975/975/975 969/969/969
+f 370/370/370 305/305/305 931/931/931
+f 370/370/370 931/931/931 929/929/929
+f 433/433/433 506/506/506 971/971/971
+f 433/433/433 971/971/971 973/973/973
+f 163/163/163 156/156/156 878/878/878
+f 163/163/163 878/878/878 884/884/884
+f 359/359/359 362/362/362 915/915/915
+f 359/359/359 915/915/915 909/909/909
+f 636/636/636 569/569/569 1015/1015/1015
+f 636/636/636 1015/1015/1015 1013/1013/1013
+f 215/215/215 218/218/218 854/854/854
+f 215/215/215 854/854/854 847/847/847
+f 637/637/637 640/640/640 1023/1023/1023
+f 637/637/637 1023/1023/1023 1017/1017/1017
+f 510/510/510 437/437/437 979/979/979
+f 510/510/510 979/979/979 977/977/977
+f 574/574/574 639/639/639 1019/1019/1019
+f 574/574/574 1019/1019/1019 1021/1021/1021
+f 494/494/494 963/963/963 957/957/957
+f 353/353/353 356/356/356 903/903/903
+f 353/353/353 903/903/903 897/897/897
+f 642/642/642 577/577/577 1027/1027/1027
+f 642/642/642 1027/1027/1027 1025/1025/1025
+f 207/207/207 212/212/212 841/841/841
+f 207/207/207 841/841/841 835/835/835
+f 629/629/629 633/633/633 1011/1011/1011
+f 629/629/629 1011/1011/1011 1005/1005/1005
+f 486/486/486 490/490/490 951/951/951
+f 486/486/486 951/951/951 945/945/945
+f 147/147/147 139/139/139 865/865/865
+f 148/148/148 866/866/866 872/872/872
+f 345/345/345 349/349/349 891/891/891
+f 345/345/345 891/891/891 885/885/885
+f 623/623/623 626/626/626 999/999/999
+f 623/623/623 999/999/999 993/993/993
+f 480/480/480 483/483/483 939/939/939
+f 480/480/480 939/939/939 933/933/933
+f 615/615/615 619/619/619 987/987/987
+f 615/615/615 987/987/987 981/981/981
+f 494/494/494 497/497/497 963/963/963
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_0.obj b/waffle/waffle_1/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5306af26dd809c6710f5dbd02ac1341bba43c16e
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_0.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.25895275 0.41525874 -0.00057994
+v 0.25705601 0.41865345 -0.00057994
+v 0.20235473 0.41604718 0.00135342
+v 0.20026815 0.48654574 -0.00078995
+v 0.23082728 0.45646872 -0.00112685
+v 0.21042430 0.48122673 -0.00078995
+v 0.20235445 0.41604705 -0.00135349
+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 7 5 1
+f 7 1 3
+f 7 3 4
+f 7 4 5
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_1.obj b/waffle/waffle_1/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3686e61b56d211cfe2fe7c425f09567dd19b3668
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_1.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.20235587 0.23435368 0.00135547
+v -0.18603610 0.48982268 0.00052318
+v -0.25187914 0.23435368 -0.00135534
+v -0.18608280 0.48997494 -0.00046498
+v 0.20026815 0.48654574 -0.00078995
+v -0.23858510 0.43827509 -0.00055176
+v -0.25187901 0.23435363 0.00135528
+v 0.18413739 0.49119380 -0.00078995
+v 0.20235587 0.23435368 -0.00135547
+v -0.20979797 0.47681347 -0.00046498
+v -0.23769875 0.44009269 0.00043535
+v -0.20911162 0.47723665 0.00052318
+v -0.22114721 0.46438705 -0.00052318
+v -0.22115755 0.46454410 0.00046484
+f 5 2 1
+f 7 1 2
+f 7 6 3
+f 8 4 2
+f 8 2 5
+f 8 3 4
+f 9 5 1
+f 9 8 5
+f 9 3 8
+f 9 7 3
+f 9 1 7
+f 11 6 7
+f 12 2 4
+f 12 4 10
+f 12 11 7
+f 12 7 2
+f 13 6 11
+f 13 3 6
+f 13 10 4
+f 13 4 3
+f 14 12 10
+f 14 10 13
+f 14 13 11
+f 14 11 12
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_10.obj b/waffle/waffle_1/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..145dbbf4ad26183ee7a493938d548d0832086018
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_10.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v -0.16146326 -0.49673966 0.00034490
+v -0.26120789 -0.39666429 0.00015836
+v -0.20998123 -0.48197436 -0.00031422
+v -0.26031363 -0.39711286 -0.00058038
+v -0.16103214 -0.40157533 0.00135547
+v -0.22177825 -0.46687637 -0.00014960
+v -0.16103214 -0.40157533 -0.00135547
+v -0.21094133 -0.48112068 0.00025235
+v -0.16146012 -0.49627219 -0.00055176
+v -0.18777421 -0.49329122 0.00031422
+v -0.22091019 -0.46830415 0.00006345
+v -0.18776962 -0.49295348 -0.00025683
+v -0.25472405 -0.40831479 0.00015836
+f 6 4 3
+f 7 3 4
+f 7 4 2
+f 7 2 5
+f 8 5 2
+f 9 3 7
+f 9 7 5
+f 9 5 1
+f 10 1 5
+f 10 5 8
+f 10 8 3
+f 10 9 1
+f 11 6 3
+f 11 3 8
+f 12 10 3
+f 12 3 9
+f 12 9 10
+f 13 11 8
+f 13 8 2
+f 13 6 11
+f 13 2 4
+f 13 4 6
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_11.obj b/waffle/waffle_1/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6929f917bdb200aae24d9c86f265d26a37f80f2e
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_11.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.42934788 -0.08385966 0.00116450
+v 0.46065018 -0.03059122 -0.00089501
+v 0.44559347 -0.06125170 0.00088210
+v 0.42946056 0.05265393 0.00130319
+v 0.42945348 0.05265075 -0.00130321
+v 0.45916289 0.04676458 -0.00018071
+v 0.43699569 -0.07900194 -0.00076543
+v 0.45948596 0.04595673 -0.00023088
+v 0.44777769 -0.05854116 -0.00068875
+v 0.43631322 -0.07930577 0.00088210
+v 0.42933260 -0.08353621 -0.00116865
+f 1 3 4
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 8 6 2
+f 8 2 5
+f 8 5 6
+f 9 7 2
+f 9 2 3
+f 10 3 1
+f 10 1 7
+f 10 9 3
+f 10 7 9
+f 11 5 2
+f 11 2 7
+f 11 7 1
+f 11 1 4
+f 11 4 5
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_12.obj b/waffle/waffle_1/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78cf1ce5cd89ff4a2c28587d16384b643d6be94e
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_12.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.23672450 -0.40156836 0.00131940
+v -0.23671774 -0.40156486 -0.00131950
+v -0.23673643 -0.34100996 0.00135127
+v -0.29385901 -0.33706350 0.00050003
+v -0.26120789 -0.39666429 0.00015836
+v -0.23673557 -0.34100956 -0.00135127
+v -0.26031363 -0.39711286 -0.00058038
+v -0.29282187 -0.33849175 -0.00067489
+v -0.28069222 -0.36172323 0.00000035
+f 1 2 3
+f 1 3 4
+f 5 1 4
+f 6 3 2
+f 6 4 3
+f 7 2 1
+f 7 1 5
+f 8 4 6
+f 8 6 2
+f 8 2 7
+f 9 8 7
+f 9 7 5
+f 9 5 4
+f 9 4 8
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_13.obj b/waffle/waffle_1/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d45e4a756b5c5031b2ee04137a51d7456a942cce
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_13.obj
@@ -0,0 +1,24 @@
+# https://github.com/mikedh/trimesh
+v -0.34271399 -0.20473381 0.00130959
+v -0.40327880 0.09807701 0.00130885
+v -0.38942861 -0.16615750 -0.00012381
+v -0.40327216 0.09807360 -0.00130887
+v -0.34272545 0.09808287 0.00135293
+v -0.34270672 -0.20473001 -0.00130963
+v -0.37252193 -0.19621155 0.00038178
+v -0.37228430 -0.19593725 -0.00057994
+v -0.34272484 0.09808261 -0.00135302
+f 3 2 4
+f 5 2 1
+f 6 5 1
+f 7 1 2
+f 7 2 3
+f 7 6 1
+f 8 3 4
+f 8 4 6
+f 8 7 3
+f 8 6 7
+f 9 6 4
+f 9 5 6
+f 9 4 2
+f 9 2 5
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_14.obj b/waffle/waffle_1/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03486b88b729aeb45786aaae7870b9471ca786ce
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_14.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.40482562 -0.13911761 0.00088210
+v 0.43699569 -0.07900194 -0.00076543
+v 0.43631322 -0.07930577 0.00088210
+v 0.36890685 -0.08361000 0.00134769
+v 0.36889780 -0.14417013 -0.00132540
+v 0.36890169 -0.14417204 0.00132539
+v 0.41441157 -0.12105866 0.00088210
+v 0.40499105 -0.13920442 -0.00083727
+v 0.36890608 -0.08360965 -0.00134775
+v 0.41489101 -0.12091756 -0.00079244
+v 0.43013130 -0.09118469 0.00088210
+v 0.41430523 -0.08359735 -0.00128964
+v 0.43116351 -0.09020646 -0.00076543
+f 3 2 4
+f 6 3 4
+f 6 4 5
+f 7 6 1
+f 8 6 5
+f 8 1 6
+f 9 5 4
+f 9 4 2
+f 10 7 1
+f 10 1 8
+f 11 2 3
+f 11 3 6
+f 11 6 7
+f 12 8 5
+f 12 2 8
+f 12 9 2
+f 12 5 9
+f 13 7 10
+f 13 11 7
+f 13 2 11
+f 13 10 8
+f 13 8 2
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_15.obj b/waffle/waffle_1/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..937b35cac3207a30d8a92dc6de2d7344c8770998
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_15.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.34272545 0.09808287 0.00135293
+v -0.34272484 0.09808261 -0.00135302
+v -0.34271742 0.18892570 -0.00133180
+v -0.38173380 0.18900409 -0.00003172
+v -0.43172017 0.09707788 0.00068875
+v -0.34272054 0.18892730 0.00133179
+v -0.43097513 0.09893927 -0.00060786
+v -0.42121763 0.11741656 0.00038347
+v -0.38105974 0.18853465 -0.00066227
+v -0.42032870 0.11853540 0.00051956
+v -0.40294219 0.14971481 -0.00061773
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 7 3 2
+f 7 2 5
+f 8 7 5
+f 8 4 7
+f 9 4 3
+f 9 3 7
+f 10 8 5
+f 10 4 8
+f 10 6 4
+f 10 5 6
+f 11 9 7
+f 11 7 4
+f 11 4 9
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_16.obj b/waffle/waffle_1/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a7f35013feb73b2d035f211ba2dfca5a3d6e1d8
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_16.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.24777922 -0.26530477 0.00135510
+v -0.34268733 0.23433228 0.00125847
+v -0.33616159 -0.26160365 0.00015485
+v -0.34266610 0.23432057 -0.00125869
+v 0.24777937 0.23435368 0.00135547
+v -0.33687838 -0.26056851 -0.00013917
+v 0.24777937 0.23435368 -0.00135547
+v 0.24777891 -0.26530465 -0.00135512
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 4
+f 7 5 1
+f 7 4 2
+f 7 2 5
+f 8 1 3
+f 8 3 6
+f 8 7 1
+f 8 6 4
+f 8 4 7
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_17.obj b/waffle/waffle_1/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46b4405f9379b795c1c3ab20a7efab4c4c34d698
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_17.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.18734148 -0.49511888 -0.00018982
+v -0.16103214 -0.26530483 0.00135547
+v -0.16146326 -0.49673966 0.00034490
+v -0.16103214 -0.26530483 -0.00135547
+v 0.18721470 -0.26530483 -0.00135547
+v -0.16146012 -0.49627219 -0.00055176
+v 0.18721470 -0.26530483 0.00135547
+v 0.18471263 -0.49535521 0.00024623
+f 3 2 4
+f 5 4 2
+f 6 1 3
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 2 3
+f 7 5 2
+f 7 1 5
+f 8 7 3
+f 8 3 1
+f 8 1 7
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_18.obj b/waffle/waffle_1/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ed19530ce3e0ac7ed7851d15970ae790913d388
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.29320159 0.23435311 0.00135134
+v 0.29320088 0.23435278 -0.00135134
+v 0.27948403 0.37828337 -0.00059153
+v 0.20235473 0.41604718 0.00135342
+v 0.20235587 0.23435368 0.00135547
+v 0.20235445 0.41604705 -0.00135349
+v 0.26313396 0.40774905 -0.00057994
+v 0.20235587 0.23435368 -0.00135547
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 3 2
+f 6 5 4
+f 7 6 4
+f 7 4 3
+f 7 3 6
+f 8 6 2
+f 8 2 5
+f 8 5 6
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_19.obj b/waffle/waffle_1/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4520d86902f3bbab779c979f2c22551cedbd476
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_19.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.36890169 -0.14417204 0.00132539
+v 0.24777937 0.09808318 0.00135547
+v 0.24777937 -0.14417549 -0.00135547
+v 0.24777937 0.09808318 -0.00135547
+v 0.36890658 0.09808222 0.00134686
+v 0.36890540 0.09808168 -0.00134699
+v 0.24777937 -0.14417549 0.00135547
+v 0.36889780 -0.14417013 -0.00132540
+f 3 2 4
+f 5 4 2
+f 6 3 4
+f 6 5 1
+f 6 4 5
+f 7 2 3
+f 7 3 1
+f 7 5 2
+f 7 1 5
+f 8 6 1
+f 8 1 3
+f 8 3 6
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_2.obj b/waffle/waffle_1/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cde218d9605239d9cef4d4b2ac8e0796b14a9193
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_2.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.23673643 -0.34100996 0.00135127
+v -0.23673557 -0.34100956 -0.00135127
+v -0.23673784 -0.26530477 0.00135528
+v -0.33687838 -0.26056851 -0.00013917
+v -0.29607258 -0.33407804 -0.00006358
+v -0.23673798 -0.26530483 -0.00135534
+v -0.33616159 -0.26160365 0.00015485
+v -0.32906904 -0.27432223 -0.00033113
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 5 4
+f 8 2 5
+f 8 6 2
+f 8 4 6
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_20.obj b/waffle/waffle_1/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c57e84ecedc6dfa8056eceafd0474fd93ac822cc
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.25187901 0.23435363 0.00135528
+v -0.25187914 0.23435368 -0.00135534
+v -0.25187808 0.27977671 -0.00135429
+v -0.32942946 0.28109279 0.00018982
+v -0.35738712 0.23205349 0.00006345
+v -0.25187863 0.27977696 0.00135416
+v -0.35407081 0.23205871 -0.00105855
+v -0.34185809 0.25938195 0.00006345
+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 7 3 2
+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/waffle/waffle_1/collision/model_normalized_collision_21.obj b/waffle/waffle_1/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..057f9c47ccc3014e19526945b2b7604e8cd018c8
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_21.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v -0.28215840 0.27977564 0.00134484
+v -0.28215631 0.27977460 -0.00134493
+v -0.28214773 0.31005231 -0.00132849
+v -0.31374834 0.30701309 0.00068875
+v -0.32942946 0.28109279 0.00018982
+v -0.28215263 0.31005488 0.00132848
+v -0.32726345 0.28400983 0.00048139
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 5 4 3
+f 6 1 3
+f 6 3 4
+f 7 5 1
+f 7 4 5
+f 7 6 4
+f 7 1 6
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_22.obj b/waffle/waffle_1/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b163b4e03e4127256f9becf7b0afa2e8d4857cf
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_22.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.42934788 -0.08385966 0.00116450
+v 0.42933260 -0.08353621 -0.00116865
+v 0.42844455 0.09754585 0.00113996
+v 0.36890658 0.09808222 0.00134686
+v 0.36890608 -0.08360965 -0.00134775
+v 0.36890685 -0.08361000 0.00134769
+v 0.36890540 0.09808168 -0.00134699
+v 0.42805392 0.09734253 -0.00115267
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 2 5
+f 7 4 3
+f 7 6 4
+f 7 5 6
+f 8 7 3
+f 8 3 2
+f 8 2 7
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_23.obj b/waffle/waffle_1/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ae4a5ace99a99a026c19fde7b94b0a20f862ef6
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_23.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.40138971 -0.14399357 0.00040546
+v -0.40135155 -0.14318522 -0.00061953
+v -0.40296075 -0.12885551 0.00117653
+v -0.41168039 -0.12533826 -0.00035226
+v -0.41118230 -0.12649162 -0.00024729
+v -0.40307286 -0.12889691 -0.00117368
+v -0.40561737 -0.13572694 -0.00054893
+v -0.40495338 -0.13721464 0.00049421
+f 1 2 3
+f 5 2 1
+f 5 3 4
+f 6 3 2
+f 6 4 3
+f 7 5 4
+f 7 2 5
+f 7 6 2
+f 7 4 6
+f 8 5 1
+f 8 1 3
+f 8 3 5
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_24.obj b/waffle/waffle_1/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9c5dd1c1b83b2d5ee9cf1d64b14c9089f353373
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_24.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.45631304 0.05105850 -0.00050656
+v 0.45707646 0.05141093 -0.00012690
+v 0.42946056 0.05265393 0.00130319
+v 0.42844455 0.09754585 0.00113996
+v 0.43572560 0.09342330 -0.00034490
+v 0.44611771 0.07370590 -0.00015849
+v 0.42945348 0.05265075 -0.00130321
+v 0.42805392 0.09734253 -0.00115267
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 6 1 5
+f 6 5 4
+f 6 4 2
+f 7 1 3
+f 8 5 1
+f 8 1 7
+f 8 4 5
+f 8 7 3
+f 8 3 4
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_25.obj b/waffle/waffle_1/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..058dcd660b96321d31b5f3eed22ee714fa05b2ea
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.28215263 0.31005488 0.00132848
+v -0.28214773 0.31005231 -0.00132849
+v -0.28019624 0.35437401 0.00120865
+v -0.28178479 0.35530841 -0.00115804
+v -0.31136284 0.30944310 0.00092445
+v -0.30738392 0.30720823 -0.00119842
+v -0.29904633 0.33274014 0.00068875
+v -0.28711964 0.35069303 -0.00101922
+f 1 2 3
+f 3 2 4
+f 5 1 3
+f 6 2 1
+f 6 1 5
+f 6 4 2
+f 7 5 3
+f 8 7 3
+f 8 3 4
+f 8 4 6
+f 8 6 5
+f 8 5 7
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_26.obj b/waffle/waffle_1/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35917de368bd4a7abd67f5323d53e69742014006
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.31868472 0.30740331 -0.00063526
+v 0.30590750 0.33060091 -0.00060786
+v 0.29028928 0.35528103 0.00103627
+v 0.29592986 0.34859526 -0.00060786
+v 0.29318314 0.31004931 -0.00131717
+v 0.29319017 0.31005295 0.00131702
+v 0.29151236 0.35454607 -0.00092458
+v 0.29316584 0.32518098 -0.00128927
+f 1 2 3
+f 3 2 4
+f 2 1 4
+f 6 5 1
+f 6 1 3
+f 6 3 5
+f 7 5 3
+f 7 3 4
+f 7 4 1
+f 8 7 1
+f 8 1 5
+f 8 5 7
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_27.obj b/waffle/waffle_1/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dba71075a66cd3082a78105adc3b19886cacd08
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_27.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.34272054 0.18892730 0.00133179
+v -0.34271742 0.18892570 -0.00133180
+v -0.34268733 0.23433228 0.00125847
+v -0.38173380 0.18900409 -0.00003172
+v -0.38105974 0.18853465 -0.00066227
+v -0.34266610 0.23432057 -0.00125869
+v -0.36020090 0.22709128 0.00006345
+v -0.36968809 0.21034868 0.00000000
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 6 1 2
+f 6 3 1
+f 6 2 5
+f 7 6 5
+f 7 4 3
+f 7 3 6
+f 8 7 5
+f 8 5 4
+f 8 4 7
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_28.obj b/waffle/waffle_1/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a315104075fdab71f1335dccfb78f3d08dce206
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_28.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.25187863 0.27977696 0.00135416
+v -0.25187808 0.27977671 -0.00135429
+v -0.25187056 0.35547859 -0.00133783
+v -0.28178479 0.35530841 -0.00115804
+v -0.28215840 0.27977564 0.00134484
+v -0.28215631 0.27977460 -0.00134493
+v -0.25187362 0.35548018 0.00133782
+v -0.28019624 0.35437401 0.00120865
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 6 2 1
+f 6 1 5
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 8 7 4
+f 8 4 5
+f 8 5 7
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_29.obj b/waffle/waffle_1/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe06332f5ed9bd809471706acff5b1f0d00cdba0
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_29.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.24690389 -0.43143295 0.00102961
+v 0.26706563 -0.39566294 -0.00088210
+v 0.25104000 -0.42546906 0.00088210
+v 0.26743021 -0.39482103 0.00090360
+v 0.24774907 -0.40155990 -0.00130612
+v 0.24709171 -0.43148851 -0.00101922
+v 0.24775985 -0.40156539 0.00130607
+v 0.25110399 -0.42550334 -0.00085995
+f 1 3 4
+f 3 2 4
+f 5 4 2
+f 6 3 1
+f 6 5 2
+f 6 1 5
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 6 2
+f 8 2 3
+f 8 3 6
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_3.obj b/waffle/waffle_1/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb0080d29e43610d5f02e9eb3eabcf4f4ea946f4
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_3.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.34080159 -0.25833429 0.00090360
+v 0.40499105 -0.13920442 -0.00083727
+v 0.40482562 -0.13911761 0.00088210
+v 0.24777937 -0.14417549 0.00135547
+v 0.24777891 -0.26530465 -0.00135512
+v 0.24777937 -0.14417549 -0.00135547
+v 0.24777922 -0.26530477 0.00135510
+v 0.34123472 -0.25856142 -0.00076543
+v 0.38402091 -0.14416069 -0.00128834
+v 0.36641137 -0.21088247 0.00088210
+v 0.36676623 -0.21059358 -0.00083727
+v 0.38260434 -0.18071009 0.00088210
+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 3
+f 8 7 5
+f 8 1 7
+f 9 6 2
+f 9 5 6
+f 9 8 5
+f 10 1 8
+f 11 9 2
+f 11 2 8
+f 11 8 9
+f 12 10 8
+f 12 8 3
+f 12 3 1
+f 12 1 10
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_30.obj b/waffle/waffle_1/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfb4c726fc09644a89f17dfd43524d5fdbf39b4a
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_30.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.34140463 -0.24943063 0.00090360
+v -0.34131765 -0.24938254 -0.00092458
+v -0.34271399 -0.20473381 0.00130959
+v -0.36907459 -0.20254637 0.00032939
+v -0.34628468 -0.24371849 -0.00022115
+v -0.34270672 -0.20473001 -0.00130963
+v -0.35627680 -0.22586127 0.00013388
+v -0.36870022 -0.20232775 -0.00059438
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 3 2
+f 7 5 1
+f 7 1 4
+f 8 2 5
+f 8 6 2
+f 8 4 3
+f 8 3 6
+f 8 7 4
+f 8 5 7
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_31.obj b/waffle/waffle_1/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbe2b82a4e83b7fe1ed9e4526f7e1e9c75eee20a
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.16103214 -0.40157533 0.00135547
+v -0.16103214 -0.40157533 -0.00135547
+v -0.16103214 -0.26530483 -0.00135547
+v -0.23673784 -0.26530477 0.00135528
+v -0.23672450 -0.40156836 0.00131940
+v -0.16103214 -0.26530483 0.00135547
+v -0.23673798 -0.26530483 -0.00135534
+v -0.23671774 -0.40156486 -0.00131950
+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/waffle/waffle_1/collision/model_normalized_collision_4.obj b/waffle/waffle_1/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4bfbd27c3ab55becd3113578e385000957c7cdf
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_4.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.43572560 0.09342330 -0.00034490
+v 0.42950569 0.10522802 -0.00034490
+v 0.36179083 0.23044481 -0.00022115
+v 0.24777937 0.23435368 0.00135547
+v 0.24777937 0.09808318 -0.00135547
+v 0.24777937 0.23435368 -0.00135547
+v 0.24777937 0.09808318 0.00135547
+f 1 2 3
+f 1 3 4
+f 6 2 1
+f 6 1 5
+f 6 3 2
+f 6 5 4
+f 6 4 3
+f 7 5 1
+f 7 1 4
+f 7 4 5
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_5.obj b/waffle/waffle_1/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..055b75dc4b9eafe67ae37335bd572fee94661b39
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_5.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.26706563 -0.39566294 -0.00088210
+v 0.33732972 -0.26475724 -0.00088346
+v 0.33740688 -0.26464926 0.00090360
+v 0.18721470 -0.26530483 0.00135547
+v 0.18721470 -0.26530483 -0.00135547
+v 0.18721453 -0.40157527 0.00135534
+v 0.27614625 -0.38126831 0.00012690
+v 0.32344277 -0.26528286 -0.00127949
+v 0.18721443 -0.40157523 -0.00135534
+v 0.32526144 -0.28839471 -0.00074040
+v 0.26743021 -0.39482103 0.00090360
+f 5 3 2
+f 5 4 3
+f 6 3 4
+f 8 5 2
+f 8 2 1
+f 9 1 6
+f 9 8 1
+f 9 5 8
+f 9 6 4
+f 9 4 5
+f 10 7 1
+f 10 1 2
+f 10 2 3
+f 10 3 7
+f 11 6 1
+f 11 1 7
+f 11 7 3
+f 11 3 6
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_6.obj b/waffle/waffle_1/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6483b4e332562d64165db6f83ea2afde8fe8b447
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_6.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.40296075 -0.12885551 0.00117653
+v -0.40327880 0.09807701 0.00130885
+v -0.46521528 0.03143530 0.00028342
+v -0.40327216 0.09807360 -0.00130887
+v -0.43593618 0.09112322 0.00021749
+v -0.40307286 -0.12889691 -0.00117368
+v -0.46438773 0.03356433 -0.00028342
+v -0.46176200 -0.03000258 -0.00057994
+v -0.41118230 -0.12649162 -0.00024729
+v -0.41168039 -0.12533826 -0.00035226
+v -0.43094275 -0.09050573 -0.00009517
+f 1 2 3
+f 2 1 4
+f 5 3 2
+f 5 2 4
+f 6 4 1
+f 7 5 4
+f 7 3 5
+f 8 1 3
+f 8 3 7
+f 8 7 4
+f 8 4 6
+f 9 6 1
+f 10 8 6
+f 10 6 9
+f 11 9 1
+f 11 1 8
+f 11 10 9
+f 11 8 10
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_7.obj b/waffle/waffle_1/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26e21553af6ecd481e9f38a8ae001eb461e9ba79
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_7.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.25187362 0.35548018 0.00133782
+v -0.25187056 0.35547859 -0.00133783
+v -0.25041461 0.41524226 -0.00098951
+v -0.25112771 0.41561481 -0.00081394
+v -0.28711964 0.35069303 -0.00101922
+v -0.28284086 0.36233162 0.00031422
+v -0.26602559 0.39153484 0.00036303
+v -0.25488113 0.40908332 -0.00081394
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 5 3 2
+f 6 5 1
+f 7 6 1
+f 7 1 4
+f 7 4 6
+f 8 6 4
+f 8 5 6
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_8.obj b/waffle/waffle_1/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc2e4eb25204ebfc8753c21f5b98c234e91dec12
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_8.obj
@@ -0,0 +1,18 @@
+# https://github.com/mikedh/trimesh
+v 0.36179083 0.23044481 -0.00022115
+v 0.35540228 0.24206741 -0.00022115
+v 0.29319017 0.31005295 0.00131702
+v 0.32222968 0.30099416 -0.00063526
+v 0.29320088 0.23435278 -0.00135134
+v 0.29320159 0.23435311 0.00135134
+v 0.29318314 0.31004931 -0.00131717
+f 1 2 3
+f 3 2 4
+f 2 1 4
+f 6 5 1
+f 6 1 3
+f 7 3 4
+f 7 4 1
+f 7 1 5
+f 7 6 3
+f 7 5 6
\ No newline at end of file
diff --git a/waffle/waffle_1/collision/model_normalized_collision_9.obj b/waffle/waffle_1/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7956726d2ac858a21794599061f0314ee023d379
--- /dev/null
+++ b/waffle/waffle_1/collision/model_normalized_collision_9.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.18734148 -0.49511888 -0.00018982
+v 0.24774907 -0.40155990 -0.00130612
+v 0.24775985 -0.40156539 0.00130607
+v 0.18721453 -0.40157527 0.00135534
+v 0.18721443 -0.40157523 -0.00135534
+v 0.19823815 -0.49263677 0.00037531
+v 0.19903387 -0.49204844 -0.00045390
+v 0.18471263 -0.49535521 0.00024623
+v 0.23613157 -0.45462990 -0.00057994
+v 0.21997381 -0.48014892 0.00025235
+f 3 2 4
+f 5 4 2
+f 6 3 4
+f 7 5 2
+f 7 1 5
+f 7 6 1
+f 8 5 1
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 9 7 2
+f 9 2 3
+f 10 9 3
+f 10 3 6
+f 10 6 7
+f 10 7 9
\ No newline at end of file
diff --git a/waffle/waffle_1/model.xml b/waffle/waffle_1/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..270b4229758817ced6caa5bc8a627766dd87cc00
--- /dev/null
+++ b/waffle/waffle_1/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="waffle_1">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
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+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.12499999999999999 0.12499999999999999 0.12499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.204" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="Material.204"/>
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+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00028531874999999923 -0.0003466162500000008 -0.00016943374999999996" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="-0.00028531874999999923 -0.0003466162500000008 0.00016943374999999996" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.057581272499999996 0.061399224999999995 0.0" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/waffle/waffle_1/visual/image0.png b/waffle/waffle_1/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fe4afc7a9f37a6cf58079370dce946c275cb960
--- /dev/null
+++ b/waffle/waffle_1/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5037dc9a91cf7a3565c778d00bc08e8614005f2367f8ba97944a3f08a8f3ef8f
+size 432411
diff --git a/waffle/waffle_1/visual/material.mtl b/waffle/waffle_1/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/waffle/waffle_1/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/waffle/waffle_1/visual/material_0.png b/waffle/waffle_1/visual/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fe4afc7a9f37a6cf58079370dce946c275cb960
--- /dev/null
+++ b/waffle/waffle_1/visual/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5037dc9a91cf7a3565c778d00bc08e8614005f2367f8ba97944a3f08a8f3ef8f
+size 432411
diff --git a/waffle/waffle_1/visual/model_normalized_0.obj b/waffle/waffle_1/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1790603dfe39ecc4d23190f38ee421b99446d806
--- /dev/null
+++ b/waffle/waffle_1/visual/model_normalized_0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88ee7925c0eec7f0a03360e1fc900b2c895c6b7cfef8e4edfaa6edc71c80e6ac
+size 59221122
diff --git a/waffle/waffle_3/collision/model_normalized_collision_0.obj b/waffle/waffle_3/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8eab57c28d59856b330210b2f30f09e02108563
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_0.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.20214024 -0.44160741 -0.08840304
+v 0.47543758 -0.12609736 -0.12707836
+v 0.47922504 -0.13676361 -0.08716107
+v 0.47360658 0.05484933 -0.08919957
+v -0.11363586 -0.12655601 -0.12707836
+v 0.49295692 0.05071480 -0.08715623
+v 0.28808305 -0.35596613 -0.12558421
+v 0.48714281 0.05219372 -0.12707836
+v 0.48985464 -0.03507195 -0.12707836
+v -0.11363586 -0.12655601 -0.08919957
+v 0.47539242 -0.13536587 -0.11689832
+v 0.28808604 -0.35616919 -0.08919957
+v 0.19999466 -0.43682492 -0.12707836
+v -0.03110326 -0.05303030 -0.12707836
+v 0.49295692 -0.05071480 -0.08715623
+v 0.48985464 0.03507195 -0.12707836
+v -0.11363586 -0.40641951 -0.08919957
+v -0.03110326 -0.05303030 -0.08919957
+v 0.47360658 0.05484933 -0.12504790
+v -0.03110326 -0.46186675 -0.12553173
+v 0.03110326 -0.46186675 -0.12553173
+v -0.03110326 -0.46212120 -0.08919957
+v -0.11363586 -0.40641951 -0.12707836
+v 0.03110326 -0.46212120 -0.08919957
+f 8 2 5
+f 8 4 6
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+f 12 3 1
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+f 21 13 1
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+f 22 20 21
+f 23 17 5
+f 23 5 13
+f 23 13 20
+f 23 22 17
+f 23 20 22
+f 24 22 21
+f 24 21 1
+f 24 1 22
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_1.obj b/waffle/waffle_3/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..850543a8df756ab34e80427c22c8685067ad13da
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_1.obj
@@ -0,0 +1,147 @@
+# https://github.com/mikedh/trimesh
+v -0.02225877 -0.49881143 -0.05889654
+v 0.47922504 -0.13676361 -0.08716107
+v 0.48848649 -0.08270957 -0.05889654
+v -0.02225877 0.49881143 -0.05889654
+v -0.46892447 0.08441095 -0.08919957
+v 0.33568860 0.35106398 -0.08822093
+v 0.02268102 -0.14393939 -0.04374502
+v 0.29177577 -0.39799398 -0.05889654
+v -0.02293196 -0.49807929 -0.08788102
+v 0.46564658 0.16100714 -0.08974393
+v 0.33621072 0.35156367 -0.05889654
+v -0.02293196 0.49807929 -0.08788102
+v -0.45029198 -0.19120032 -0.05889654
+v 0.43757646 -0.21459023 -0.05889654
+v 0.25855644 -0.41711681 -0.05889654
+v 0.29123528 -0.39747675 -0.08840868
+v 0.48771515 -0.08258740 -0.08854131
+v 0.14067777 0.47000153 -0.05889654
+v 0.43076410 0.22603832 -0.08669678
+v 0.46646430 0.16145168 -0.05889654
+v -0.37340200 0.31270232 -0.05889654
+v -0.37275581 0.31208390 -0.08948902
+v 0.14039258 0.46936582 -0.08802502
+v -0.23484797 -0.14607644 -0.04374502
+v -0.25855560 -0.41711718 -0.05889654
+v -0.44949269 -0.19076580 -0.08958929
+v 0.47973487 -0.13704077 -0.05889654
+v 0.25833137 -0.41661513 -0.08694126
+v 0.43700705 -0.21428067 -0.08766091
+v -0.02268102 0.11363636 -0.04374502
+v 0.43121859 0.22628539 -0.05889654
+v -0.22767128 0.43097303 -0.05889654
+v -0.44393410 0.20289548 -0.05889654
+v 0.04932244 0.49194255 -0.08700314
+v -0.04945145 -0.49249065 -0.05889654
+v -0.31383013 -0.37494926 -0.05889654
+v -0.46892447 -0.08441095 -0.08919957
+v -0.25833052 -0.41661550 -0.08694132
+v 0.04945241 0.49249042 -0.05889654
+v -0.23484797 0.03110326 -0.04374502
+v -0.19678697 0.44482887 -0.05889654
+v -0.22745669 0.43049471 -0.08675232
+v -0.46212070 0.08333333 -0.06397420
+v -0.44324975 0.20252344 -0.08862516
+v 0.11009938 0.47751138 -0.08710435
+v -0.31343817 -0.37457415 -0.08689048
+v -0.04932148 -0.49194277 -0.08700317
+v -0.19658286 0.44437393 -0.08656333
+v -0.46212070 -0.08333333 -0.06397420
+v 0.11023253 0.47807272 -0.05889654
+f 14 7 8
+f 15 8 7
+f 15 7 1
+f 17 3 2
+f 17 16 10
+f 19 10 6
+f 19 6 11
+f 20 10 19
+f 20 17 10
+f 20 3 17
+f 20 7 3
+f 23 6 10
+f 23 22 12
+f 23 10 22
+f 23 18 11
+f 23 11 6
+f 24 1 7
+f 26 16 9
+f 26 10 16
+f 26 22 10
+f 26 5 22
+f 27 14 2
+f 27 2 3
+f 27 3 7
+f 27 7 14
+f 28 15 1
+f 28 1 9
+f 28 9 16
+f 28 16 8
+f 28 8 15
+f 29 2 14
+f 29 14 8
+f 29 8 16
+f 29 17 2
+f 29 16 17
+f 30 11 18
+f 30 7 20
+f 31 20 19
+f 31 19 11
+f 31 30 20
+f 31 11 30
+f 34 23 12
+f 34 12 4
+f 35 9 1
+f 35 1 24
+f 35 24 25
+f 36 25 24
+f 36 24 13
+f 37 26 13
+f 37 5 26
+f 38 26 9
+f 38 25 36
+f 38 35 25
+f 39 4 30
+f 39 34 4
+f 40 24 7
+f 40 7 30
+f 40 21 33
+f 40 33 13
+f 40 13 24
+f 40 32 21
+f 41 4 12
+f 41 30 4
+f 41 40 30
+f 41 32 40
+f 42 22 21
+f 42 21 32
+f 42 12 22
+f 43 33 5
+f 43 13 33
+f 43 5 37
+f 44 22 5
+f 44 5 33
+f 44 33 21
+f 44 21 22
+f 45 18 23
+f 45 23 34
+f 46 36 13
+f 46 13 26
+f 46 38 36
+f 46 26 38
+f 47 38 9
+f 47 9 35
+f 47 35 38
+f 48 41 12
+f 48 12 42
+f 48 42 32
+f 48 32 41
+f 49 43 37
+f 49 37 13
+f 49 13 43
+f 50 18 45
+f 50 39 30
+f 50 30 18
+f 50 45 34
+f 50 34 39
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_10.obj b/waffle/waffle_3/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fb81e4225437810b996c0233d7cfb3675f573a0
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_10.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.40033718 -0.18913624 -0.01266378
+v 0.49938842 -0.00684479 -0.05889654
+v 0.48948386 0.03741300 -0.01185144
+v 0.09848535 0.03110326 -0.01344199
+v 0.15909141 -0.15909091 -0.06397420
+v 0.09848535 0.03787879 -0.06397420
+v 0.14607696 -0.15909091 -0.01185144
+v 0.46496545 -0.14548535 -0.01252156
+v 0.40033718 -0.18939394 -0.05889654
+v 0.49588048 0.03602634 -0.05889654
+v 0.14393990 0.03787879 -0.01185144
+v 0.09848535 -0.00779794 -0.05647058
+v 0.49181718 0.02268102 -0.01185144
+v 0.27185956 -0.18939394 -0.01185144
+v 0.26515202 -0.18939394 -0.06397420
+v 0.45921482 -0.14354117 -0.05889654
+v 0.09746177 0.00729195 -0.01226846
+v 0.49936897 -0.00706258 -0.05632316
+v 0.49231821 0.02270413 -0.01546228
+f 9 8 1
+f 10 6 3
+f 11 6 4
+f 11 3 6
+f 11 7 3
+f 12 6 5
+f 12 5 7
+f 13 3 7
+f 14 1 8
+f 14 9 1
+f 14 13 7
+f 14 8 13
+f 15 10 2
+f 15 5 6
+f 15 6 10
+f 15 9 14
+f 15 14 7
+f 15 7 5
+f 16 2 8
+f 16 8 9
+f 16 15 2
+f 16 9 15
+f 17 11 4
+f 17 7 11
+f 17 12 7
+f 17 4 6
+f 17 6 12
+f 18 13 8
+f 18 8 2
+f 18 2 10
+f 19 18 10
+f 19 13 18
+f 19 10 3
+f 19 3 13
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_11.obj b/waffle/waffle_3/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..909b8381afaf646d692a4431a9dda913a3f82bba
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_11.obj
@@ -0,0 +1,42 @@
+# https://github.com/mikedh/trimesh
+v -0.38515475 -0.23484848 -0.01185144
+v -0.11363586 0.00779794 -0.05647058
+v -0.09990515 0.03515364 0.00046235
+v -0.41629790 0.03073326 -0.01227183
+v -0.41666615 0.03787879 -0.06397420
+v -0.41903730 -0.23613752 -0.01185144
+v -0.14607696 -0.15909091 -0.01185144
+v -0.23484797 0.03787879 -0.06397420
+v -0.10564591 0.00598999 0.00098379
+v -0.37121161 -0.23484848 -0.06397420
+v -0.11363586 0.03110326 -0.04374502
+v -0.15909040 -0.15909091 -0.06397420
+v -0.41288240 -0.23288631 -0.05889654
+v -0.23484797 -0.00742901 -0.08245277
+v -0.15909040 -0.00742901 -0.08245277
+f 5 4 3
+f 6 4 5
+f 8 5 3
+f 9 6 1
+f 9 3 4
+f 9 4 6
+f 9 1 7
+f 9 7 2
+f 9 2 3
+f 10 7 1
+f 10 1 6
+f 11 8 3
+f 11 3 2
+f 12 2 7
+f 12 7 10
+f 13 10 6
+f 13 6 5
+f 13 5 10
+f 14 10 5
+f 14 5 8
+f 15 11 2
+f 15 8 11
+f 15 14 8
+f 15 2 12
+f 15 12 10
+f 15 10 14
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_12.obj b/waffle/waffle_3/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7aaeed48fa8f6f6507ea81a5ac959f44e251088
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_12.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.09789637 -0.47478974 -0.01185144
+v 0.20131486 -0.43976764 -0.10328124
+v 0.18738178 -0.44248351 -0.01185144
+v 0.12655601 -0.31060605 -0.01185144
+v 0.12655601 -0.31060605 -0.12707836
+v 0.14607696 -0.31060605 -0.01185144
+v 0.10944470 -0.47475150 -0.03107649
+v 0.09848535 -0.40641951 -0.08919957
+v 0.20181419 -0.44088066 -0.04464951
+v 0.14607696 -0.31060605 -0.12707836
+v 0.15083887 -0.45887796 -0.01185144
+v 0.09848535 -0.40641951 -0.05889654
+v 0.09789637 -0.47478974 -0.12707836
+v 0.15083887 -0.45887796 -0.12707836
+v 0.19625766 -0.44364681 -0.04648927
+v 0.09480164 -0.47689482 -0.11732067
+v 0.18738178 -0.44248351 -0.12707836
+v 0.19575835 -0.44253379 -0.10144142
+v 0.09508553 -0.47809172 -0.03060719
+v 0.10916079 -0.47355463 -0.11685147
+f 1 3 4
+f 6 4 3
+f 6 5 4
+f 8 4 5
+f 9 6 3
+f 10 5 6
+f 10 9 2
+f 10 6 9
+f 11 3 1
+f 11 1 7
+f 12 1 4
+f 12 4 8
+f 13 8 5
+f 13 5 10
+f 14 13 10
+f 15 11 7
+f 15 9 3
+f 15 3 11
+f 15 7 14
+f 15 2 9
+f 16 12 8
+f 16 8 13
+f 17 14 10
+f 17 10 2
+f 17 2 14
+f 18 15 14
+f 18 14 2
+f 18 2 15
+f 19 1 12
+f 19 12 16
+f 19 16 7
+f 19 7 1
+f 20 14 7
+f 20 7 16
+f 20 16 13
+f 20 13 14
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_13.obj b/waffle/waffle_3/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e4794e4408481969f5de42a0ad302e766ca2e1d
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_13.obj
@@ -0,0 +1,72 @@
+# https://github.com/mikedh/trimesh
+v -0.05302980 0.39158848 -0.01185144
+v -0.02268102 0.46212120 -0.12707836
+v -0.02267833 0.44696519 -0.05613497
+v -0.02270405 0.49313157 -0.01544965
+v -0.29502033 0.38594857 -0.12707836
+v -0.02268102 0.46212120 -0.01344199
+v -0.05302980 0.39158848 -0.12707836
+v -0.29502033 0.38594857 -0.01185144
+v -0.09449280 0.47559710 -0.12707836
+v -0.02277654 0.44696954 -0.08919987
+v -0.05145964 0.48580494 -0.01185144
+v -0.02268102 0.49263148 -0.12707836
+v -0.19625681 0.44364718 -0.04648921
+v -0.10944374 0.47475172 -0.03107645
+v -0.18172236 0.44502253 -0.12707836
+v -0.28154868 0.40090152 -0.01632578
+v -0.10915983 0.47355485 -0.11685150
+v -0.04885222 0.48996435 -0.10187663
+v -0.28119376 0.40039612 -0.12707836
+v -0.15083803 0.45887833 -0.01185144
+v -0.19575750 0.44253417 -0.10144147
+v -0.04866683 0.48918282 -0.03117777
+v -0.09449280 0.47559710 -0.01185144
+v -0.27437535 0.40345511 -0.01185144
+v -0.28745188 0.39385694 -0.01185144
+f 6 1 3
+f 7 3 1
+f 7 5 2
+f 7 1 5
+f 8 5 1
+f 9 2 5
+f 10 7 2
+f 10 2 3
+f 10 3 7
+f 11 6 4
+f 11 8 1
+f 11 1 6
+f 12 2 9
+f 12 4 6
+f 12 6 3
+f 12 3 2
+f 15 9 5
+f 16 5 8
+f 17 13 14
+f 17 9 15
+f 18 4 12
+f 18 17 14
+f 18 12 9
+f 18 9 17
+f 19 15 5
+f 19 16 13
+f 19 5 16
+f 20 14 13
+f 20 8 11
+f 21 17 15
+f 21 13 17
+f 21 19 13
+f 21 15 19
+f 22 18 14
+f 22 4 18
+f 23 20 11
+f 23 14 20
+f 23 22 14
+f 23 11 4
+f 23 4 22
+f 24 8 20
+f 24 20 13
+f 24 13 16
+f 25 24 16
+f 25 16 8
+f 25 8 24
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_14.obj b/waffle/waffle_3/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10c8cf3dae74a40d3a2af502ebd3c522e8f99edc
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_14.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.46452841 0.11401755 -0.01383650
+v 0.46424240 0.11397225 -0.12504790
+v 0.46119607 0.15858770 -0.12707836
+v 0.02272778 0.15909091 -0.01185144
+v 0.02036604 0.10134027 0.00161878
+v 0.02272778 0.11363636 -0.12707836
+v 0.46119607 0.15858770 -0.01185144
+v 0.02272778 0.15909091 -0.12707836
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 2 5
+f 7 1 3
+f 7 3 4
+f 7 5 1
+f 7 4 5
+f 8 4 3
+f 8 3 6
+f 8 6 5
+f 8 5 4
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_15.obj b/waffle/waffle_3/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dd77b286ee01f46ecd0c7d4158c0e27169aa87a
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_15.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v -0.09990515 0.03515364 0.00046235
+v -0.11363586 0.03110326 -0.12707836
+v -0.11363586 0.44696969 -0.06397420
+v -0.11648002 0.45895978 -0.01388189
+v -0.15909040 0.03110326 -0.01185144
+v -0.16021148 0.44968501 -0.01294302
+v -0.15842438 0.44535654 -0.05889654
+v -0.14607696 0.09848485 -0.12707836
+v -0.15909040 0.03110326 -0.12707836
+v -0.12655601 0.09848485 -0.12707836
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 7 6 4
+f 7 4 3
+f 8 7 3
+f 9 5 6
+f 9 6 7
+f 9 7 8
+f 9 8 2
+f 9 2 5
+f 10 8 3
+f 10 3 2
+f 10 2 8
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_16.obj b/waffle/waffle_3/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41674100bcfd0891b1f512107310114537b8a88b
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_16.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.03787929 -0.39158848 -0.01185144
+v 0.03787929 -0.38636363 -0.06397420
+v 0.02272778 -0.14393939 -0.01185144
+v -0.05302980 -0.14393939 -0.01185144
+v -0.03787828 -0.39158848 -0.01185144
+v -0.02272677 -0.21969697 -0.12707836
+v 0.03787929 -0.18939394 -0.06397420
+v 0.02268088 -0.14393939 -0.05621073
+v -0.05302980 -0.15909091 -0.06397420
+v -0.03787828 -0.38636363 -0.06397420
+v 0.03110326 -0.18939394 -0.01185144
+v 0.03787929 -0.27185956 -0.12707836
+v -0.05302980 -0.29176588 -0.01185144
+v -0.05302980 -0.14607644 -0.05889654
+v -0.02272677 -0.26515151 -0.12707836
+v 0.03110326 -0.21969697 -0.12707836
+v -0.05302980 -0.29176588 -0.01344199
+f 1 3 4
+f 5 2 1
+f 5 1 4
+f 7 1 2
+f 8 4 3
+f 8 3 7
+f 10 2 5
+f 11 7 3
+f 11 3 1
+f 11 1 7
+f 12 7 2
+f 12 2 10
+f 13 5 4
+f 14 6 9
+f 14 4 8
+f 14 13 4
+f 14 9 13
+f 15 10 9
+f 15 9 6
+f 15 12 10
+f 15 6 12
+f 16 8 7
+f 16 7 12
+f 16 12 6
+f 16 14 8
+f 16 6 14
+f 17 13 9
+f 17 9 10
+f 17 10 5
+f 17 5 13
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_17.obj b/waffle/waffle_3/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..355a569ea3fd357625780e2503a97fc728315f93
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_17.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.03110326 0.15909091 -0.01185144
+v 0.18939444 0.26515151 -0.06397420
+v 0.18912067 0.40641951 -0.01267088
+v -0.03371264 0.49001468 -0.01185144
+v -0.05302980 0.14607644 -0.08919957
+v 0.14067777 0.47000153 -0.05889654
+v 0.18939444 0.27185956 -0.01185144
+v 0.02268102 0.15909091 -0.08919957
+v -0.03110326 0.15909091 -0.01185144
+v 0.18948806 0.41689342 -0.06135576
+v 0.13822600 0.46453654 -0.01185144
+v -0.02225877 0.49881143 -0.05889654
+v 0.15909141 0.23484848 -0.06397420
+v 0.03787929 0.15909091 -0.06397420
+v -0.05302980 0.27185956 -0.01185144
+v 0.09848535 0.27185956 -0.08919957
+v -0.05302980 0.41666666 -0.06397420
+v 0.03371360 0.49001445 -0.01185144
+v 0.14607696 0.23484848 -0.01185144
+v -0.05302980 0.15909091 -0.06397420
+v 0.04945241 0.49249042 -0.05889654
+v -0.02268102 0.28030302 -0.08919957
+v -0.05153771 0.48613407 -0.01432578
+v 0.11023253 0.47807272 -0.05889654
+v -0.05145964 0.48580494 -0.01185144
+v 0.10944470 0.47475150 -0.03107649
+v 0.09449376 0.47559687 -0.01185144
+v 0.04866779 0.48918260 -0.03117780
+f 7 4 1
+f 9 5 1
+f 9 1 4
+f 10 7 2
+f 10 3 7
+f 11 10 6
+f 11 3 10
+f 11 7 3
+f 11 4 7
+f 13 2 7
+f 13 8 2
+f 14 1 5
+f 14 5 8
+f 14 13 1
+f 14 8 13
+f 15 9 4
+f 16 6 10
+f 16 8 5
+f 16 10 2
+f 16 2 8
+f 17 5 15
+f 18 12 4
+f 18 4 11
+f 19 13 7
+f 19 7 1
+f 19 1 13
+f 20 15 5
+f 20 5 9
+f 20 9 15
+f 21 16 12
+f 21 12 18
+f 22 16 5
+f 22 12 16
+f 22 17 12
+f 22 5 17
+f 23 4 12
+f 23 12 17
+f 23 17 15
+f 24 6 16
+f 24 16 21
+f 25 23 15
+f 25 15 4
+f 25 4 23
+f 26 11 6
+f 26 6 24
+f 27 18 11
+f 27 11 26
+f 28 21 18
+f 28 27 26
+f 28 18 27
+f 28 26 24
+f 28 24 21
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_18.obj b/waffle/waffle_3/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f3e0ff536a33b2656bf2aea0d3eb1ff9b9f62b9
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_18.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.11648002 -0.45895978 -0.01388189
+v -0.11648002 -0.45895978 -0.12504790
+v -0.10553358 -0.00564516 0.00097209
+v -0.11363586 -0.02268102 -0.12707836
+v -0.15909040 -0.02268102 -0.12707836
+v -0.16021148 -0.44968501 -0.01294302
+v -0.15977125 -0.44861873 -0.12575549
+v -0.15909040 -0.02268102 -0.01185144
+f 1 2 3
+f 3 2 4
+f 5 3 4
+f 6 2 1
+f 6 1 3
+f 7 5 4
+f 7 4 2
+f 7 6 5
+f 7 2 6
+f 8 6 3
+f 8 3 5
+f 8 5 6
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_19.obj b/waffle/waffle_3/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67d18494208ca5d598844d291c0f58bc9538063e
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_19.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.15909040 -0.29176588 -0.01185144
+v -0.15909040 -0.29176588 -0.12707836
+v -0.15909040 -0.27185956 -0.01185144
+v -0.26515100 -0.27185956 -0.01185144
+v -0.26515100 -0.29176588 -0.12707836
+v -0.26515100 -0.27185956 -0.12707836
+v -0.26515100 -0.29176588 -0.01185144
+v -0.15909040 -0.27185956 -0.12707836
+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/waffle/waffle_3/collision/model_normalized_collision_2.obj b/waffle/waffle_3/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6eb193bf87ea9180898c150977a38f40980ad67
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_2.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.41903730 -0.23613752 -0.01185144
+v -0.41822216 -0.23569438 -0.12686733
+v -0.37121161 0.03110326 -0.01185144
+v -0.36907832 0.30856446 -0.01185144
+v -0.49065960 0.06550261 -0.08683527
+v -0.36907832 0.30856446 -0.12707836
+v -0.47539240 -0.13536586 -0.11689845
+v -0.49039881 0.03515830 -0.01584268
+v -0.37121161 0.03787879 -0.06397420
+v -0.47539240 0.13536586 -0.11689845
+v -0.42899039 -0.22507458 -0.10157439
+v -0.47543756 0.12609752 -0.01185144
+v -0.47460715 -0.13514229 -0.01615967
+v -0.49065960 -0.06550261 -0.08683527
+v -0.39845658 0.28555518 -0.08638724
+v -0.49181718 0.02268102 -0.12707836
+v -0.42249366 -0.22977963 -0.12707836
+v -0.47460715 0.13514229 -0.01615967
+v -0.47543756 -0.12609752 -0.01185144
+v -0.42828978 -0.22469371 -0.03147840
+v -0.38607138 0.29582647 -0.10145636
+v -0.39996363 0.27122296 -0.12707836
+v -0.47543756 -0.12609752 -0.12707836
+v -0.49039881 -0.03515830 -0.01584268
+v -0.48985878 0.06537577 -0.04622125
+v -0.39996363 0.27122296 -0.01185144
+v -0.43230792 -0.21172660 -0.01185144
+v -0.37632147 0.30099601 -0.12707836
+v -0.47543756 0.12609752 -0.12707836
+v -0.43230792 -0.21172660 -0.12707836
+v -0.48985878 -0.06537577 -0.04622125
+v -0.39775598 0.28517431 -0.04666556
+v -0.37632147 0.30099601 -0.01185144
+v -0.38549636 0.29527617 -0.03159602
+f 1 2 3
+f 1 3 4
+f 6 4 3
+f 9 6 3
+f 9 3 2
+f 9 2 6
+f 11 2 1
+f 12 1 4
+f 13 7 11
+f 14 7 13
+f 16 8 5
+f 17 2 11
+f 17 16 6
+f 17 6 2
+f 18 10 5
+f 18 15 10
+f 19 12 8
+f 19 1 12
+f 20 13 11
+f 20 11 1
+f 21 15 4
+f 21 4 6
+f 22 10 15
+f 22 6 16
+f 23 7 14
+f 23 14 16
+f 23 16 17
+f 24 16 14
+f 24 8 16
+f 24 19 8
+f 25 18 5
+f 25 5 8
+f 25 8 12
+f 25 12 18
+f 26 18 12
+f 26 12 4
+f 27 19 13
+f 27 1 19
+f 27 20 1
+f 27 13 20
+f 28 21 6
+f 28 15 21
+f 28 22 15
+f 28 6 22
+f 29 22 16
+f 29 10 22
+f 29 16 5
+f 29 5 10
+f 30 23 17
+f 30 7 23
+f 30 17 11
+f 30 11 7
+f 31 24 14
+f 31 14 13
+f 31 13 19
+f 31 19 24
+f 32 15 18
+f 32 18 26
+f 33 32 26
+f 33 26 4
+f 34 4 15
+f 34 15 32
+f 34 33 4
+f 34 32 33
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_20.obj b/waffle/waffle_3/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..522845392c8349d5caf0d906d54cbc1d5888bbf2
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_20.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v -0.05302980 0.27185956 -0.01185144
+v -0.05302980 0.26515151 -0.06397420
+v -0.05302980 0.29176588 -0.05889654
+v -0.26515100 0.29176588 -0.01185144
+v -0.26515100 0.26515151 -0.06397420
+v -0.05302980 0.29176588 -0.01185144
+v -0.26515100 0.27185956 -0.01185144
+v -0.26515100 0.29176588 -0.05889654
+f 1 2 3
+f 5 2 1
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 5 1
+f 7 1 4
+f 7 4 5
+f 8 5 4
+f 8 4 3
+f 8 3 5
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_21.obj b/waffle/waffle_3/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1694183e8cfb2905f085700ed679a54f4e5fddf7
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_21.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.28962289 0.15909091 -0.01185144
+v 0.34090959 0.26515151 -0.06397420
+v 0.34096179 0.32580752 -0.01375968
+v 0.27185956 0.32575757 -0.01185144
+v 0.18939444 0.26515151 -0.06397420
+v 0.34090959 0.27185956 -0.01185144
+v 0.29545505 0.15909091 -0.06397420
+v 0.18939444 0.27185956 -0.01185144
+v 0.26515202 0.32575757 -0.06397420
+v 0.26515202 0.15909091 -0.06397420
+v 0.34057356 0.32543598 -0.05889654
+v 0.18939444 0.29176588 -0.01185144
+v 0.27185956 0.15909091 -0.01185144
+v 0.18939444 0.29176588 -0.05889654
+f 6 3 4
+f 6 4 1
+f 6 2 3
+f 7 5 2
+f 7 6 1
+f 7 2 6
+f 8 1 4
+f 9 2 5
+f 9 4 3
+f 10 7 1
+f 10 5 7
+f 10 8 5
+f 11 9 3
+f 11 3 2
+f 11 2 9
+f 12 8 4
+f 12 4 9
+f 12 5 8
+f 13 10 1
+f 13 1 8
+f 13 8 10
+f 14 12 9
+f 14 9 5
+f 14 5 12
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_22.obj b/waffle/waffle_3/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41aec755d1c4b9e1ab12719eb9f33384a6f3f811
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_22.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v 0.03110326 -0.18939394 -0.01185144
+v 0.09848535 -0.15909091 -0.06397420
+v 0.06508778 -0.08008369 0.00624779
+v -0.05997758 -0.07433201 -0.00117853
+v -0.11363586 -0.15909091 -0.06397420
+v 0.02268102 -0.08333333 -0.08919957
+v -0.06508051 -0.07993107 0.00634479
+v 0.09848535 -0.14607644 -0.01185144
+v 0.03787929 -0.18939394 -0.06397420
+v 0.06818232 -0.08333333 -0.07495560
+v -0.11363586 -0.12655601 -0.04374502
+v 0.02268088 -0.18939394 -0.05621073
+v 0.06818232 -0.14607644 -0.08919957
+v 0.09848535 -0.11363636 -0.06397420
+v -0.11363586 -0.14607644 -0.05889654
+v -0.03110326 -0.08333333 -0.04374502
+v -0.11363586 -0.12655601 -0.01185144
+v -0.12655601 -0.15909091 -0.01185144
+v 0.02268102 -0.14393939 -0.08919957
+v 0.09848535 -0.12655601 -0.01185144
+v 0.02272778 -0.18939394 -0.01185144
+f 7 1 3
+f 7 3 4
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 10 6 4
+f 10 4 3
+f 12 5 9
+f 13 2 9
+f 13 6 10
+f 14 8 2
+f 14 13 10
+f 14 2 13
+f 14 10 3
+f 15 11 6
+f 15 6 5
+f 16 11 4
+f 16 4 6
+f 16 6 11
+f 17 7 4
+f 17 4 11
+f 18 5 12
+f 18 7 17
+f 18 15 5
+f 18 17 11
+f 18 11 15
+f 19 13 9
+f 19 9 5
+f 19 5 6
+f 19 6 13
+f 20 14 3
+f 20 3 8
+f 20 8 14
+f 21 18 12
+f 21 1 7
+f 21 7 18
+f 21 12 9
+f 21 9 1
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_23.obj b/waffle/waffle_3/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef806204f1509c883a521d85bdeede91398f0c47
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_23.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v -0.27185956 0.15909091 -0.01185144
+v -0.27185956 0.15909091 -0.12707836
+v -0.26515103 0.39158797 -0.01185144
+v -0.28774876 0.39414105 -0.01488615
+v -0.37811075 0.30270832 -0.03014036
+v -0.26515103 0.39158797 -0.12707836
+v -0.37121161 0.27185956 -0.01185144
+v -0.28745188 0.39385694 -0.12707836
+v -0.36150987 0.31647283 -0.01185144
+v -0.37121161 0.27185956 -0.12707836
+v -0.29545403 0.15909091 -0.06397420
+v -0.37067859 0.31074708 -0.03153346
+v -0.30226348 0.37838012 -0.01185144
+v -0.37723010 0.30186553 -0.11779068
+v -0.28962289 0.15909091 -0.01185144
+v -0.28962289 0.15909091 -0.12707836
+v -0.36150987 0.31647283 -0.12707836
+v -0.36979794 0.30990428 -0.11639758
+f 1 2 3
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 8 4 6
+f 8 6 2
+f 9 7 3
+f 9 5 7
+f 10 7 5
+f 10 8 2
+f 11 2 1
+f 11 7 10
+f 12 5 4
+f 12 4 8
+f 13 9 3
+f 13 3 4
+f 13 4 5
+f 13 5 9
+f 14 10 5
+f 14 5 12
+f 15 11 1
+f 15 1 7
+f 15 7 11
+f 16 11 10
+f 16 10 2
+f 16 2 11
+f 17 14 8
+f 17 8 10
+f 17 10 14
+f 18 14 12
+f 18 12 8
+f 18 8 14
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_24.obj b/waffle/waffle_3/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82d9398b06fcfedacd3490781f612f231a5f93c0
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_24.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.03460090 -0.09667897 0.01359323
+v 0.11363687 -0.03110326 -0.01185144
+v 0.01939838 0.00125682 0.12239847
+v -0.12655601 0.15909091 -0.01185144
+v -0.02257207 -0.00742905 -0.08245077
+v 0.02272778 0.15909091 -0.01185144
+v -0.09500318 -0.03197974 0.02897500
+v 0.06947181 -0.01280244 0.09170318
+v 0.03787929 -0.08333333 -0.06397420
+v 0.01921910 0.03968389 0.10558880
+v -0.09848434 0.15909091 -0.07495560
+v 0.03110326 0.15909091 -0.07495560
+v -0.01818601 -0.06607135 0.08291591
+v -0.05760505 -0.00012892 0.10593830
+v 0.06929211 -0.06959469 0.03521458
+v 0.12655601 0.05303030 -0.01185144
+v 0.05838492 -0.08544711 0.00551775
+v -0.11363586 -0.03110326 -0.04374502
+v -0.01822675 0.06572776 0.08335480
+v 0.06957172 0.01399725 0.09171635
+v 0.09848535 -0.03787879 -0.06397420
+v 0.02901328 -0.05397242 0.09145626
+v -0.09590731 -0.00136029 0.05239762
+v -0.00305294 0.01546346 0.12006390
+v -0.00347423 -0.01462733 0.11985166
+v -0.06929211 -0.06959469 0.03510682
+v 0.08118187 -0.03881299 0.04953444
+v 0.09625057 -0.00020678 0.05262012
+v 0.03498698 -0.09877178 0.00207637
+v 0.05576475 -0.08098000 0.02779252
+v -0.03110326 -0.08333333 -0.04374502
+v -0.09848434 0.11363636 -0.07495560
+v -0.11363586 0.15909091 -0.06397420
+v 0.02633889 0.06601297 0.08109611
+v 0.04004293 0.03036198 0.10520589
+v 0.05747717 -0.00012900 0.10669981
+v 0.06918647 0.06950232 0.03529261
+v 0.02257308 -0.00742905 -0.08245079
+v 0.09848535 0.03787879 -0.06397420
+v 0.00435156 -0.09793709 0.03741193
+v -0.06957681 0.01397533 0.09160868
+v 0.00373860 0.01544368 0.12000556
+v -0.01850449 0.03881284 0.10553125
+v -0.04076364 -0.02881248 0.10322358
+v -0.01871387 -0.00089385 0.12207005
+v 0.01903805 -0.03918292 0.10475672
+v -0.08050245 -0.05546820 0.02862228
+v -0.06947797 -0.01277948 0.09159731
+v 0.09426652 -0.03335874 0.02896293
+v 0.03422279 -0.08229841 0.05098454
+v -0.03110326 -0.11363636 -0.01185144
+v -0.11363586 0.11363636 -0.06397420
+v 0.02916914 0.05370739 0.09207839
+v 0.04069550 -0.02911280 0.10418757
+v 0.02641639 -0.06610078 0.08102988
+v -0.04004109 0.03009808 0.10426321
+v -0.09595052 0.00096205 0.05241365
+v -0.01826752 -0.03877939 0.10450582
+v 0.01943011 -0.00108201 0.12252190
+v -0.01867697 0.00107091 0.12194561
+v -0.08695353 -0.05543369 0.00241198
+v -0.08069854 -0.03995877 0.04946285
+v -0.00366470 -0.09795620 0.03741226
+v -0.03359791 -0.08137726 0.05052908
+f 12 11 6
+f 16 12 6
+f 17 2 15
+f 19 6 4
+f 21 16 2
+f 21 17 9
+f 21 2 17
+f 22 15 8
+f 23 18 7
+f 23 4 18
+f 27 8 15
+f 28 2 16
+f 28 8 27
+f 28 20 8
+f 28 16 20
+f 29 17 1
+f 29 9 17
+f 30 17 15
+f 30 1 17
+f 31 18 5
+f 31 5 9
+f 32 11 5
+f 32 5 18
+f 33 11 32
+f 33 4 6
+f 33 6 11
+f 34 19 10
+f 34 6 19
+f 36 8 20
+f 36 35 3
+f 36 20 35
+f 37 20 16
+f 37 16 6
+f 37 35 20
+f 38 21 9
+f 38 9 5
+f 38 5 11
+f 38 11 12
+f 39 12 16
+f 39 16 21
+f 39 38 12
+f 39 21 38
+f 40 29 1
+f 42 24 3
+f 42 10 24
+f 42 35 10
+f 42 3 35
+f 43 24 10
+f 43 10 19
+f 43 19 4
+f 44 26 13
+f 45 44 25
+f 45 14 44
+f 47 26 7
+f 47 7 18
+f 48 14 41
+f 48 44 14
+f 48 26 44
+f 49 27 15
+f 49 15 2
+f 49 28 27
+f 49 2 28
+f 50 30 15
+f 50 40 1
+f 50 1 30
+f 51 18 31
+f 51 29 40
+f 51 31 9
+f 51 9 29
+f 52 18 4
+f 52 4 33
+f 52 33 32
+f 52 32 18
+f 53 34 10
+f 53 10 35
+f 53 6 34
+f 53 37 6
+f 53 35 37
+f 54 22 8
+f 54 8 36
+f 54 46 22
+f 55 13 40
+f 55 46 13
+f 55 22 46
+f 55 40 50
+f 55 50 15
+f 55 15 22
+f 56 41 14
+f 56 4 41
+f 56 43 4
+f 56 24 43
+f 57 41 4
+f 57 4 23
+f 57 48 41
+f 57 23 48
+f 58 44 13
+f 58 25 44
+f 58 46 25
+f 58 13 46
+f 59 45 25
+f 59 3 45
+f 59 25 46
+f 59 46 54
+f 59 54 36
+f 59 36 3
+f 60 45 3
+f 60 3 24
+f 60 24 56
+f 60 56 14
+f 60 14 45
+f 61 47 18
+f 61 26 47
+f 61 51 26
+f 61 18 51
+f 62 48 23
+f 62 23 7
+f 62 7 26
+f 62 26 48
+f 63 51 40
+f 63 40 13
+f 64 13 26
+f 64 26 51
+f 64 63 13
+f 64 51 63
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_25.obj b/waffle/waffle_3/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19acc63bffc39d76aa9d72d7a97c6aa1678411f1
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_25.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.37121262 0.03110326 -0.01185144
+v 0.40033718 0.03787879 -0.12707836
+v 0.40033718 0.11363636 -0.01185144
+v 0.37121262 0.12655601 -0.01185144
+v 0.37121262 0.12655601 -0.12707836
+v 0.40033718 0.03787879 -0.01185144
+v 0.37121262 0.03110326 -0.12707836
+v 0.40033718 0.11363636 -0.12707836
+f 1 3 4
+f 5 1 4
+f 5 4 3
+f 6 1 2
+f 6 2 3
+f 6 3 1
+f 7 5 2
+f 7 2 1
+f 7 1 5
+f 8 5 3
+f 8 3 2
+f 8 2 5
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_26.obj b/waffle/waffle_3/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d724b5011a053ecaa436af09840f3a70b89fe67
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_26.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.28962289 0.03787879 -0.01185144
+v 0.28962289 0.03787879 -0.12707836
+v 0.28962289 0.11363636 -0.01185144
+v 0.27185956 0.11363636 -0.01185144
+v 0.27185956 0.03787879 -0.12707836
+v 0.27185956 0.11363636 -0.12707836
+v 0.27185956 0.03787879 -0.01185144
+v 0.28962289 0.11363636 -0.12707836
+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/waffle/waffle_3/collision/model_normalized_collision_27.obj b/waffle/waffle_3/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0916e358bdc803a23267048169fa6e6ab14863ec
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_27.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.34332869 0.32807269 -0.01301463
+v 0.34239376 0.32717794 -0.12562087
+v 0.28119376 0.40039612 -0.12707836
+v 0.13822600 0.46453654 -0.01185144
+v 0.27185956 0.32575757 -0.01185144
+v 0.14415952 0.43141350 -0.12587790
+v 0.28154869 0.40090153 -0.01632586
+v 0.32534519 0.35631670 -0.11658545
+v 0.33188716 0.34742597 -0.01185144
+v 0.27185956 0.32575757 -0.12707836
+v 0.13822600 0.46453654 -0.12707836
+v 0.14430888 0.43113828 -0.01303546
+v 0.33188716 0.34742597 -0.12707836
+v 0.27437619 0.40345473 -0.01185144
+v 0.32477022 0.35576645 -0.01646690
+v 0.18939446 0.39158830 -0.12707836
+v 0.19625766 0.44364681 -0.04648927
+v 0.18939446 0.39158830 -0.01185144
+v 0.19575835 0.44253379 -0.10144142
+f 5 2 1
+f 8 3 7
+f 9 5 1
+f 9 4 5
+f 10 2 5
+f 11 6 4
+f 11 3 10
+f 12 4 6
+f 13 1 2
+f 13 3 8
+f 13 10 3
+f 13 2 10
+f 13 9 1
+f 13 8 9
+f 14 9 7
+f 14 4 9
+f 15 9 8
+f 15 8 7
+f 15 7 9
+f 16 11 10
+f 16 6 11
+f 16 12 6
+f 16 10 5
+f 17 7 3
+f 17 11 4
+f 17 14 7
+f 17 4 14
+f 18 5 4
+f 18 4 12
+f 18 16 5
+f 18 12 16
+f 19 17 3
+f 19 3 11
+f 19 11 17
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_28.obj b/waffle/waffle_3/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb4e6b97b94a87d9e7e3dc24d7f0bcbe51485850
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_28.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.46506678 0.15245506 -0.01532719
+v 0.46576734 0.15283594 -0.11772569
+v 0.39845683 0.28555477 -0.08638712
+v 0.33220240 0.34772766 -0.01507393
+v 0.37121262 0.14607644 -0.12707836
+v 0.39996387 0.27122253 -0.01185144
+v 0.37121262 0.14607644 -0.01185144
+v 0.33945561 0.33951760 -0.12707836
+v 0.39775622 0.28517390 -0.04666568
+v 0.34090959 0.23484848 -0.06397420
+v 0.33945561 0.33951760 -0.01185144
+v 0.46119607 0.15858770 -0.01185144
+v 0.39996387 0.27122253 -0.12707836
+v 0.33277737 0.34827792 -0.11797842
+v 0.34090959 0.27185956 -0.01185144
+v 0.38549685 0.29527567 -0.03159611
+v 0.36979844 0.30990379 -0.11639748
+v 0.46119607 0.15858770 -0.12707836
+v 0.34090959 0.23484848 -0.07495560
+v 0.34090959 0.27185956 -0.12707836
+v 0.34669876 0.33194915 -0.01185144
+v 0.34669876 0.33194915 -0.12707836
+f 1 2 3
+f 5 2 1
+f 7 5 1
+f 9 6 1
+f 9 1 3
+f 9 3 4
+f 10 5 7
+f 11 7 6
+f 12 7 1
+f 12 1 6
+f 12 6 7
+f 13 5 8
+f 14 4 3
+f 15 10 7
+f 15 4 10
+f 15 11 4
+f 15 7 11
+f 16 9 4
+f 16 4 11
+f 16 6 9
+f 17 3 13
+f 17 14 3
+f 17 8 14
+f 18 2 5
+f 18 5 13
+f 18 13 3
+f 18 3 2
+f 19 10 4
+f 19 4 14
+f 19 5 10
+f 20 14 8
+f 20 8 5
+f 20 19 14
+f 20 5 19
+f 21 16 11
+f 21 11 6
+f 21 6 16
+f 22 17 13
+f 22 13 8
+f 22 8 17
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_29.obj b/waffle/waffle_3/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08be4e5839f680a78e926a5c175d627c263176e5
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_29.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.15909141 -0.27185956 -0.01185144
+v 0.15909141 -0.26515151 -0.06397420
+v 0.15909141 0.23484848 -0.06397420
+v 0.12655601 0.23484848 -0.01185144
+v 0.09848535 -0.15909091 -0.06397420
+v 0.14607696 0.23484848 -0.01185144
+v 0.11363687 -0.26515151 -0.06397420
+v 0.09224266 0.04892545 0.00057592
+v 0.11363687 0.23484848 -0.06397420
+v 0.11363687 -0.27185956 -0.01185144
+v 0.09848535 -0.00753348 -0.05647520
+v 0.09848535 -0.14607644 -0.01185144
+v 0.09250142 0.04514037 -0.00249887
+f 1 2 3
+f 5 3 2
+f 6 1 3
+f 6 3 4
+f 7 5 2
+f 7 2 1
+f 8 6 4
+f 8 1 6
+f 9 4 3
+f 9 3 5
+f 9 8 4
+f 10 7 1
+f 10 1 8
+f 10 5 7
+f 11 9 5
+f 12 10 8
+f 12 8 5
+f 12 5 10
+f 13 11 5
+f 13 5 8
+f 13 8 9
+f 13 9 11
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_3.obj b/waffle/waffle_3/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fe637ca4a1b2534f69e80eb63c99d36587d8f9b
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_3.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.19999466 -0.43682492 -0.01185144
+v 0.47101032 -0.14053466 -0.12707836
+v 0.39775622 -0.28517390 -0.04666568
+v 0.44646712 -0.13974961 -0.01228894
+v 0.26515202 -0.18939394 -0.06397420
+v 0.47101032 -0.14053466 -0.01185144
+v 0.28119376 -0.40039612 -0.12707836
+v 0.27185956 -0.18939394 -0.01185144
+v 0.44666430 -0.14139177 -0.12614227
+v 0.39845683 -0.28555477 -0.08638712
+v 0.39996387 -0.27122253 -0.01185144
+v 0.28154869 -0.40090153 -0.01632586
+v 0.19999466 -0.43682492 -0.12707836
+v 0.20454596 -0.40151514 -0.01185144
+v 0.45952440 -0.16459358 -0.11676155
+v 0.39996387 -0.27122253 -0.12707836
+v 0.27437619 -0.40345473 -0.01185144
+v 0.33958794 -0.34029548 -0.01652947
+v 0.28962289 -0.26515151 -0.12707836
+v 0.22663215 -0.42865458 -0.10163050
+v 0.20454596 -0.40151514 -0.12707836
+v 0.36979844 -0.30990379 -0.11639748
+v 0.38549685 -0.29527567 -0.03159611
+v 0.38515475 -0.18939394 -0.12707836
+v 0.22630611 -0.42792783 -0.03142205
+v 0.29469551 -0.38628798 -0.12707836
+f 6 2 4
+f 8 4 5
+f 8 6 4
+f 8 1 6
+f 9 5 4
+f 9 4 2
+f 10 6 3
+f 11 6 1
+f 11 3 6
+f 12 10 3
+f 12 7 10
+f 13 2 7
+f 14 8 5
+f 14 1 8
+f 15 10 2
+f 15 2 6
+f 15 6 10
+f 16 7 2
+f 16 2 10
+f 17 11 1
+f 18 17 12
+f 18 11 17
+f 19 2 13
+f 20 1 13
+f 20 13 7
+f 20 7 12
+f 21 14 5
+f 21 13 1
+f 21 1 14
+f 21 19 13
+f 21 5 19
+f 22 16 10
+f 22 10 7
+f 23 18 12
+f 23 12 3
+f 23 3 11
+f 23 11 18
+f 24 19 5
+f 24 5 9
+f 24 9 2
+f 24 2 19
+f 25 20 12
+f 25 1 20
+f 25 17 1
+f 25 12 17
+f 26 22 7
+f 26 7 16
+f 26 16 22
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_30.obj b/waffle/waffle_3/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b56a00fd6960c2766ba7f5abe112880a26dbafa3
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_30.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v 0.46496545 -0.14548535 -0.01252156
+v 0.48771515 -0.08258740 -0.08854131
+v 0.49231821 -0.02270413 -0.01546228
+v 0.46119607 0.15858770 -0.01185144
+v 0.46119607 0.15858770 -0.12707836
+v 0.47543758 -0.12609736 -0.01185144
+v 0.45921482 -0.14354117 -0.05889654
+v 0.48714281 0.05219372 -0.12707836
+v 0.47543758 0.12609736 -0.01185144
+v 0.47101032 -0.14053466 -0.01185144
+v 0.47973487 -0.13704077 -0.05889654
+v 0.49065964 -0.06550246 -0.08683514
+v 0.47360658 0.05484933 -0.12504790
+v 0.48985882 0.06537562 -0.04622139
+v 0.47539242 0.13536587 -0.11689832
+v 0.48985882 -0.06537562 -0.04622139
+v 0.47460716 -0.13514230 -0.01615980
+v 0.46892449 -0.08441079 -0.08919957
+v 0.49012884 0.05026687 -0.03103213
+v 0.49065964 0.06550246 -0.08683514
+v 0.47460716 0.13514230 -0.01615980
+v 0.47543758 0.12609736 -0.12707836
+v 0.46465244 0.15222981 -0.01185144
+v 0.46465244 0.15222981 -0.12707836
+f 7 1 4
+f 7 4 5
+f 9 6 3
+f 9 4 6
+f 10 6 4
+f 10 4 1
+f 11 7 2
+f 11 10 1
+f 11 1 7
+f 12 2 8
+f 12 11 2
+f 13 5 8
+f 15 5 4
+f 16 3 6
+f 16 12 3
+f 16 11 12
+f 17 6 10
+f 17 10 11
+f 17 16 6
+f 17 11 16
+f 18 7 5
+f 18 5 13
+f 18 2 7
+f 18 13 8
+f 18 8 2
+f 19 14 9
+f 19 9 3
+f 20 12 8
+f 20 3 12
+f 20 19 3
+f 20 14 19
+f 21 15 4
+f 21 20 15
+f 21 9 14
+f 21 14 20
+f 22 8 5
+f 22 20 8
+f 22 15 20
+f 23 21 4
+f 23 4 9
+f 23 9 21
+f 24 22 5
+f 24 5 15
+f 24 15 22
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_31.obj b/waffle/waffle_3/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00a0c1fe784fa2e2393becb74c7e077475d36387
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_31.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v 0.37632195 -0.30099550 -0.01185144
+v 0.38064568 -0.30513335 -0.05889654
+v 0.38515475 -0.26515151 -0.05889654
+v -0.11363586 -0.27185956 -0.01185144
+v -0.03110326 -0.31060605 -0.01344199
+v -0.11363586 -0.26515151 -0.06397420
+v 0.38636414 -0.26515151 -0.01185144
+v 0.02272778 -0.31060605 -0.01185144
+v -0.03787828 -0.31060605 -0.06397420
+v -0.11363586 -0.29176588 -0.01185144
+v -0.11363586 -0.29176588 -0.05889654
+f 7 4 1
+f 7 6 4
+f 7 3 6
+f 7 1 2
+f 7 2 3
+f 8 2 1
+f 8 1 4
+f 9 6 3
+f 9 3 2
+f 9 8 5
+f 9 2 8
+f 10 8 4
+f 10 5 8
+f 10 9 5
+f 10 4 6
+f 11 10 6
+f 11 6 9
+f 11 9 10
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_4.obj b/waffle/waffle_3/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec5e4a539df8bee3a6f78eb108f5380b61c4f252
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_4.obj
@@ -0,0 +1,93 @@
+# https://github.com/mikedh/trimesh
+v 0.03371360 -0.49001445 -0.01185144
+v 0.23484899 -0.40641951 -0.05889654
+v 0.23484901 -0.39158810 -0.01185144
+v -0.30256647 -0.37867009 -0.01494871
+v -0.15083803 -0.45887833 -0.12707836
+v -0.30226348 -0.37838012 -0.12707836
+v -0.29502033 -0.38594857 -0.01185144
+v 0.19999466 -0.43682492 -0.01185144
+v 0.09449376 -0.47559687 -0.12707836
+v 0.23484899 -0.38636363 -0.06397420
+v -0.15083803 -0.45887833 -0.01185144
+v -0.28119376 -0.40039612 -0.12707836
+v 0.23484899 -0.40151514 -0.01185144
+v -0.03371264 -0.49001468 -0.12707836
+v 0.09449376 -0.47559687 -0.01185144
+v 0.20244640 -0.44228984 -0.05889654
+v -0.15909042 -0.39158843 -0.12707836
+v -0.28154868 -0.40090152 -0.01632578
+v 0.03371360 -0.49001445 -0.12707836
+v -0.10944374 -0.47475172 -0.03107645
+v 0.04885318 -0.48996413 -0.10187660
+v 0.09888538 -0.46380761 -0.12516776
+v -0.27437535 -0.40345511 -0.01185144
+v -0.29513429 -0.38670887 -0.01634168
+v -0.19625681 -0.44364718 -0.04648921
+v -0.10915983 -0.47355485 -0.11685150
+v -0.03371264 -0.49001468 -0.01185144
+v 0.04866779 -0.48918260 -0.03117780
+v -0.28745188 -0.39385694 -0.01185144
+v -0.19575750 -0.44253417 -0.10144147
+v -0.04885222 -0.48996435 -0.10187663
+v -0.04866683 -0.48918282 -0.03117777
+f 7 1 3
+f 7 3 4
+f 8 3 1
+f 9 5 6
+f 10 3 2
+f 10 2 9
+f 10 6 4
+f 10 4 3
+f 11 1 7
+f 12 6 5
+f 13 2 3
+f 13 3 8
+f 14 5 9
+f 15 8 1
+f 16 9 2
+f 16 8 15
+f 16 13 8
+f 16 2 13
+f 17 9 6
+f 17 6 10
+f 19 14 9
+f 21 16 15
+f 21 9 16
+f 21 19 9
+f 21 1 19
+f 22 17 10
+f 22 10 9
+f 22 9 17
+f 23 11 7
+f 24 4 6
+f 24 6 12
+f 24 12 18
+f 24 7 4
+f 25 18 12
+f 25 23 18
+f 25 11 23
+f 25 20 11
+f 25 5 20
+f 26 20 5
+f 26 5 14
+f 27 1 11
+f 27 11 20
+f 27 19 1
+f 27 14 19
+f 28 21 15
+f 28 15 1
+f 28 1 21
+f 29 23 7
+f 29 18 23
+f 29 24 18
+f 29 7 24
+f 30 25 12
+f 30 12 5
+f 30 5 25
+f 31 26 14
+f 31 20 26
+f 31 14 27
+f 32 31 27
+f 32 27 20
+f 32 20 31
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_5.obj b/waffle/waffle_3/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..077ba6be497d3ba2d5ad981e17f37962547f7dd6
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_5.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.15909141 0.03110326 -0.08919957
+v 0.34090959 0.27185956 -0.12707836
+v 0.34057356 0.32543598 -0.08919957
+v -0.02283680 0.49601345 -0.10274481
+v -0.26515100 0.27185956 -0.12707836
+v 0.13822600 0.46453654 -0.12707836
+v -0.15305038 0.46380967 -0.08719973
+v 0.28962289 0.15909091 -0.08919957
+v 0.15909141 0.03110326 -0.12707836
+v 0.34239376 0.32717794 -0.12562087
+v 0.14039258 0.46936582 -0.08802502
+v -0.15083803 0.45887833 -0.12707836
+v -0.14607696 0.09848485 -0.08919957
+v 0.34090959 0.27185956 -0.08919957
+v 0.11009938 0.47751138 -0.08710435
+v 0.28962289 0.15909091 -0.12707836
+v -0.02268102 0.49263148 -0.12707836
+v -0.26515100 0.29176588 -0.12707836
+v -0.26515100 0.27185956 -0.08919957
+v -0.03110326 0.03787879 -0.08919957
+v -0.14607696 0.09848485 -0.12707836
+v 0.02293196 0.49807929 -0.08788102
+v -0.26515100 0.29176588 -0.08919957
+v -0.03110326 0.03787879 -0.12707836
+v 0.04932244 0.49194255 -0.08700314
+v 0.09449376 0.47559687 -0.12707836
+v 0.10916079 0.47355463 -0.11685147
+v 0.03371360 0.49001445 -0.12707836
+f 6 2 5
+f 9 5 2
+f 9 8 1
+f 10 2 6
+f 11 10 6
+f 11 3 10
+f 12 6 5
+f 12 7 4
+f 14 8 2
+f 14 10 3
+f 14 2 10
+f 15 1 8
+f 15 8 14
+f 15 14 3
+f 15 3 11
+f 15 11 6
+f 16 9 2
+f 16 2 8
+f 16 8 9
+f 17 12 4
+f 17 6 12
+f 18 12 5
+f 18 7 12
+f 19 13 7
+f 19 5 13
+f 19 18 5
+f 20 7 13
+f 20 9 1
+f 21 13 5
+f 21 5 9
+f 21 20 13
+f 22 4 7
+f 22 17 4
+f 23 19 7
+f 23 7 18
+f 23 18 19
+f 24 21 9
+f 24 9 20
+f 24 20 21
+f 25 22 7
+f 25 1 15
+f 25 20 1
+f 25 7 20
+f 26 6 17
+f 27 15 6
+f 27 6 26
+f 27 25 15
+f 27 26 22
+f 27 22 25
+f 28 26 17
+f 28 17 22
+f 28 22 26
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_6.obj b/waffle/waffle_3/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb113c12c11540694c98cf21c409960828df4c40
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_6.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.27185956 0.03787879 -0.01185144
+v -0.14607696 0.15909091 -0.12707836
+v -0.14607696 0.15909091 -0.01185144
+v -0.44324975 0.20252344 -0.08862516
+v -0.40033718 0.03787879 -0.12707836
+v -0.38515475 0.20454545 -0.08919957
+v -0.37121161 0.14607644 -0.01185144
+v -0.15909040 0.12655601 -0.01185144
+v -0.27185956 0.03787879 -0.12707836
+v -0.43866581 0.20003145 -0.12707836
+v -0.40033718 0.03787879 -0.08919957
+v -0.15909040 0.12655601 -0.12707836
+v -0.44667122 0.12618549 -0.12556024
+v -0.38515475 0.20454545 -0.12707836
+v -0.37121161 0.12655601 -0.01185144
+v -0.44696918 0.12618549 -0.08919957
+v -0.28962289 0.03787879 -0.01185144
+f 6 3 2
+f 6 4 3
+f 7 1 3
+f 7 3 4
+f 8 2 3
+f 8 3 1
+f 9 5 2
+f 9 1 5
+f 9 8 1
+f 10 2 5
+f 11 5 1
+f 12 9 2
+f 12 2 8
+f 12 8 9
+f 13 10 5
+f 13 4 10
+f 14 6 2
+f 14 2 10
+f 14 10 4
+f 14 4 6
+f 15 1 7
+f 16 4 13
+f 16 11 15
+f 16 15 7
+f 16 7 4
+f 16 13 5
+f 16 5 11
+f 17 15 11
+f 17 11 1
+f 17 1 15
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_7.obj b/waffle/waffle_3/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb3a2ba26dae301dd5f35e43c341f5a66891d693
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_7.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.26515103 -0.39158797 -0.01185144
+v -0.26515100 -0.38636363 -0.06397420
+v -0.26515100 -0.17424242 -0.06397420
+v -0.28962289 -0.17424242 -0.01185144
+v -0.42249366 -0.22977963 -0.12707836
+v -0.27185956 -0.17424242 -0.01185144
+v -0.31383013 -0.37494926 -0.05889654
+v -0.42249366 -0.22977963 -0.01185144
+v -0.32464353 -0.35499493 -0.12707836
+v -0.29545403 -0.17424242 -0.06397420
+v -0.30226348 -0.37838012 -0.01185144
+v -0.39845658 -0.28555518 -0.08638724
+v -0.32575706 -0.27185956 -0.12707836
+v -0.31795916 -0.36374938 -0.11804108
+v -0.41390967 -0.25541610 -0.04651078
+v -0.39775598 -0.28517431 -0.04666556
+v -0.39996363 -0.27122296 -0.12707836
+v -0.38515475 -0.23484848 -0.12707836
+v -0.36979794 -0.30990428 -0.11639758
+v -0.41283670 -0.25483280 -0.10141961
+v -0.38549636 -0.29527617 -0.03159602
+v -0.33188668 -0.34742647 -0.12707836
+v -0.39996363 -0.27122296 -0.01185144
+v -0.33958745 -0.34029598 -0.01652937
+f 1 2 3
+f 6 1 3
+f 6 3 4
+f 6 4 1
+f 7 2 1
+f 8 1 4
+f 9 3 2
+f 10 4 3
+f 10 3 5
+f 10 8 4
+f 10 5 8
+f 11 7 1
+f 11 1 8
+f 13 9 5
+f 13 3 9
+f 14 9 2
+f 14 2 7
+f 14 7 12
+f 15 8 5
+f 16 12 7
+f 16 15 12
+f 16 8 15
+f 17 12 5
+f 17 5 9
+f 18 13 5
+f 18 5 3
+f 18 3 13
+f 19 14 12
+f 19 9 14
+f 19 12 17
+f 20 15 5
+f 20 5 12
+f 20 12 15
+f 21 16 7
+f 21 7 11
+f 22 19 17
+f 22 17 9
+f 22 9 19
+f 23 11 8
+f 23 8 16
+f 23 16 21
+f 24 23 21
+f 24 21 11
+f 24 11 23
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_8.obj b/waffle/waffle_3/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..530561dc0a62fe5a8d1bec96d639876791b13fcc
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_8.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v -0.26515103 -0.39158797 -0.08919957
+v -0.14607696 -0.15909091 -0.12707836
+v -0.15909040 -0.00769347 -0.08245739
+v -0.41667644 -0.00769376 -0.08249088
+v -0.48985462 -0.03507211 -0.12707836
+v -0.31343817 -0.37457415 -0.08689048
+v -0.14607696 -0.15909091 -0.08919957
+v -0.30226348 -0.37838012 -0.12707836
+v -0.15909040 -0.02268102 -0.12707836
+v -0.49295688 -0.05071495 -0.08715636
+v -0.26515103 -0.39158797 -0.12707836
+v -0.49181718 -0.02268102 -0.12707836
+v -0.41822216 -0.23569438 -0.12686733
+v -0.49727129 -0.02293267 -0.08777115
+v -0.31707508 -0.36290330 -0.12707836
+v -0.41288240 -0.23288631 -0.08919957
+v -0.48890234 -0.05007279 -0.11689275
+f 6 1 3
+f 6 3 4
+f 7 1 2
+f 7 2 3
+f 7 3 1
+f 8 5 2
+f 9 3 2
+f 9 2 5
+f 9 4 3
+f 10 6 4
+f 11 8 2
+f 11 2 1
+f 11 1 6
+f 11 6 8
+f 12 9 5
+f 12 4 9
+f 14 10 4
+f 14 4 12
+f 14 12 5
+f 14 5 10
+f 15 8 6
+f 15 6 13
+f 15 13 5
+f 15 5 8
+f 16 13 6
+f 16 6 10
+f 16 10 13
+f 17 13 10
+f 17 10 5
+f 17 5 13
\ No newline at end of file
diff --git a/waffle/waffle_3/collision/model_normalized_collision_9.obj b/waffle/waffle_3/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e98aaf2ecbeb8415e2d27175d7e2f8b0d9448aa
--- /dev/null
+++ b/waffle/waffle_3/collision/model_normalized_collision_9.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.28962289 -0.05303030 -0.08919957
+v 0.44697019 0.02268102 -0.12707836
+v 0.44697019 0.03073326 -0.08919957
+v -0.41666615 0.03073326 -0.08919957
+v -0.03110326 -0.05303030 -0.12707836
+v -0.41645543 0.03073326 -0.12665382
+v -0.41667644 0.00769376 -0.08249088
+v 0.35606111 -0.03110326 -0.08919957
+v 0.28962289 -0.05303030 -0.12707836
+v 0.44673847 0.03073326 -0.12585619
+v -0.41666615 0.02268102 -0.12707836
+v -0.03110326 -0.05303030 -0.08919957
+v 0.44696993 0.02282575 -0.08919957
+v 0.35606111 -0.03110326 -0.12707836
+f 6 4 3
+f 7 3 4
+f 8 7 1
+f 9 5 2
+f 9 1 5
+f 9 8 1
+f 10 6 3
+f 10 3 2
+f 10 2 6
+f 11 6 2
+f 11 2 5
+f 11 5 7
+f 11 7 4
+f 11 4 6
+f 12 7 5
+f 12 5 1
+f 12 1 7
+f 13 8 2
+f 13 2 3
+f 13 3 7
+f 13 7 8
+f 14 9 2
+f 14 2 8
+f 14 8 9
\ No newline at end of file
diff --git a/waffle/waffle_3/model.xml b/waffle/waffle_3/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..38763be2314dd8acf04f0d9f1f36fdf2ae78c045
--- /dev/null
+++ b/waffle/waffle_3/model.xml
@@ -0,0 +1,83 @@
+<mujoco model="waffle_3">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="visual/model_normalized_1.obj" name="model_normalized_1_vis" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <material name="lambert3SG.001" specular="0.5" shininess="0.000903123" rgba="0.590000 0.190000 0.030000 1.0"/>
+    <material name="lambert4SG.001" specular="0.5" shininess="0.000903123" rgba="0.880000 0.750000 0.500000 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="lambert3SG.001"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_1_vis" conaffinity="0" contype="0" group="1" material="lambert4SG.001"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_22._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_23._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_21._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_20._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_24._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_30._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_18._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_19._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_31._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_25._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_27._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_26._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_9._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_8._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_6._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_7._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_5._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_4._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_0._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_1._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_3._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_2._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_17._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_16._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_28._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_14._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_15._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_29._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_11._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_10._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_12._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_collision_13._coll" group="0" rgba="0.8 0.8 0.8 0.0"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00012173497500000129 0.0 -0.0146140114" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.00012173497500000129 0.0 0.0140900185" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.05742966829999999 0.057363314449999994 -0.0002619964499999999" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/waffle/waffle_3/visual/material.mtl b/waffle/waffle_3/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3986f182e7c2c5adfa183fb11e2903eac79df6dc
--- /dev/null
+++ b/waffle/waffle_3/visual/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.87843137 0.74901961 0.50196078
+Ks 0.50196078 0.50196078 0.50196078
+Ns 0.90312300
\ No newline at end of file
diff --git a/waffle/waffle_3/visual/model_normalized_0.obj b/waffle/waffle_3/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54fafe96fc05c88d0cd3695c918435bcc3a853a2
--- /dev/null
+++ b/waffle/waffle_3/visual/model_normalized_0.obj
@@ -0,0 +1,16295 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v 0.46230801 -0.12618549 -0.07495560
+v 0.40033719 -0.12618549 -0.07495560
+v 0.40033719 -0.03073326 -0.07495560
+v 0.46230801 -0.12618549 -0.07495560
+v 0.40033719 -0.03073326 -0.07495560
+v 0.47742621 -0.03073326 -0.07495560
+v 0.40033719 -0.25707790 -0.07749299
+v 0.40033719 -0.14382675 -0.07495560
+v 0.45921483 -0.14354116 -0.07749299
+v 0.28843596 -0.37991541 -0.07743248
+v 0.28709984 -0.28924336 -0.07495560
+v 0.37488733 -0.28958097 -0.07743248
+v 0.14607696 -0.45045445 -0.07901596
+v 0.14607696 -0.40641950 -0.07495560
+v 0.25273195 -0.40641950 -0.07901596
+v 0.00000000 -0.50000000 -0.08248338
+v 0.00000000 -0.39955845 -0.08232306
+v 0.02268102 -0.40039611 -0.08271907
+v 0.00000000 -0.50000000 -0.08248338
+v 0.02268102 -0.40039611 -0.08271907
+v 0.02296395 -0.49877377 -0.08288416
+v 0.00000000 -0.39955845 -0.08232306
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\ No newline at end of file
diff --git a/waffle/waffle_3/visual/model_normalized_1.obj b/waffle/waffle_3/visual/model_normalized_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6db50c71259d6bbf5a8c28fdceca48af3e228a74
--- /dev/null
+++ b/waffle/waffle_3/visual/model_normalized_1.obj
@@ -0,0 +1,1923 @@
+# https://github.com/mikedh/trimesh
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+f 253/253/253 254/254/254 255/255/255
+f 256/256/256 257/257/257 258/258/258
+f 259/259/259 260/260/260 261/261/261
+f 262/262/262 263/263/263 264/264/264
+f 265/265/265 266/266/266 267/267/267
+f 268/268/268 269/269/269 270/270/270
+f 271/271/271 272/272/272 273/273/273
+f 274/274/274 275/275/275 276/276/276
+f 277/277/277 278/278/278 279/279/279
+f 280/280/280 281/281/281 282/282/282
+f 283/283/283 284/284/284 285/285/285
+f 286/286/286 287/287/287 288/288/288
+f 289/289/289 290/290/290 291/291/291
+f 292/292/292 293/293/293 294/294/294
+f 295/295/295 296/296/296 297/297/297
+f 298/298/298 299/299/299 300/300/300
+f 301/301/301 302/302/302 303/303/303
+f 304/304/304 305/305/305 306/306/306
+f 307/307/307 308/308/308 309/309/309
+f 310/310/310 311/311/311 312/312/312
+f 313/313/313 314/314/314 315/315/315
+f 316/316/316 317/317/317 318/318/318
+f 319/319/319 320/320/320 321/321/321
+f 322/322/322 323/323/323 324/324/324
+f 325/325/325 326/326/326 327/327/327
+f 328/328/328 329/329/329 330/330/330
+f 331/331/331 332/332/332 333/333/333
+f 334/334/334 335/335/335 336/336/336
+f 337/337/337 338/338/338 339/339/339
+f 340/340/340 341/341/341 342/342/342
+f 343/343/343 344/344/344 345/345/345
+f 346/346/346 347/347/347 348/348/348
+f 349/349/349 350/350/350 351/351/351
+f 352/352/352 353/353/353 354/354/354
+f 355/355/355 356/356/356 357/357/357
+f 358/358/358 359/359/359 360/360/360
+f 361/361/361 362/362/362 363/363/363
+f 364/364/364 365/365/365 366/366/366
+f 367/367/367 368/368/368 369/369/369
+f 370/370/370 371/371/371 372/372/372
+f 373/373/373 374/374/374 375/375/375
+f 376/376/376 377/377/377 378/378/378
+f 379/379/379 380/380/380 381/381/381
+f 382/382/382 383/383/383 384/384/384
+f 385/385/385 386/386/386 387/387/387
+f 388/388/388 389/389/389 390/390/390
+f 391/391/391 392/392/392 393/393/393
+f 394/394/394 395/395/395 396/396/396
+f 397/397/397 398/398/398 399/399/399
+f 400/400/400 401/401/401 402/402/402
+f 403/403/403 404/404/404 405/405/405
+f 406/406/406 407/407/407 408/408/408
+f 409/409/409 410/410/410 411/411/411
+f 412/412/412 413/413/413 414/414/414
+f 415/415/415 416/416/416 417/417/417
+f 418/418/418 419/419/419 420/420/420
+f 421/421/421 422/422/422 423/423/423
+f 424/424/424 425/425/425 426/426/426
+f 427/427/427 428/428/428 429/429/429
+f 430/430/430 431/431/431 432/432/432
+f 433/433/433 434/434/434 435/435/435
+f 436/436/436 437/437/437 438/438/438
+f 442/442/442 443/443/443 444/444/444
+f 445/445/445 446/446/446 447/447/447
+f 448/448/448 449/449/449 450/450/450
+f 451/451/451 452/452/452 453/453/453
+f 454/454/454 455/455/455 456/456/456
+f 457/457/457 458/458/458 459/459/459
+f 460/460/460 461/461/461 462/462/462
+f 463/463/463 464/464/464 465/465/465
+f 466/466/466 467/467/467 468/468/468
+f 469/469/469 470/470/470 471/471/471
+f 472/472/472 473/473/473 474/474/474
+f 475/475/475 476/476/476 477/477/477
+f 478/478/478 479/479/479 480/480/480
+f 481/481/481 482/482/482 483/483/483
+f 484/484/484 485/485/485 486/486/486
+f 487/487/487 488/488/488 489/489/489
+f 490/490/490 491/491/491 492/492/492
+f 493/493/493 494/494/494 495/495/495
+f 496/496/496 497/497/497 498/498/498
+f 499/499/499 500/500/500 501/501/501
+f 502/502/502 503/503/503 504/504/504
+f 505/505/505 506/506/506 507/507/507
+f 508/508/508 509/509/509 510/510/510
+f 511/511/511 512/512/512 513/513/513
+f 514/514/514 515/515/515 516/516/516
+f 517/517/517 518/518/518 519/519/519
+f 520/520/520 521/521/521 522/522/522
+f 523/523/523 524/524/524 525/525/525
+f 526/526/526 527/527/527 528/528/528
+f 529/529/529 530/530/530 531/531/531
+f 535/535/535 536/536/536 537/537/537
+f 538/538/538 539/539/539 540/540/540
+f 541/541/541 542/542/542 543/543/543
+f 544/544/544 545/545/545 546/546/546
+f 547/547/547 548/548/548 549/549/549
+f 550/550/550 551/551/551 552/552/552
+f 553/553/553 554/554/554 555/555/555
+f 556/556/556 557/557/557 558/558/558
+f 559/559/559 560/560/560 561/561/561
+f 562/562/562 563/563/563 564/564/564
+f 565/565/565 566/566/566 567/567/567
+f 568/568/568 569/569/569 570/570/570
+f 571/571/571 572/572/572 573/573/573
+f 574/574/574 575/575/575 576/576/576
+f 439/439/439 440/440/440 441/441/441
+f 532/532/532 533/533/533 534/534/534
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_0.obj b/waffle/waffle_4/collision/model_normalized_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cbfd9835f382c5d2089a65587da19ef61db4012
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_0.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v -0.40150035 -0.13472777 0.10731688
+v -0.23495713 -0.02483663 -0.00437766
+v -0.23491975 0.02439889 0.10740010
+v -0.22853966 0.38566370 0.10753674
+v -0.43165722 0.15313605 -0.00399057
+v -0.23491860 -0.01352444 0.08076253
+v -0.42835216 -0.08530196 0.10746276
+v -0.43237731 -0.13481865 -0.00436492
+v -0.23485493 0.39571401 -0.00415478
+v -0.39813659 0.19139187 0.10730633
+v -0.40151613 -0.13473715 0.00452501
+v -0.44669708 0.06056006 0.05419890
+v -0.41842572 -0.13186974 0.10730287
+v -0.34104078 0.31991600 -0.00451003
+v -0.42974070 0.07370065 0.10748513
+v -0.44612290 -0.06945694 0.05419345
+v -0.44680459 0.07737831 -0.00421576
+v -0.41363563 0.14925408 0.10722572
+v -0.40132077 0.22872023 -0.00397775
+v -0.32586574 0.30500843 0.10719988
+v -0.29542202 0.36527774 -0.00455609
+v -0.42936646 -0.12991527 0.05289709
+v -0.44693136 -0.08925924 -0.00431204
+v -0.41647864 0.19842307 -0.00369223
+v -0.43153046 0.11871636 0.05383144
+v -0.28043689 0.35057443 0.10738084
+v -0.35790852 0.28170890 0.05618377
+v -0.25000644 0.39571383 -0.00414381
+v -0.23934790 0.37881300 0.10743116
+v -0.38374312 0.21829631 0.10721072
+f 6 2 4
+f 6 4 3
+f 6 1 2
+f 6 3 1
+f 7 1 3
+f 7 3 4
+f 9 4 2
+f 11 8 2
+f 11 2 1
+f 11 1 8
+f 13 8 1
+f 13 1 7
+f 15 7 4
+f 15 4 10
+f 16 15 12
+f 16 7 15
+f 16 13 7
+f 17 12 5
+f 17 5 14
+f 18 15 10
+f 18 12 15
+f 19 14 5
+f 21 9 2
+f 21 2 8
+f 21 8 14
+f 22 8 13
+f 22 13 16
+f 23 16 12
+f 23 12 17
+f 23 22 16
+f 23 8 22
+f 23 17 14
+f 23 14 8
+f 24 18 10
+f 24 5 18
+f 24 19 5
+f 24 10 19
+f 25 18 5
+f 25 5 12
+f 25 12 18
+f 26 20 10
+f 26 10 4
+f 26 21 14
+f 26 14 20
+f 27 20 14
+f 27 14 19
+f 28 4 9
+f 28 9 21
+f 29 26 4
+f 29 21 26
+f 29 28 21
+f 29 4 28
+f 30 27 19
+f 30 19 10
+f 30 10 20
+f 30 20 27
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_1.obj b/waffle/waffle_4/collision/model_normalized_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ad6c0742c74b75d946d43282b910f18f9690ee1
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_1.obj
@@ -0,0 +1,81 @@
+# https://github.com/mikedh/trimesh
+v 0.06549633 -0.45762848 -0.06353346
+v 0.25843819 -0.36671284 -0.10714615
+v 0.26456174 -0.21077772 -0.01294728
+v 0.13535309 0.09232405 -0.01595251
+v -0.09851452 0.03193087 -0.10753199
+v 0.26525373 -0.02412473 -0.10732273
+v -0.10289698 -0.45579004 -0.03857364
+v 0.25427469 -0.37605011 -0.05016816
+v 0.18915633 0.09286476 -0.01559843
+v 0.19465313 -0.40714230 -0.10776973
+v -0.09847059 0.03193011 -0.03122046
+v 0.14007754 -0.43816966 -0.04875897
+v 0.26535554 -0.01474814 -0.08216350
+v 0.18892804 0.09287102 -0.09617777
+v -0.09856414 -0.43785046 -0.10688912
+v 0.19326217 -0.42095201 -0.05719786
+v 0.18939496 0.03179195 -0.10723203
+v 0.13764891 0.09272410 -0.09529551
+v 0.00672765 -0.46202000 -0.10718586
+v 0.25488556 -0.37708935 -0.06055953
+v 0.15153310 -0.43585230 -0.05046701
+v 0.12408774 -0.43527134 -0.10748000
+v 0.00715906 -0.46449674 -0.06831403
+v 0.23800576 -0.38967806 -0.05880190
+v 0.23724472 -0.38839312 -0.05180387
+v 0.15274070 -0.43847780 -0.05921508
+v 0.16665417 -0.42064610 -0.10771338
+v 0.06377834 -0.45151632 -0.10712201
+f 6 3 2
+f 7 3 4
+f 9 4 3
+f 10 6 2
+f 10 5 6
+f 11 7 4
+f 11 4 5
+f 11 5 7
+f 12 7 1
+f 12 8 3
+f 12 3 7
+f 13 9 3
+f 13 3 6
+f 14 13 6
+f 14 9 13
+f 15 7 5
+f 16 10 2
+f 17 14 6
+f 17 6 5
+f 17 5 14
+f 18 14 5
+f 18 5 4
+f 18 4 9
+f 18 9 14
+f 19 7 15
+f 19 15 5
+f 20 2 3
+f 20 3 8
+f 21 8 12
+f 23 19 1
+f 23 1 7
+f 23 7 19
+f 24 16 2
+f 24 2 20
+f 24 20 8
+f 24 8 16
+f 25 21 16
+f 25 16 8
+f 25 8 21
+f 26 21 12
+f 26 12 1
+f 26 16 21
+f 27 22 19
+f 27 26 22
+f 27 10 16
+f 27 16 26
+f 27 19 5
+f 27 5 10
+f 28 1 19
+f 28 19 22
+f 28 26 1
+f 28 22 26
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_10.obj b/waffle/waffle_4/collision/model_normalized_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c97c47b7f61b495b5f35181cd920ec5d064b6b3a
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_10.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.22903082 -0.39876571 0.06029788
+v -0.22660726 -0.39504977 0.03571131
+v -0.23491860 -0.01352444 0.08076253
+v -0.40151741 -0.01352444 0.10752242
+v -0.41634082 -0.24977715 -0.03925391
+v -0.23231121 -0.38836044 0.10749990
+v -0.26526047 -0.39262087 -0.00410871
+v -0.41626566 -0.01352444 -0.02885501
+v -0.23485820 -0.02948673 0.10740005
+v -0.40095666 -0.18923569 0.10728709
+v -0.32335713 -0.31572114 0.07932219
+v -0.23480385 -0.01352444 -0.03120985
+v -0.43237731 -0.13481865 -0.00436492
+v -0.25392770 -0.37465906 0.10728873
+v -0.35407562 -0.29129348 0.05374912
+v -0.23237672 -0.38841962 0.00520975
+v -0.23562074 -0.24075089 -0.01543708
+v -0.41842572 -0.13186974 0.10730287
+v -0.41666635 -0.01352444 0.00430959
+v -0.29401328 -0.34529593 0.07852346
+v -0.35283919 -0.27528849 0.10689258
+v -0.43177947 -0.14986508 -0.00440018
+v -0.41533641 -0.14636256 0.10725311
+v -0.26885338 -0.37528875 0.05487562
+f 6 1 2
+f 7 2 1
+f 7 1 6
+f 9 3 4
+f 9 4 6
+f 9 6 2
+f 9 2 3
+f 10 6 4
+f 12 3 2
+f 12 5 8
+f 13 8 5
+f 14 7 6
+f 14 6 10
+f 15 5 7
+f 16 12 2
+f 16 2 7
+f 17 7 5
+f 17 5 12
+f 17 16 7
+f 17 12 16
+f 18 10 4
+f 19 8 13
+f 19 4 3
+f 19 12 8
+f 19 3 12
+f 19 18 4
+f 19 13 18
+f 20 14 11
+f 20 15 7
+f 20 11 15
+f 21 14 10
+f 21 11 14
+f 21 15 11
+f 21 10 5
+f 21 5 15
+f 22 18 13
+f 22 13 5
+f 22 5 18
+f 23 18 5
+f 23 5 10
+f 23 10 18
+f 24 20 7
+f 24 7 14
+f 24 14 20
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_11.obj b/waffle/waffle_4/collision/model_normalized_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21634a3626b10df141a1dc60d2502ec00326984e
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_11.obj
@@ -0,0 +1,54 @@
+# https://github.com/mikedh/trimesh
+v 0.05096033 -0.46766605 0.10730757
+v 0.25426810 -0.40547540 0.00674801
+v 0.26511462 -0.03290304 0.10730837
+v 0.00757576 -0.01352444 0.08085451
+v 0.00757576 -0.46821108 0.00498489
+v 0.26529734 -0.02964347 0.00495759
+v 0.05106771 -0.03328060 0.10614552
+v 0.25412073 -0.40525934 0.10776035
+v 0.08151562 -0.46501605 0.03603158
+v -0.00086034 -0.42279129 0.10621105
+v 0.26505432 -0.01125748 0.08355352
+v 0.00931230 -0.02762585 -0.00523184
+v 0.00757576 -0.46820393 0.10732979
+v 0.05097875 -0.46767008 0.00498218
+v 0.22711719 -0.42038842 0.10786983
+v 0.22724075 -0.42067528 0.00681386
+v 0.08149601 -0.46481946 0.07953401
+v 0.23821481 -0.41920672 0.03721595
+v 0.23802048 -0.41890068 0.07832455
+f 6 3 2
+f 8 2 3
+f 10 7 4
+f 11 3 6
+f 11 7 3
+f 11 4 7
+f 12 11 6
+f 12 4 11
+f 12 10 4
+f 12 5 10
+f 12 6 2
+f 13 3 7
+f 13 7 10
+f 13 10 5
+f 13 5 1
+f 14 12 2
+f 14 5 12
+f 14 9 1
+f 14 1 5
+f 15 13 1
+f 15 8 3
+f 15 3 13
+f 16 14 2
+f 16 9 14
+f 17 15 1
+f 17 1 9
+f 18 9 16
+f 18 17 9
+f 18 16 2
+f 18 2 8
+f 19 15 17
+f 19 17 18
+f 19 18 8
+f 19 8 15
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_12.obj b/waffle/waffle_4/collision/model_normalized_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..412abb98d90e196f9f0d2e2239616c0da969ea41
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_12.obj
@@ -0,0 +1,87 @@
+# https://github.com/mikedh/trimesh
+v 0.00757576 -0.46820393 0.10732979
+v 0.12880227 -0.43782562 -0.07100676
+v -0.00191459 -0.37736205 0.10640659
+v -0.23489356 -0.37728851 0.10714651
+v -0.09531093 -0.45607894 -0.10702146
+v 0.08266084 -0.37751789 -0.09894974
+v -0.18116273 -0.41926694 0.10788202
+v 0.12880365 -0.43783127 -0.04068922
+v 0.04850984 -0.46564544 -0.05843174
+v -0.03787878 -0.37672070 -0.08345538
+v 0.00672765 -0.46202000 -0.10718586
+v -0.22546052 -0.39270268 0.10756682
+v -0.06388462 -0.46681024 0.05639363
+v 0.08159414 -0.37708575 0.00584543
+v 0.05097875 -0.46767008 0.00498218
+v -0.09856414 -0.43785046 -0.10688912
+v 0.10933168 -0.45092165 -0.05766490
+v -0.23500223 -0.40773925 -0.00395957
+v -0.07915027 -0.45246304 0.10731189
+v -0.09409084 -0.46613711 -0.05878354
+v 0.12568575 -0.44107109 -0.04717295
+v 0.00809082 -0.42258433 -0.10647029
+v -0.22349860 -0.40573910 0.05467780
+v -0.18568331 -0.43874725 -0.04844307
+v -0.23484778 -0.37715881 0.00470036
+v -0.00545413 -0.46727519 0.10729143
+v -0.12435320 -0.45113367 0.05610664
+v 0.12619133 -0.44257468 -0.06295630
+v -0.16711084 -0.43688694 0.05627142
+v -0.13945967 -0.43621806 0.10766989
+f 7 1 3
+f 8 3 1
+f 8 2 6
+f 10 4 3
+f 11 6 2
+f 12 7 3
+f 12 3 4
+f 14 8 6
+f 14 3 8
+f 14 10 3
+f 14 6 10
+f 16 10 6
+f 16 11 5
+f 17 11 2
+f 17 9 11
+f 17 15 9
+f 18 12 4
+f 20 5 11
+f 20 11 9
+f 20 9 15
+f 20 15 1
+f 20 1 13
+f 21 8 1
+f 21 1 15
+f 21 15 17
+f 22 16 6
+f 22 6 11
+f 22 11 16
+f 23 7 12
+f 23 12 18
+f 24 16 5
+f 24 5 20
+f 25 18 4
+f 25 4 10
+f 25 10 16
+f 25 24 18
+f 25 16 24
+f 26 19 13
+f 26 13 1
+f 27 13 19
+f 27 24 20
+f 27 20 13
+f 28 21 17
+f 28 17 2
+f 28 2 8
+f 28 8 21
+f 29 23 18
+f 29 18 24
+f 29 7 23
+f 29 24 27
+f 30 26 1
+f 30 1 7
+f 30 19 26
+f 30 27 19
+f 30 29 27
+f 30 7 29
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_13.obj b/waffle/waffle_4/collision/model_normalized_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c0b52c8e66a9159c322b08e7616033c9272a5d2
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_13.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26528923 -0.01673634 0.08252629
+v 0.26523477 -0.01546650 -0.03032022
+v 0.26485830 0.09294166 0.09633555
+v 0.08741322 0.09249705 0.09668512
+v 0.08331912 -0.01352624 -0.08047725
+v 0.08331663 -0.01386987 0.08091375
+v 0.13764891 0.09272410 -0.09529551
+v 0.08309607 0.09267567 -0.09475083
+v 0.26398356 0.09399914 -0.01324712
+v 0.14392588 -0.01352444 -0.08056613
+f 1 2 3
+f 1 3 4
+f 5 2 1
+f 6 5 1
+f 6 1 4
+f 8 6 4
+f 8 5 6
+f 8 7 5
+f 9 3 2
+f 9 2 7
+f 9 7 8
+f 9 8 4
+f 9 4 3
+f 10 7 2
+f 10 2 5
+f 10 5 7
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_14.obj b/waffle/waffle_4/collision/model_normalized_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed0cafefed5508e682409cb868b6626ed2ecfe44
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_14.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.26528852 0.09234671 0.09634741
+v 0.26528472 0.09246505 0.01512034
+v 0.26554474 0.33558458 0.09929891
+v 0.14420198 0.33482109 0.09990816
+v 0.07748516 0.09260278 0.00611105
+v 0.08209624 0.09265073 0.10642507
+v 0.26546401 0.33495766 0.01311921
+v 0.07982596 0.22890133 0.10675043
+v 0.14411217 0.33486869 0.01193648
+v 0.08060436 0.22893059 0.00639159
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 5 1
+f 7 3 2
+f 7 2 5
+f 8 6 3
+f 8 3 4
+f 8 5 6
+f 9 4 3
+f 9 3 7
+f 9 8 4
+f 10 9 7
+f 10 7 5
+f 10 5 8
+f 10 8 9
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_15.obj b/waffle/waffle_4/collision/model_normalized_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70a7922cbe150e71015a10a5890e0efacd3886d6
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_15.obj
@@ -0,0 +1,99 @@
+# https://github.com/mikedh/trimesh
+v -0.23480385 -0.01352444 -0.03120985
+v -0.23487537 -0.01352444 -0.08043564
+v -0.22867586 0.42714525 -0.04856661
+v -0.23156402 0.41840645 -0.00385189
+v -0.49793044 -0.01352444 -0.05953300
+v -0.23479236 0.19815294 0.01491871
+v -0.31639463 0.36578806 -0.10705342
+v -0.41666625 0.07738585 0.00438345
+v -0.23156423 0.41840636 -0.10779327
+v -0.44946479 0.01677859 -0.10742343
+v -0.32786531 0.36579128 -0.06012947
+v -0.49171481 -0.01352444 -0.04275929
+v -0.39910586 0.27899128 -0.00487331
+v -0.23497373 0.02992377 -0.10726751
+v -0.44704821 -0.01352444 -0.08383252
+v -0.46016468 0.16165797 -0.10711518
+v -0.24028640 0.42552297 -0.05910573
+v -0.43367637 0.22092823 -0.00451788
+v -0.31639505 0.36578779 -0.00459116
+v -0.22906480 0.42861067 -0.06208890
+v -0.47912220 0.07451808 -0.10740115
+v -0.24180116 0.41306796 -0.10778266
+v -0.40276932 0.29241995 -0.05740782
+v -0.47912215 0.07451831 -0.00424392
+v -0.24180157 0.41306770 -0.00386247
+v -0.39910600 0.27899105 -0.10677185
+v -0.32709304 0.36493459 -0.05049160
+v -0.44464708 0.21877963 -0.05868676
+v -0.47603284 0.08901113 -0.00429359
+v -0.44401748 0.20479066 -0.09965343
+v -0.44402073 0.20479353 -0.01204288
+v -0.48969540 0.08771989 -0.05766256
+v -0.47603288 0.08901090 -0.10735139
+v -0.49106680 0.07285451 -0.05440053
+f 1 2 3
+f 5 2 1
+f 6 1 3
+f 6 3 4
+f 8 1 6
+f 12 5 1
+f 12 1 8
+f 14 3 2
+f 14 10 9
+f 14 2 10
+f 15 10 2
+f 15 2 5
+f 15 5 10
+f 17 4 3
+f 17 7 11
+f 18 8 6
+f 18 6 13
+f 19 13 6
+f 19 17 11
+f 20 14 9
+f 20 3 14
+f 20 17 3
+f 20 9 17
+f 21 10 5
+f 22 21 16
+f 22 9 10
+f 22 10 21
+f 22 17 9
+f 22 7 17
+f 23 11 7
+f 23 13 19
+f 23 18 13
+f 24 12 8
+f 24 5 12
+f 25 19 6
+f 25 6 4
+f 25 4 17
+f 25 17 19
+f 26 22 16
+f 26 7 22
+f 26 23 7
+f 27 23 19
+f 27 19 11
+f 27 11 23
+f 28 18 23
+f 29 24 8
+f 29 8 18
+f 30 26 16
+f 30 16 28
+f 30 28 23
+f 30 23 26
+f 31 29 18
+f 31 18 28
+f 32 28 16
+f 32 21 5
+f 32 24 29
+f 32 31 28
+f 32 29 31
+f 33 32 16
+f 33 16 21
+f 33 21 32
+f 34 32 5
+f 34 5 24
+f 34 24 32
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_16.obj b/waffle/waffle_4/collision/model_normalized_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd2144bf7f483d0968ed9bc88354c7d2dc46fcc4
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_16.obj
@@ -0,0 +1,60 @@
+# https://github.com/mikedh/trimesh
+v -0.03787878 -0.08930713 -0.02908010
+v -0.03787878 -0.08930702 -0.08256505
+v -0.03787878 0.41024239 -0.08446008
+v -0.09847081 0.41071866 -0.10091964
+v -0.23487537 -0.01352444 -0.08043564
+v -0.04707265 0.41096725 -0.10776712
+v -0.18966978 -0.08927899 -0.10113605
+v -0.23495540 0.27533223 -0.01757341
+v -0.07455818 0.41151466 -0.10430769
+v -0.18613314 -0.08944723 -0.09528501
+v -0.05001499 -0.05885970 -0.10652447
+v -0.23487669 0.32845429 -0.10826128
+v -0.15950455 -0.08926302 -0.01569341
+v -0.09828328 0.27513715 -0.01445406
+v -0.09850273 -0.08929945 -0.09454608
+v -0.23497373 0.02992377 -0.10726751
+v -0.20576809 0.35170317 -0.10772602
+v -0.19293139 -0.05896226 -0.10748170
+v -0.23480385 -0.01352444 -0.03120985
+v -0.03790163 0.09256140 -0.02905257
+v -0.23493319 0.35033643 -0.09925138
+f 1 2 3
+f 6 3 2
+f 8 3 4
+f 9 4 3
+f 9 3 6
+f 10 2 1
+f 11 6 2
+f 13 10 1
+f 13 7 10
+f 14 3 8
+f 14 13 1
+f 14 8 13
+f 15 10 7
+f 15 2 10
+f 15 11 2
+f 15 7 11
+f 16 7 5
+f 17 4 9
+f 17 9 6
+f 17 6 12
+f 18 12 6
+f 18 6 11
+f 18 16 12
+f 18 11 7
+f 18 7 16
+f 19 13 8
+f 19 5 7
+f 19 7 13
+f 19 16 5
+f 19 8 16
+f 20 14 1
+f 20 1 3
+f 20 3 14
+f 21 16 8
+f 21 12 16
+f 21 17 12
+f 21 8 4
+f 21 4 17
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_17.obj b/waffle/waffle_4/collision/model_normalized_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fef3dc91ce157b837995f64b091eee0df1e0ab8
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_17.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v -0.41666627 -0.08928314 0.00440518
+v -0.23480385 -0.01352444 -0.03120985
+v -0.23479236 0.19815294 0.01491871
+v -0.44792568 0.19309442 -0.00444629
+v -0.48029284 -0.08637944 -0.04245731
+v -0.45065662 0.19416462 -0.04164009
+v -0.47912215 0.07451831 -0.00424392
+v -0.23495713 -0.02483663 -0.00437766
+v -0.41627832 -0.08903108 -0.01553044
+v -0.23473631 0.19996528 -0.01422919
+v -0.46016478 0.16165773 -0.00452937
+v -0.47565907 -0.08567728 -0.00429960
+v -0.48406151 0.07538377 -0.04191041
+v -0.46283596 0.16271256 -0.04188464
+f 6 2 5
+f 7 1 3
+f 8 2 3
+f 8 3 1
+f 9 5 2
+f 9 1 5
+f 9 8 1
+f 9 2 8
+f 10 3 2
+f 10 2 6
+f 10 6 4
+f 10 4 3
+f 11 7 3
+f 11 3 4
+f 11 4 6
+f 12 5 1
+f 12 1 7
+f 13 12 7
+f 13 5 12
+f 13 7 11
+f 14 6 5
+f 14 5 13
+f 14 13 11
+f 14 11 6
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_18.obj b/waffle/waffle_4/collision/model_normalized_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eebdb727cf97ee6e6a7a031c81f33079adfdf1bb
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_18.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.40092900 -0.01464147 0.08325443
+v 0.40305581 -0.01368308 -0.00380512
+v 0.40153100 0.18289450 0.10651615
+v 0.26517411 0.18079083 0.10656437
+v 0.26529734 -0.02964347 0.00495759
+v 0.40151523 0.18344544 0.00474545
+v 0.40093699 0.07726649 0.09809422
+v 0.26528923 -0.01673634 0.08252629
+v 0.26513866 0.18137719 0.00614905
+v 0.26573252 0.07665689 0.09716172
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 7 1 3
+f 7 3 4
+f 8 5 1
+f 8 1 7
+f 9 4 3
+f 9 3 6
+f 9 8 4
+f 9 5 8
+f 9 6 2
+f 9 2 5
+f 10 8 7
+f 10 7 4
+f 10 4 8
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_19.obj b/waffle/waffle_4/collision/model_normalized_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beb7bc33f97cc9d6e71453a5c5673bcdf9aacf2b
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_19.obj
@@ -0,0 +1,39 @@
+# https://github.com/mikedh/trimesh
+v 0.08222816 0.02380266 0.08218564
+v 0.14424668 0.22810519 0.09650934
+v 0.08334371 0.03170526 0.10722096
+v 0.05184282 0.46246243 0.10730277
+v 0.08259761 0.46512149 0.06168654
+v 0.08162723 0.45853555 0.10714060
+v -0.00245246 0.03349478 0.09636755
+v 0.14412197 0.27508611 0.09486897
+v 0.05392426 0.03417458 0.10541854
+v 0.00724570 0.03009783 0.08116484
+v 0.00757576 0.42516629 0.08526578
+v 0.03777202 0.43018662 0.10660597
+v 0.05262054 0.46770372 0.06316236
+v 0.00768183 0.43176075 0.09625437
+f 1 2 3
+f 5 2 1
+f 6 3 2
+f 6 4 3
+f 6 5 4
+f 7 1 3
+f 8 6 2
+f 8 2 5
+f 8 5 6
+f 9 7 3
+f 10 5 1
+f 10 1 7
+f 11 10 7
+f 12 9 3
+f 12 3 4
+f 12 7 9
+f 13 4 5
+f 13 5 10
+f 13 10 11
+f 14 11 7
+f 14 7 12
+f 14 12 4
+f 14 13 11
+f 14 4 13
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_2.obj b/waffle/waffle_4/collision/model_normalized_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08f0a8e831b6d858aee6290c2f7ddca96794e054
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_2.obj
@@ -0,0 +1,189 @@
+# https://github.com/mikedh/trimesh
+v 0.25944655 -0.41414664 0.05462318
+v 0.49048043 -0.08429759 0.05387523
+v 0.44390796 -0.20341254 0.10732475
+v 0.25791470 0.39932095 0.09434339
+v 0.25926704 0.37127478 -0.10713804
+v 0.45844939 0.16097489 0.10722552
+v 0.26097142 -0.40091710 0.10769343
+v 0.33976696 -0.28931071 -0.10673357
+v 0.25843819 -0.36671284 -0.10714615
+v 0.47669178 -0.08591693 0.10746065
+v 0.38665698 0.30518819 0.05437562
+v 0.40095838 -0.29141750 0.05651218
+v 0.25832225 -0.41230846 0.05896793
+v 0.26405056 0.39387812 0.10766335
+v 0.43078199 0.07390297 -0.10740326
+v 0.25810905 0.39962702 0.02119712
+v 0.46100969 -0.15948594 0.10720805
+v 0.49218432 0.07294329 0.05411064
+v 0.31524508 -0.37668454 0.05486655
+v 0.40052089 -0.27661460 0.10688445
+v 0.44389778 -0.20343870 0.00451759
+v 0.34190837 0.35002048 0.05453172
+v 0.38560771 0.29285816 0.10682751
+v 0.47499100 0.08880844 0.10743326
+v 0.36870945 0.24863347 -0.10695768
+v 0.39923160 -0.18857930 -0.10720022
+v 0.44581033 -0.21593718 0.05676276
+v 0.47669975 -0.08587952 0.00438149
+v 0.46091522 0.17732939 0.05372397
+v 0.30024685 -0.37602279 0.10730975
+v 0.30016729 -0.37607322 0.00453128
+v 0.40057214 -0.27666167 0.00599166
+v 0.30050535 0.38046465 0.05656831
+v 0.32775281 0.35176974 0.00452399
+v 0.41413946 0.24865388 0.10702465
+v 0.31413424 0.36213312 0.10717408
+v 0.39985134 0.19207474 -0.10719599
+v 0.38518893 -0.21586799 -0.10712710
+v 0.43040822 -0.07056913 -0.10739724
+v 0.46100969 -0.15948594 0.00463375
+v 0.42953321 -0.24566386 0.05407628
+v 0.48713856 -0.05640435 0.03767155
+v 0.47499898 0.08877104 0.00440884
+v 0.47527173 0.13321267 0.05345578
+v 0.43145525 0.21957066 0.00463935
+v 0.32491914 -0.36165821 0.07946964
+v 0.26089185 -0.40096753 0.00414760
+v 0.26924644 -0.35986215 -0.10704048
+v 0.37046525 -0.31598077 0.02172428
+v 0.28558749 0.38022717 0.00438885
+v 0.31426004 0.36230784 0.00686032
+v 0.34064399 0.29321470 -0.10673510
+v 0.44414659 0.20286121 0.07876598
+v 0.41531349 0.26461939 0.05390390
+v 0.41783669 -0.24753139 0.00477937
+v 0.41430313 -0.14612255 -0.10713783
+v 0.48787029 0.04478197 0.03741176
+v 0.41467690 0.14945639 -0.10714385
+v 0.46198320 0.14983164 0.00461810
+v 0.38487076 -0.30139567 0.07938359
+v 0.34027919 -0.34611278 0.02180398
+v 0.27007529 0.36442409 -0.10703238
+v 0.38564039 0.29288604 0.00581553
+v 0.44620012 0.19243774 0.00453322
+f 10 7 3
+f 13 7 4
+f 13 1 7
+f 13 9 1
+f 13 4 9
+f 14 4 7
+f 14 7 10
+f 15 9 5
+f 16 9 4
+f 16 5 9
+f 17 10 3
+f 17 2 10
+f 18 10 2
+f 23 11 22
+f 24 14 10
+f 24 6 14
+f 24 18 6
+f 24 10 18
+f 27 17 3
+f 27 2 17
+f 30 7 1
+f 30 1 19
+f 30 20 3
+f 30 3 7
+f 31 19 1
+f 33 4 14
+f 33 16 4
+f 34 22 11
+f 35 14 6
+f 36 23 22
+f 36 35 23
+f 36 14 35
+f 36 33 14
+f 36 22 33
+f 37 15 5
+f 37 5 25
+f 38 9 26
+f 38 26 21
+f 38 32 8
+f 39 26 9
+f 39 9 15
+f 39 15 28
+f 40 27 21
+f 40 2 27
+f 40 28 2
+f 40 21 26
+f 40 39 28
+f 41 21 27
+f 41 12 32
+f 41 20 12
+f 41 27 3
+f 41 3 20
+f 42 18 2
+f 42 2 28
+f 43 28 15
+f 44 29 6
+f 44 6 18
+f 45 37 25
+f 46 30 19
+f 46 19 12
+f 46 20 30
+f 47 31 1
+f 47 1 9
+f 47 9 31
+f 48 31 9
+f 48 38 8
+f 48 9 38
+f 49 32 12
+f 49 12 19
+f 49 48 8
+f 49 8 32
+f 50 5 16
+f 50 16 33
+f 51 33 22
+f 51 22 34
+f 51 50 33
+f 53 35 6
+f 53 6 29
+f 54 11 23
+f 54 23 35
+f 54 35 53
+f 54 53 29
+f 55 38 21
+f 55 32 38
+f 55 41 32
+f 55 21 41
+f 56 40 26
+f 56 26 39
+f 56 39 40
+f 57 42 28
+f 57 18 42
+f 57 43 18
+f 57 28 43
+f 58 15 37
+f 59 29 44
+f 59 43 15
+f 59 15 58
+f 59 58 37
+f 59 44 18
+f 59 18 43
+f 60 46 12
+f 60 12 20
+f 60 20 46
+f 61 49 19
+f 61 19 31
+f 61 31 48
+f 61 48 49
+f 62 51 34
+f 62 5 50
+f 62 50 51
+f 62 34 52
+f 62 52 25
+f 62 25 5
+f 63 52 34
+f 63 34 11
+f 63 45 25
+f 63 25 52
+f 63 54 45
+f 63 11 54
+f 64 54 29
+f 64 45 54
+f 64 29 59
+f 64 59 37
+f 64 37 45
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_20.obj b/waffle/waffle_4/collision/model_normalized_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c0051fa0b77369b9ce390f7dfe68a12b9f92f98
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_20.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.08244767 0.02830863 -0.02664012
+v 0.18892804 0.09287102 -0.09617777
+v 0.18847588 0.33350356 -0.01380939
+v -0.17672512 0.35303528 -0.01335147
+v -0.09877502 0.09674287 -0.10212565
+v -0.09873487 0.09337044 -0.01521089
+v 0.18915633 0.09286476 -0.01559843
+v 0.08335711 0.02939934 -0.08048056
+v 0.13698823 0.35159149 -0.09992440
+v 0.13698831 0.35159339 -0.01172064
+v -0.17593205 0.27525789 -0.09697927
+v 0.18840163 0.33496910 -0.09755760
+v -0.03805393 0.03177477 -0.08096859
+v -0.17514441 0.27479553 -0.01365851
+v -0.17741062 0.35252916 -0.09792649
+v -0.03805485 0.03177395 -0.03067597
+f 7 1 2
+f 7 6 1
+f 8 5 2
+f 8 2 1
+f 9 2 5
+f 10 9 4
+f 10 7 3
+f 10 6 7
+f 11 5 6
+f 12 7 2
+f 12 3 7
+f 12 2 9
+f 12 10 3
+f 12 9 10
+f 13 6 5
+f 13 5 8
+f 13 8 1
+f 14 10 4
+f 14 6 10
+f 14 11 6
+f 14 4 11
+f 15 9 5
+f 15 5 11
+f 15 11 4
+f 15 4 9
+f 16 13 1
+f 16 1 6
+f 16 6 13
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_21.obj b/waffle/waffle_4/collision/model_normalized_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e6cc9b9ae2c56bd5c433e47db8d199932ce793d
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_21.obj
@@ -0,0 +1,51 @@
+# https://github.com/mikedh/trimesh
+v 0.14327400 0.23062046 0.09634878
+v 0.14519755 0.22887446 -0.00519299
+v 0.13993111 0.45561932 0.05435056
+v 0.08162723 0.45853555 0.10714060
+v 0.08060436 0.22893059 0.00639159
+v 0.14064527 0.44386759 0.10738920
+v 0.08489882 0.22960457 0.09636343
+v 0.08216981 0.45164970 -0.10723118
+v 0.09446198 0.45630762 0.10711506
+v 0.14384089 0.27395952 0.09489865
+v 0.14395668 0.39547107 -0.10678860
+v 0.08086378 0.27431519 0.10587267
+v 0.08031137 0.45957435 -0.06259798
+v 0.14247921 0.43540472 -0.10758917
+v 0.08337954 0.35008739 -0.09938248
+v 0.08538697 0.41927924 -0.10667456
+v 0.10960734 0.45527430 -0.05852021
+v 0.12877870 0.35006027 -0.10004746
+f 7 5 2
+f 7 2 1
+f 9 6 3
+f 9 3 4
+f 9 4 6
+f 10 6 1
+f 10 1 2
+f 11 10 2
+f 11 6 10
+f 12 5 7
+f 12 6 4
+f 12 7 1
+f 12 1 6
+f 13 8 5
+f 13 4 3
+f 13 12 4
+f 13 5 12
+f 14 3 6
+f 14 6 11
+f 15 2 5
+f 15 5 8
+f 16 14 11
+f 16 8 14
+f 16 15 8
+f 16 11 15
+f 17 13 3
+f 17 3 14
+f 17 14 8
+f 17 8 13
+f 18 15 11
+f 18 11 2
+f 18 2 15
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_22.obj b/waffle/waffle_4/collision/model_normalized_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70a3aca72b53d89a818510dd13fbc000840ac1a5
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_22.obj
@@ -0,0 +1,69 @@
+# https://github.com/mikedh/trimesh
+v -0.09868469 0.22844381 0.09922593
+v -0.09827288 0.22972301 -0.01309947
+v -0.09498658 0.44311006 0.10740590
+v -0.09849642 0.35024435 -0.09827558
+v -0.23548285 0.36694468 -0.10109161
+v -0.23491137 0.22813367 0.09600106
+v -0.23500763 0.27532530 -0.09403257
+v -0.15608067 0.44479719 -0.10738219
+v -0.22853966 0.38566370 0.10753674
+v -0.17593205 0.27525789 -0.09697927
+v -0.23496427 0.22995883 -0.01565462
+v -0.09847081 0.41071866 -0.10091964
+v -0.19322178 0.40804955 0.10788176
+v -0.23156423 0.41840636 -0.10779327
+v -0.18362552 0.34978487 -0.10829314
+v -0.09840331 0.45566917 -0.00434749
+v -0.21173732 0.43909310 -0.05873638
+v -0.16027068 0.41736126 -0.10872039
+v -0.20576809 0.35170317 -0.10772602
+v -0.22629945 0.42181475 -0.01270430
+v -0.15153291 0.43910605 0.05559340
+v -0.21329022 0.42655111 -0.10770447
+v -0.10911268 0.43930504 0.10748975
+v -0.17020675 0.44099215 -0.10746604
+f 1 2 3
+f 3 2 4
+f 6 2 1
+f 9 6 1
+f 9 5 6
+f 10 4 2
+f 11 6 5
+f 11 5 7
+f 11 2 6
+f 11 10 2
+f 11 7 10
+f 12 3 4
+f 13 9 1
+f 13 1 3
+f 14 5 9
+f 14 7 5
+f 15 4 10
+f 16 12 8
+f 16 3 12
+f 17 16 8
+f 18 12 4
+f 18 4 15
+f 18 8 12
+f 18 15 14
+f 19 15 10
+f 19 10 7
+f 19 7 14
+f 19 14 15
+f 20 17 14
+f 20 14 9
+f 20 9 13
+f 21 3 16
+f 21 16 17
+f 21 20 13
+f 21 17 20
+f 22 14 17
+f 22 18 14
+f 23 21 13
+f 23 13 3
+f 23 3 21
+f 24 22 17
+f 24 17 8
+f 24 8 18
+f 24 18 22
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_23.obj b/waffle/waffle_4/collision/model_normalized_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6d28eabbfd3885bdd29e99bf4c1f9e7bbad162f
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_23.obj
@@ -0,0 +1,36 @@
+# https://github.com/mikedh/trimesh
+v 0.12870462 0.18357270 -0.10673274
+v 0.12804883 0.19479840 -0.09923587
+v -0.03694089 0.22926132 -0.02739948
+v -0.03787878 0.35024659 -0.08234021
+v 0.12900002 0.35130496 -0.09999463
+v -0.03787878 0.18128968 -0.08506773
+v 0.08278909 0.23030719 -0.01535311
+v 0.12906592 0.33466705 -0.10067874
+v -0.03702756 0.27468246 -0.02862825
+v 0.00254235 0.35030361 -0.10642441
+v -0.03793149 0.18345581 -0.08538691
+v 0.08348201 0.27495024 -0.01666998
+v 0.00242169 0.18360965 -0.10667990
+f 7 1 2
+f 7 6 1
+f 7 3 6
+f 7 2 5
+f 8 5 2
+f 8 2 1
+f 9 3 7
+f 10 8 1
+f 10 4 5
+f 10 5 8
+f 11 6 3
+f 11 3 9
+f 11 9 4
+f 11 4 10
+f 12 9 7
+f 12 7 5
+f 12 5 4
+f 12 4 9
+f 13 11 10
+f 13 10 1
+f 13 1 6
+f 13 6 11
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_24.obj b/waffle/waffle_4/collision/model_normalized_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f194dd37fc21bbdc7b45a86965da8d41b94ad194
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_24.obj
@@ -0,0 +1,57 @@
+# https://github.com/mikedh/trimesh
+v 0.26554474 0.33558458 0.09929891
+v 0.26546401 0.33495766 0.01311921
+v 0.25508781 0.41082301 0.05660054
+v 0.14064527 0.44386759 0.10738920
+v 0.14420198 0.33482109 0.09990816
+v 0.14247921 0.43540472 -0.10758917
+v 0.25719987 0.39822036 0.10773027
+v 0.18942760 0.32597302 -0.10705887
+v 0.22865879 0.39391448 -0.07170728
+v 0.19967361 0.44024285 0.05386295
+v 0.14395562 0.33487092 -0.10738668
+v 0.25732047 0.39838511 0.00618982
+v 0.18560978 0.41728486 -0.10780549
+v 0.14104606 0.44464686 -0.06203795
+v 0.23954093 0.40941328 0.10790278
+v 0.19379560 0.42478844 -0.05836489
+v 0.21137535 0.42231727 0.10779358
+v 0.16590472 0.43828189 -0.05815391
+v 0.15477135 0.44006255 0.10747306
+v 0.16733578 0.42542962 -0.10771669
+f 7 5 1
+f 7 4 5
+f 8 2 1
+f 8 1 5
+f 9 2 8
+f 11 5 4
+f 11 8 5
+f 12 7 1
+f 12 1 2
+f 12 3 7
+f 12 2 9
+f 13 9 8
+f 13 12 9
+f 13 8 11
+f 14 4 10
+f 14 11 4
+f 14 6 11
+f 15 7 3
+f 15 3 10
+f 15 4 7
+f 16 3 12
+f 16 12 13
+f 16 10 3
+f 17 15 10
+f 17 4 15
+f 18 14 10
+f 18 10 16
+f 18 6 14
+f 18 16 13
+f 19 17 10
+f 19 10 4
+f 19 4 17
+f 20 18 13
+f 20 6 18
+f 20 13 11
+f 20 11 6
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_25.obj b/waffle/waffle_4/collision/model_normalized_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff1daa61552fc31c8ed778a6e8359dc25fa23a3c
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_25.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.21984737 -0.03005463 0.00495904
+v 0.21978305 -0.01553244 -0.02996789
+v 0.21857612 0.33508848 0.00556818
+v 0.08322654 0.35011170 0.00482137
+v 0.07748516 0.09260278 0.00611105
+v 0.21874372 0.33344773 -0.01277892
+v 0.14380765 -0.02710396 -0.00421416
+v 0.08355312 0.09261118 -0.01550151
+v 0.14411683 0.35001774 0.01212992
+v 0.08264973 0.35047491 -0.01228518
+v 0.14325924 -0.01524496 -0.02969049
+v 0.13698831 0.35159339 -0.01172064
+f 6 1 2
+f 6 3 1
+f 7 2 1
+f 7 1 5
+f 9 5 1
+f 9 1 3
+f 9 4 5
+f 10 8 5
+f 10 5 4
+f 10 6 2
+f 11 7 5
+f 11 5 8
+f 11 2 7
+f 11 10 2
+f 11 8 10
+f 12 9 3
+f 12 3 6
+f 12 6 10
+f 12 10 4
+f 12 4 9
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_26.obj b/waffle/waffle_4/collision/model_normalized_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8856ec3f8d2b114f5849f9ab2c64142ace2619fa
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_26.obj
@@ -0,0 +1,108 @@
+# https://github.com/mikedh/trimesh
+v -0.09641539 -0.45995110 -0.04560282
+v -0.09531093 -0.45607894 -0.10702146
+v -0.09821162 -0.21115742 -0.01476818
+v -0.40161915 -0.19509963 -0.01419781
+v -0.32732552 -0.36163275 -0.05952776
+v -0.33050646 -0.19512156 -0.10732003
+v -0.15908191 -0.42260060 0.00426016
+v -0.21152482 -0.43485989 -0.05768546
+v -0.09853124 -0.21038151 -0.09690019
+v -0.23472665 -0.19626310 -0.01531594
+v -0.42224545 -0.23503979 -0.10700975
+v -0.23490531 -0.24036783 0.01659608
+v -0.38716816 -0.29075353 -0.00491345
+v -0.26943957 -0.39046249 -0.10751246
+v -0.15490015 -0.45137552 -0.05801811
+v -0.18918001 -0.21048589 -0.10741409
+v -0.23487213 -0.19516371 -0.09636971
+v -0.40594651 -0.19766600 -0.10700962
+v -0.15911855 -0.25594512 0.00442246
+v -0.26943998 -0.39046224 -0.00413247
+v -0.40119701 -0.28818260 -0.05797102
+v -0.42224531 -0.23504002 -0.00463541
+v -0.31556620 -0.36122585 -0.00458307
+v -0.24051379 -0.42086058 -0.05836638
+v -0.21260862 -0.42176760 -0.10770116
+v -0.18767722 -0.43119895 -0.00407540
+v -0.09862950 -0.29658535 -0.10540169
+v -0.32674707 -0.36052195 -0.05106985
+v -0.38716819 -0.29075349 -0.10673171
+v -0.41558535 -0.24622580 -0.00470388
+v -0.41575793 -0.26168283 -0.05964684
+v -0.31556578 -0.36122611 -0.10706152
+v -0.16974639 -0.43602884 -0.10746331
+v -0.21260841 -0.42176769 -0.00394400
+v -0.40089914 -0.28854551 -0.05795646
+v -0.41558548 -0.24622557 -0.10694127
+v -0.39866789 -0.27552687 -0.01177371
+f 1 2 3
+f 7 1 3
+f 9 3 2
+f 12 10 4
+f 12 3 10
+f 15 2 1
+f 16 6 9
+f 17 6 4
+f 17 4 10
+f 17 9 6
+f 17 10 3
+f 17 3 9
+f 18 4 6
+f 18 6 11
+f 19 12 7
+f 19 7 3
+f 19 3 12
+f 22 18 11
+f 22 4 18
+f 22 12 4
+f 23 7 12
+f 23 12 13
+f 23 20 7
+f 24 23 5
+f 24 20 23
+f 25 24 14
+f 25 8 24
+f 25 6 16
+f 25 14 11
+f 25 11 6
+f 26 15 1
+f 26 1 7
+f 26 8 15
+f 27 16 9
+f 27 9 2
+f 27 2 16
+f 28 23 13
+f 28 5 23
+f 30 22 21
+f 30 13 12
+f 30 12 22
+f 31 22 11
+f 31 11 21
+f 31 21 22
+f 32 24 5
+f 32 14 24
+f 32 5 29
+f 32 29 11
+f 32 11 14
+f 33 15 8
+f 33 8 25
+f 33 2 15
+f 33 25 16
+f 33 16 2
+f 34 26 7
+f 34 7 20
+f 34 20 24
+f 34 24 8
+f 34 8 26
+f 35 5 28
+f 35 29 5
+f 35 21 29
+f 35 28 13
+f 35 13 21
+f 36 29 21
+f 36 21 11
+f 36 11 29
+f 37 30 21
+f 37 21 13
+f 37 13 30
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_27.obj b/waffle/waffle_4/collision/model_normalized_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6544d977dc81cd476280123185d3ebe5ebb53d36
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_27.obj
@@ -0,0 +1,27 @@
+# https://github.com/mikedh/trimesh
+v 0.45213259 -0.01355534 0.09591365
+v 0.48149681 0.08202064 0.06817594
+v 0.46212501 0.07737391 0.10745525
+v -0.23276952 0.09352953 0.09793553
+v -0.23491860 -0.01352444 0.08076253
+v 0.26485830 0.09294166 0.09633555
+v -0.23491975 0.02439889 0.10740010
+v 0.46215025 0.01677859 0.10734261
+v 0.44590202 -0.01558088 0.08504343
+v -0.23565631 0.09215017 0.09816186
+f 5 4 2
+f 6 3 2
+f 6 2 4
+f 6 4 3
+f 7 5 1
+f 8 1 2
+f 8 2 3
+f 8 7 1
+f 8 3 7
+f 9 5 2
+f 9 2 1
+f 9 1 5
+f 10 4 5
+f 10 5 7
+f 10 7 3
+f 10 3 4
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_28.obj b/waffle/waffle_4/collision/model_normalized_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..369fead83ccb7a5506a9339aceb08edada7a6dd8
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_28.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v -0.09850609 -0.15782483 0.01003895
+v -0.09852043 -0.15193474 -0.09965752
+v -0.09860532 -0.08921118 0.01681767
+v -0.23497794 -0.08921289 0.01482962
+v -0.23504270 -0.15632269 0.01060900
+v -0.18966978 -0.08927899 -0.10113605
+v -0.09850273 -0.08929945 -0.09454608
+v -0.17434419 -0.15598313 -0.10633328
+v -0.23468194 -0.08868473 -0.01449223
+v -0.19059459 -0.14979814 -0.10639109
+v -0.19137352 -0.11951951 -0.10675462
+v -0.23467316 -0.14925933 -0.01311161
+f 5 1 3
+f 5 3 4
+f 7 1 2
+f 7 3 1
+f 8 2 1
+f 8 1 5
+f 9 4 3
+f 9 7 6
+f 9 3 7
+f 9 5 4
+f 10 8 5
+f 11 7 2
+f 11 2 8
+f 11 6 7
+f 11 8 10
+f 11 9 6
+f 12 10 5
+f 12 5 9
+f 12 11 10
+f 12 9 11
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_29.obj b/waffle/waffle_4/collision/model_normalized_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a07c580c9fb8bf3966846880be8293f075df46f
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_29.obj
@@ -0,0 +1,48 @@
+# https://github.com/mikedh/trimesh
+v 0.08270818 -0.46348032 0.10713472
+v 0.21586308 -0.42922198 0.03605854
+v 0.18892336 -0.43595059 0.10767578
+v 0.08332587 -0.43767463 0.10789071
+v 0.12494116 -0.43720487 -0.08430033
+v 0.20239317 -0.43293153 0.09508513
+v 0.10949040 -0.46738778 0.05670950
+v 0.08243170 -0.44923528 -0.04113067
+v 0.14270128 -0.43270926 -0.08555558
+v 0.21295818 -0.43776991 0.05677221
+v 0.12480896 -0.45322059 0.10729520
+v 0.08151562 -0.46501605 0.03603158
+v 0.08264687 -0.46348841 0.00470726
+v 0.12839537 -0.43616347 -0.08596248
+v 0.21740438 -0.43259012 0.06240049
+v 0.17036291 -0.45287368 0.05410218
+v 0.08200606 -0.47203182 0.05872992
+f 1 3 4
+f 6 2 4
+f 6 4 3
+f 8 4 5
+f 9 4 2
+f 10 6 3
+f 10 9 2
+f 11 3 1
+f 11 1 7
+f 12 1 4
+f 12 4 8
+f 13 8 5
+f 13 12 8
+f 14 5 4
+f 14 4 9
+f 14 13 5
+f 14 7 13
+f 15 10 2
+f 15 2 6
+f 15 6 10
+f 16 10 3
+f 16 9 10
+f 16 14 9
+f 16 7 14
+f 16 11 7
+f 16 3 11
+f 17 7 1
+f 17 1 12
+f 17 13 7
+f 17 12 13
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_3.obj b/waffle/waffle_4/collision/model_normalized_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3396470a7d7a50a71bcfcf90cfdf2264ed034bd8
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_3.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v 0.08891763 0.35037081 0.09837903
+v 0.08337954 0.35008739 -0.09938248
+v 0.08259761 0.46512149 0.06168654
+v -0.04880328 0.45555002 0.10713175
+v -0.09833686 0.35034727 0.09936317
+v -0.15608067 0.44479719 -0.10738219
+v 0.05184282 0.46246243 0.10730277
+v 0.08538697 0.41927924 -0.10667456
+v -0.09838074 0.34892134 -0.09821727
+v -0.10903966 0.46865734 -0.05714058
+v -0.15608038 0.44479726 -0.00426296
+v 0.00024037 0.35028679 0.10749580
+v 0.00254235 0.35030361 -0.10642441
+v 0.06423870 0.45647964 -0.10712474
+v -0.02080046 0.47023163 0.05573339
+v -0.09498658 0.44311006 0.10740590
+v -0.15517582 0.45572823 -0.05887342
+v -0.15910944 0.41077341 0.00348894
+v 0.05310892 0.42585164 0.10624416
+v -0.16027068 0.41736126 -0.10872039
+v -0.12402346 0.45343219 -0.10719190
+v 0.04880872 0.47006164 -0.05926273
+v 0.08216981 0.45164970 -0.10723118
+v 0.06625959 0.47130555 0.05452450
+v -0.09397248 0.45409079 0.05594355
+v 0.00150182 0.41086389 0.10789892
+f 7 1 3
+f 8 1 2
+f 8 3 1
+f 9 2 1
+f 12 9 1
+f 12 5 9
+f 13 8 2
+f 13 2 9
+f 15 4 7
+f 16 5 12
+f 16 7 4
+f 17 10 6
+f 18 9 5
+f 18 16 11
+f 18 5 16
+f 19 12 1
+f 19 1 7
+f 19 7 12
+f 20 13 9
+f 20 9 18
+f 20 17 6
+f 20 18 11
+f 20 11 17
+f 21 6 10
+f 21 10 14
+f 21 20 6
+f 21 14 20
+f 22 14 10
+f 23 3 8
+f 23 20 14
+f 23 8 13
+f 23 13 20
+f 23 22 3
+f 23 14 22
+f 24 15 7
+f 24 7 3
+f 24 3 22
+f 24 22 10
+f 24 10 15
+f 25 15 10
+f 25 4 15
+f 25 16 4
+f 25 10 17
+f 25 17 11
+f 25 11 16
+f 26 16 12
+f 26 12 7
+f 26 7 16
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_30.obj b/waffle/waffle_4/collision/model_normalized_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1defbdadc3a88ece8aee5df2d98a4281b57f8cce
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_30.obj
@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -0.00191459 -0.37736205 0.10640659
+v -0.00191421 -0.37737811 0.00543559
+v 0.00757576 -0.01352444 0.08085451
+v -0.23491860 -0.01352444 0.08076253
+v -0.23489356 -0.37728851 0.10714651
+v 0.00931230 -0.02762585 -0.00523184
+v -0.23484778 -0.37715881 0.00470036
+v -0.23485820 -0.02948673 0.10740005
+v -0.23495713 -0.02483663 -0.00437766
+v -0.00259640 -0.03328060 0.10614552
+v -0.09860175 -0.02585128 -0.00411285
+f 5 2 1
+f 6 1 2
+f 6 3 1
+f 7 2 5
+f 7 6 2
+f 8 5 1
+f 8 3 4
+f 8 4 5
+f 9 4 3
+f 9 6 7
+f 9 7 5
+f 9 5 4
+f 10 8 1
+f 10 1 3
+f 10 3 8
+f 11 9 3
+f 11 3 6
+f 11 6 9
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_31.obj b/waffle/waffle_4/collision/model_normalized_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c99a370fac5a6164d3b9eb03c6252dfbbf3c44fc
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_31.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
+v 0.08331663 -0.01386987 0.08091375
+v 0.08320710 -0.02652617 -0.00419878
+v 0.07748516 0.09260278 0.00611105
+v -0.23276952 0.09352953 0.09793553
+v -0.23477603 -0.01352444 0.08076186
+v 0.08741322 0.09249705 0.09668512
+v -0.23495713 -0.02483663 -0.00437766
+v -0.23545427 0.09205373 0.01444428
+f 5 2 1
+f 5 1 4
+f 6 3 4
+f 6 4 1
+f 6 1 2
+f 6 2 3
+f 7 3 2
+f 7 2 5
+f 8 7 5
+f 8 5 4
+f 8 4 3
+f 8 3 7
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_4.obj b/waffle/waffle_4/collision/model_normalized_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..426fc6fca0fca9891a23be4692139997492afdbf
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_4.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.26456174 -0.21077772 -0.01294728
+v 0.26517599 -0.21030901 -0.09619810
+v 0.25732047 0.39838511 0.00618982
+v 0.21706467 0.41995575 0.00546916
+v 0.13478854 -0.21107313 -0.09711279
+v 0.19548198 0.41170423 -0.10776163
+v 0.26537964 -0.15651812 0.01102083
+v 0.25926704 0.37127478 -0.10713804
+v 0.23946137 0.40946371 0.00393825
+v 0.12898636 0.39668268 -0.09812760
+v 0.23969001 0.40963262 0.00664315
+v 0.18883837 -0.21076128 -0.01455652
+v 0.14456941 -0.21032727 -0.10769474
+v 0.26505914 -0.18049167 -0.10646331
+v 0.18560978 0.41728486 -0.10780549
+v 0.25712030 0.39827079 0.00411075
+v 0.21790118 -0.14984183 0.00659319
+v 0.12880176 0.03006673 -0.08054476
+v 0.12881097 0.03109195 -0.10772557
+v 0.16809661 -0.21032436 -0.10614999
+v 0.13180711 0.40815821 -0.10668683
+v 0.18718850 0.42095400 -0.07042587
+f 5 2 1
+f 7 1 2
+f 8 3 7
+f 11 7 3
+f 11 4 7
+f 11 9 4
+f 12 5 1
+f 12 1 7
+f 13 6 8
+f 14 8 7
+f 14 7 2
+f 14 13 8
+f 15 9 6
+f 15 4 9
+f 15 6 13
+f 16 3 8
+f 16 8 6
+f 16 6 9
+f 16 11 3
+f 16 9 11
+f 17 12 7
+f 17 7 4
+f 17 4 12
+f 18 5 12
+f 18 12 4
+f 18 4 10
+f 19 13 5
+f 19 15 13
+f 19 18 10
+f 19 5 18
+f 20 14 2
+f 20 13 14
+f 20 2 5
+f 20 5 13
+f 21 10 4
+f 21 19 10
+f 21 15 19
+f 22 21 4
+f 22 4 15
+f 22 15 21
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_5.obj b/waffle/waffle_4/collision/model_normalized_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77b28e48abedcfc6f6184884dbee96fd41499888
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_5.obj
@@ -0,0 +1,45 @@
+# https://github.com/mikedh/trimesh
+v 0.12880176 0.03006673 -0.08054476
+v 0.12881097 0.03109195 -0.10772557
+v 0.13892825 0.19494592 -0.09946131
+v -0.15848973 0.19717946 -0.10075271
+v -0.03805393 0.03177477 -0.08096859
+v -0.15913089 0.18379059 -0.10824580
+v 0.14343162 0.15300785 -0.10635031
+v 0.05331708 0.15172004 -0.01524953
+v 0.14385502 0.18357440 -0.10660299
+v -0.15931621 0.15368366 -0.09386559
+v 0.00614829 0.03400159 -0.10519967
+v 0.05330538 0.09255298 -0.01521036
+v 0.08361443 0.15197527 -0.01557670
+v 0.13810215 0.15332474 -0.09494409
+v -0.15923342 0.16345026 -0.10731264
+v 0.08355312 0.09261118 -0.01550151
+f 5 2 1
+f 7 1 2
+f 9 6 4
+f 9 4 3
+f 9 7 2
+f 9 2 6
+f 10 4 6
+f 10 8 4
+f 11 6 2
+f 11 2 5
+f 12 5 1
+f 12 10 5
+f 12 8 10
+f 13 3 4
+f 13 4 8
+f 14 9 3
+f 14 1 7
+f 14 7 9
+f 14 13 1
+f 14 3 13
+f 15 10 6
+f 15 6 11
+f 15 11 5
+f 15 5 10
+f 16 12 1
+f 16 1 13
+f 16 13 8
+f 16 8 12
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_6.obj b/waffle/waffle_4/collision/model_normalized_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..568f4fa5fc9fc629fb52140ca29c98994beb0a1e
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_6.obj
@@ -0,0 +1,33 @@
+# https://github.com/mikedh/trimesh
+v 0.08741322 0.09249705 0.09668512
+v 0.08355312 0.09261118 -0.01550151
+v 0.08891763 0.35037081 0.09837903
+v -0.09833686 0.35034727 0.09936317
+v -0.23565631 0.09215017 0.09816186
+v -0.09885708 0.34951995 -0.01188268
+v -0.00193199 0.09246532 0.10667335
+v -0.23428647 0.09221063 -0.01610597
+v 0.08264973 0.35047491 -0.01228518
+v -0.23496427 0.22995883 -0.01565462
+v 0.00024037 0.35028679 0.10749580
+v -0.23491137 0.22813367 0.09600106
+f 1 2 3
+f 7 1 3
+f 7 5 1
+f 8 2 1
+f 8 1 5
+f 9 3 2
+f 9 6 4
+f 9 4 3
+f 10 4 6
+f 10 8 5
+f 10 6 9
+f 10 9 2
+f 10 2 8
+f 11 7 3
+f 11 3 4
+f 11 5 7
+f 12 10 5
+f 12 4 10
+f 12 11 4
+f 12 5 11
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_7.obj b/waffle/waffle_4/collision/model_normalized_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea9ee886069d1d92acd4d34f22779a2c90d4c33c
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_7.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v -0.40131468 -0.24062249 -0.00427899
+v -0.40131353 -0.24062150 -0.10736621
+v -0.43402753 0.07624928 -0.09588496
+v -0.48405458 0.07538211 -0.06978524
+v -0.47634501 -0.13021344 -0.05896217
+v -0.47565912 -0.08567706 -0.10734537
+v -0.41666627 -0.08928314 0.00440518
+v -0.44452607 -0.21522744 -0.05748567
+v -0.44680348 0.07737830 -0.10742886
+v -0.47500055 -0.08876660 -0.00431018
+v -0.40112421 -0.13448395 -0.09633407
+v -0.43232927 -0.23221235 -0.06065051
+v -0.44730585 -0.18959921 -0.10720293
+v -0.47912220 0.07451808 -0.10740115
+v -0.43287060 -0.21719428 -0.00452617
+v -0.47825374 -0.08589156 -0.02760171
+v -0.40151613 -0.13473715 0.00452501
+v -0.40594651 -0.19766600 -0.10700962
+v -0.42224545 -0.23503979 -0.10700975
+v -0.42224531 -0.23504002 -0.00463541
+v -0.45954503 -0.15816229 -0.00452517
+v -0.43287073 -0.21719405 -0.10711899
+f 6 5 4
+f 7 3 4
+f 9 4 3
+f 10 7 4
+f 11 1 2
+f 11 9 3
+f 13 6 2
+f 13 8 5
+f 13 5 6
+f 14 6 4
+f 14 4 9
+f 14 9 2
+f 14 2 6
+f 16 10 4
+f 16 4 5
+f 16 5 10
+f 17 1 11
+f 17 11 3
+f 17 3 7
+f 18 11 2
+f 18 2 9
+f 18 9 11
+f 19 2 1
+f 19 12 8
+f 20 17 15
+f 20 1 17
+f 20 19 1
+f 20 12 19
+f 20 15 8
+f 20 8 12
+f 21 10 5
+f 21 5 8
+f 21 8 15
+f 21 15 17
+f 21 17 7
+f 21 7 10
+f 22 13 2
+f 22 2 19
+f 22 19 8
+f 22 8 13
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_8.obj b/waffle/waffle_4/collision/model_normalized_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c83996b4cc1c0b206170898f717d690e7461f3e
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_8.obj
@@ -0,0 +1,75 @@
+# https://github.com/mikedh/trimesh
+v -0.15904224 -0.25637138 -0.01533376
+v -0.05259599 -0.19534245 -0.10661203
+v -0.15907652 -0.01352444 -0.03112932
+v -0.49171481 -0.01352444 -0.04275929
+v -0.43186830 -0.19544122 -0.10712539
+v -0.18950539 -0.02520705 -0.10783449
+v -0.40161915 -0.19509963 -0.01419781
+v -0.09859407 -0.15020324 -0.01567175
+v -0.18397674 -0.25645615 -0.09635782
+v -0.05248932 -0.14985893 -0.10613766
+v -0.44946479 -0.01352444 -0.10742343
+v -0.18918001 -0.21048589 -0.10741409
+v -0.44462690 -0.20310092 -0.07224642
+v -0.09821162 -0.21115742 -0.01476818
+v -0.15904234 -0.25637052 -0.09631140
+v -0.15907659 -0.01352444 -0.08051582
+v -0.04976610 -0.14990508 -0.08243402
+v -0.46573265 -0.13224484 -0.10718548
+v -0.18397676 -0.25645701 -0.01528735
+v -0.46563950 -0.16025919 -0.06168767
+v -0.04980827 -0.19567790 -0.08228276
+v -0.49793044 -0.01352444 -0.05953300
+v -0.45242825 -0.17644207 -0.10716798
+v -0.49080872 -0.06918275 -0.05472384
+v -0.45954494 -0.15816252 -0.10711941
+v -0.49293390 -0.07035815 -0.05767874
+f 7 3 4
+f 8 3 7
+f 10 2 6
+f 12 6 2
+f 12 9 5
+f 13 5 9
+f 14 8 7
+f 15 1 9
+f 15 12 2
+f 15 9 12
+f 16 10 6
+f 16 6 11
+f 16 11 4
+f 16 4 3
+f 17 3 8
+f 17 8 14
+f 17 2 10
+f 17 16 3
+f 17 10 16
+f 19 7 13
+f 19 14 7
+f 19 1 14
+f 19 13 9
+f 19 9 1
+f 20 13 7
+f 21 14 1
+f 21 17 14
+f 21 2 17
+f 21 15 2
+f 21 1 15
+f 22 4 11
+f 22 11 18
+f 23 5 13
+f 23 13 20
+f 23 12 5
+f 23 6 12
+f 23 18 11
+f 23 11 6
+f 24 20 7
+f 24 7 4
+f 25 23 20
+f 25 18 23
+f 26 24 4
+f 26 4 22
+f 26 22 18
+f 26 18 25
+f 26 25 20
+f 26 20 24
\ No newline at end of file
diff --git a/waffle/waffle_4/collision/model_normalized_collision_9.obj b/waffle/waffle_4/collision/model_normalized_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0c3c07d0973c506adcefe0d2e40250d286e30de
--- /dev/null
+++ b/waffle/waffle_4/collision/model_normalized_collision_9.obj
@@ -0,0 +1,63 @@
+# https://github.com/mikedh/trimesh
+v 0.14272895 -0.44841979 0.00497720
+v 0.25939346 -0.36848722 -0.04115134
+v 0.26529734 -0.02964347 0.00495759
+v -0.23545427 0.09205373 0.01444428
+v -0.23562159 -0.25590235 -0.01540935
+v 0.26523477 -0.01546650 -0.03032022
+v -0.23447530 -0.25597104 0.01696403
+v 0.25426810 -0.40547540 0.00674801
+v 0.08588591 -0.44819388 -0.03946852
+v 0.07748516 0.09260278 0.00611105
+v -0.23428647 0.09221063 -0.01610597
+v 0.22724075 -0.42067528 0.00681386
+v -0.15929450 -0.37830690 -0.01283768
+v 0.08355312 0.09261118 -0.01550151
+v 0.16913785 -0.42624035 -0.04729565
+v -0.15909089 -0.37716091 0.00474711
+v 0.22602132 -0.39414167 -0.04896382
+v 0.18518152 -0.43695850 0.00418885
+v 0.14280326 -0.44837360 0.00444041
+v 0.25404116 -0.40530977 0.00408067
+v 0.22716351 -0.42036778 0.00397191
+v 0.18512155 -0.43704018 0.00553234
+f 6 3 2
+f 7 3 4
+f 7 4 5
+f 8 2 3
+f 8 3 7
+f 10 4 3
+f 10 3 6
+f 11 5 4
+f 11 4 10
+f 12 8 7
+f 12 7 1
+f 13 7 5
+f 13 5 9
+f 14 11 10
+f 14 10 6
+f 14 6 11
+f 15 9 5
+f 15 5 11
+f 16 13 9
+f 16 9 1
+f 16 1 7
+f 16 7 13
+f 17 6 2
+f 17 15 11
+f 17 11 6
+f 19 1 9
+f 19 9 15
+f 19 18 1
+f 19 15 18
+f 20 17 2
+f 20 2 8
+f 20 8 12
+f 21 18 15
+f 21 12 18
+f 21 20 12
+f 21 15 17
+f 21 17 20
+f 22 18 12
+f 22 12 1
+f 22 1 18
\ No newline at end of file
diff --git a/waffle/waffle_4/model.xml b/waffle/waffle_4/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5492b420db4b7387be51921d312fc74369c33d49
--- /dev/null
+++ b/waffle/waffle_4/model.xml
@@ -0,0 +1,81 @@
+<mujoco model="waffle_5">
+  <asset>
+    <mesh file="visual/model_normalized_0.obj" name="model_normalized_0_vis" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_22.obj" name="model_normalized_collision_22._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_23.obj" name="model_normalized_collision_23._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_21.obj" name="model_normalized_collision_21._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_20.obj" name="model_normalized_collision_20._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_24.obj" name="model_normalized_collision_24._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_30.obj" name="model_normalized_collision_30._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_18.obj" name="model_normalized_collision_18._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_19.obj" name="model_normalized_collision_19._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_31.obj" name="model_normalized_collision_31._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_25.obj" name="model_normalized_collision_25._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_27.obj" name="model_normalized_collision_27._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_26.obj" name="model_normalized_collision_26._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_9.obj" name="model_normalized_collision_9._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_8.obj" name="model_normalized_collision_8._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_6.obj" name="model_normalized_collision_6._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_7.obj" name="model_normalized_collision_7._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_5.obj" name="model_normalized_collision_5._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_4.obj" name="model_normalized_collision_4._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_0.obj" name="model_normalized_collision_0._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_1.obj" name="model_normalized_collision_1._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_3.obj" name="model_normalized_collision_3._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_2.obj" name="model_normalized_collision_2._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_17.obj" name="model_normalized_collision_17._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_16.obj" name="model_normalized_collision_16._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_28.obj" name="model_normalized_collision_28._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_14.obj" name="model_normalized_collision_14._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_15.obj" name="model_normalized_collision_15._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_29.obj" name="model_normalized_collision_29._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_11.obj" name="model_normalized_collision_11._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_10.obj" name="model_normalized_collision_10._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_12.obj" name="model_normalized_collision_12._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <mesh file="collision/model_normalized_collision_13.obj" name="model_normalized_collision_13._coll" scale="0.11499999999999999 0.11499999999999999 0.11499999999999999" refquat="1.0 0.0 0.0 0.0"/>
+    <texture type="2d" name="image0" file="visual/image0.png"/>
+    <material name="Material.203" texture="image0" specular="0.5" shininess="0.25"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
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diff --git a/waffle/waffle_4/visual/image0.png b/waffle/waffle_4/visual/image0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc987cd900f5ce177ef117fab8870e31822420e7
--- /dev/null
+++ b/waffle/waffle_4/visual/image0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e668e12e01d8d97109af2e3fe8449a29e798d4e4b271b6d51b3bce244b434d30
+size 454153
diff --git a/waffle/waffle_4/visual/material.mtl b/waffle/waffle_4/visual/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcf6b4b1af9257e08a0fd6e283841743ce8fad5
--- /dev/null
+++ b/waffle/waffle_4/visual/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 1.00000000 1.00000000 1.00000000
+Kd 0.80000000 0.80000000 0.80000000
+Ks 0.50196078 0.50196078 0.50196078
+Ns 250.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/waffle/waffle_4/visual/material_0.png b/waffle/waffle_4/visual/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc987cd900f5ce177ef117fab8870e31822420e7
--- /dev/null
+++ b/waffle/waffle_4/visual/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e668e12e01d8d97109af2e3fe8449a29e798d4e4b271b6d51b3bce244b434d30
+size 454153
diff --git a/waffle/waffle_4/visual/model_normalized_0.obj b/waffle/waffle_4/visual/model_normalized_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0769ffed77be5b0d1de0a10626373e302860adcf
--- /dev/null
+++ b/waffle/waffle_4/visual/model_normalized_0.obj
@@ -0,0 +1,10107 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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\ No newline at end of file